CN106285281B - The anti-clamping method and device of a kind of automobile door lock - Google Patents
The anti-clamping method and device of a kind of automobile door lock Download PDFInfo
- Publication number
- CN106285281B CN106285281B CN201610971869.XA CN201610971869A CN106285281B CN 106285281 B CN106285281 B CN 106285281B CN 201610971869 A CN201610971869 A CN 201610971869A CN 106285281 B CN106285281 B CN 106285281B
- Authority
- CN
- China
- Prior art keywords
- pinch
- motor
- door lock
- locking
- current
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/40—Safety devices, e.g. detection of obstructions or end positions
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05B—LOCKS; ACCESSORIES THEREFOR; HANDCUFFS
- E05B83/00—Vehicle locks specially adapted for particular types of wing or vehicle
- E05B83/36—Locks for passenger or like doors
- E05B83/40—Locks for passenger or like doors for sliding doors
Landscapes
- Lock And Its Accessories (AREA)
- Power-Operated Mechanisms For Wings (AREA)
Abstract
The anti-clamping method and device for a kind of automobile door lock that the present invention is provided, applied to electric rear tail gate for automobile, side sliding door, the anti-clamping method includes：The cell voltage of automobile locking motor is obtained in real time；According to cell voltage, the dutycycle of the equivalent voltage of adjustment cell voltage and motor of locking, the equivalent voltage for the motor that makes to lock is stable；Obtain the temperature of current environment, the normal drive current and anti-pinch current threshold of motor of being locked according to the temperature computation；Current environment is obtained to lock the actual current of motor；Compare the difference and the anti-pinch current threshold of actual current and normal drive current；According to comparative result, judge whether anti-pinch.The anti-clamping method and device for a kind of automobile door lock that the present invention is provided, during automobile door lock moves to one-level lock-bit by secondary latch position, anti-biting bar can be replaced to realize the anti-pinch detection of arrangements for automotive doors, electric rear tail gate for automobile, electronic side sliding door anti-pinch cost is reduced, and then reduce integral vehicle cost.
Description
Technical field
The present invention relates to automobile door lock anti-pinch technical field, more specifically, more particularly to a kind of anti-pinch of automobile door lock
Method and device.
Background technology
With the continuous development of scientific technology, automobile turns into the portable tool of people's go off daily, various vapour
Compete very fierce between man of depot, for the favor of Win Clients, improved technology is constantly developing, for example：Motorcar electric
Rear tailgate, motorcar electric sideslip door system just have because of its unique opening ways compared to more traditional transmission rear tailgate and side sliding door
Lot of advantages, noise is low, and current of electric is small etc., is increasingly favored at present by client.
In the prior art, the electronic rear tailgate of automobile, electronic side sliding door on the direction closed the door using software anti-pinch and
The mode that anti-biting bar is combined carries out anti-pinch.Wherein software anti-pinch is by detecting the speed of arrangements for automotive doors, the change of the parameter such as electric current
Change and then detect the change of arrangements for automotive doors resistance, then be compared with anti-grip force, make anti-pinch judgement.Tail after motorcar electric
Door, the door lock of electronic side sliding door are generally self-priming lock, and self-priming lockset has one-level lock-bit and secondary latch position, when arrangements for automotive doors is locked
When, secondary latch position is initially entered, one-level lock-bit is subsequently entered and completes operation of locking, and software anti-pinch typically arrives electronic self-priming lock fortune
Move just out of service during secondary latch position, when moving to one-level lock-bit by secondary latch position, use anti-biting bar and carry out anti-pinch, but
It is that anti-biting bar cost is higher, does not meet the main trend of reduction integral vehicle cost.
Therefore, those skilled in the art's urgent problem to be solved is：Anti-biting bar is expensive, causes the electronic rear tail of automobile
Door, electronic side sliding door anti-pinch cost are high, are unfavorable for reducing integral vehicle cost.
The content of the invention
To solve the above problems, the invention provides a kind of anti-clamping method of automobile door lock and device, automobile door lock by
During secondary latch position moves to one-level lock-bit, anti-biting bar can be replaced to realize the anti-pinch detection of arrangements for automotive doors, vapour is reduced
The electronic rear tailgate of car, electronic side sliding door anti-pinch cost, and then reduce integral vehicle cost.
To achieve the above object, the present invention provides following technical scheme：
A kind of anti-clamping method of automobile door lock, applied to electric rear tail gate for automobile, side sliding door, the anti-clamping method includes：
The cell voltage of automobile locking motor is obtained in real time；
According to the cell voltage, the dutycycle of the equivalent voltage of the cell voltage and the motor of locking is adjusted, is made
The equivalent voltage of the motor of locking is stable；
The temperature of current environment is obtained, normal drive current and the anti-pinch electricity according to motor of being locked described in the temperature computation
Flow threshold value；
Obtain the actual current for motor of being locked described in current environment；
Compare the difference and the anti-pinch current threshold of the actual current and the normal drive current；
According to comparative result, judge whether anti-pinch.
It is preferred that, it is described according to the cell voltage in above-mentioned anti-clamping method, adjust the cell voltage and be described on
The dutycycle of the equivalent voltage of motor is locked, makes the equivalent voltage of the motor of locking stable, including：
Acquisition standard equivalent voltage, calculates the dutycycle of the cell voltage and the standard equivalent voltage, obtains standard
Dutycycle；
The dutycycle is adjusted to the standard dutycycle, the equivalent voltage of the motor of locking is equal to the standard
Equivalent voltage.
It is preferred that, in above-mentioned anti-clamping method, the temperature for obtaining current environment, on described in the temperature computation
The normal drive current and anti-pinch current threshold of motor are locked, including：
The temperature of current environment is obtained, the characteristic ginseng of the motor of locking at said temperatures is obtained according to the temperature
Number, normal drive current and anti-pinch current threshold according to motor of being locked described in characterisitic parameter calculating.
It is preferred that, it is described to judge whether anti-pinch according to comparative result in above-mentioned anti-clamping method, including：
If the comparative result, which is the anti-pinch current threshold, is less than the difference, anti-pinch, the automobile locking motor
Stop driving and being unlocked operation；
If the comparative result, which is the anti-pinch current threshold, is more than or equal to the difference, not anti-pinch, on the automobile
Motor is locked to continue to drive.
It is preferred that, in above-mentioned anti-clamping method, the electric rear tail gate for automobile, side sliding door include：First door lock and second
Door lock, including：
When first door lock starts to drive and be judged as anti-pinch, and second door lock is not when driving, described second
Lock does not work, and first door lock is unlocked operation；
When first door lock and second door lock all start driving, first door lock or second door lock are sentenced
When breaking as anti-pinch, first door lock and second door lock are all unlocked operation；
Lock and finish when first door lock, and second door lock is when being judged as anti-pinch during driving, described
One door lock and second door lock are all unlocked operation.
It is described applied to electric rear tail gate for automobile, side sliding door present invention also offers a kind of anti-pinch device of automobile door lock
Anti-pinch device includes：
Cell voltage acquisition module, the cell voltage for obtaining automobile locking motor in real time；
Adjusting module, for according to the cell voltage, adjusting the equivalent electric of the cell voltage and the motor of locking
The dutycycle of pressure, makes the equivalent voltage of the motor of locking stable；
Current threshold acquisition module, the temperature for obtaining current environment, according to motor of being locked described in the temperature computation
Normal drive current and anti-pinch current threshold；
Actual current acquisition module, the actual current for obtaining motor of being locked described in current environment；
Comparison module, difference and the anti-pinch current threshold for comparing the actual current and the normal drive current
Value；
Judge module, for according to comparative result, judging whether anti-pinch.
It is preferred that, in above-mentioned anti-pinch device, the adjusting module specifically for：
Acquisition standard equivalent voltage, calculates the dutycycle of the cell voltage and the standard equivalent voltage, obtains standard
Dutycycle；
The dutycycle is adjusted to the standard dutycycle, the equivalent voltage of the motor of locking is equal to the standard
Equivalent voltage.
It is preferred that, in above-mentioned anti-pinch device, the current threshold acquisition module specifically for：
The temperature of current environment is obtained, the characteristic ginseng of the motor of locking at said temperatures is obtained according to the temperature
Number, normal drive current and anti-pinch current threshold according to motor of being locked described in characterisitic parameter calculating.
It is preferred that, in above-mentioned anti-pinch device, the judge module specifically for：
If the comparative result, which is the anti-pinch current threshold, is less than the difference, anti-pinch, the automobile locking motor
Stop driving and being unlocked operation；
If the comparative result, which is the anti-pinch current threshold, is more than or equal to the difference, not anti-pinch, on the automobile
Motor is locked to continue to drive.
It is preferred that, in above-mentioned anti-pinch device, the electric rear tail gate for automobile, side sliding door include：First door lock and described
Second door lock, the anti-pinch device includes：
Unlocked state, for starting to drive and be judged as anti-pinch when first door lock, and second door lock does not drive
When, second door lock does not work, and first door lock is unlocked operation；
When first door lock and second door lock all start driving, first door lock or second door lock are sentenced
When breaking as anti-pinch, first door lock and second door lock are all unlocked operation；
Lock and finish when first door lock, and second door lock is when being judged as anti-pinch during driving, described
One door lock and second door lock are all unlocked operation.
The anti-clamping method and device of a kind of automobile door lock provided by foregoing description, the present invention, by acquisition
Lock the cell voltage of motor, the dutycycle of the equivalent voltage of adjustment cell voltage and motor of locking, the equivalent electric for the motor that makes to lock
Pressure be in stable state, therewith by the temperature according to surrounding environment can calculate motor of locking normal drive current and
Anti-pinch current threshold, obtains the actual current of motor of being locked under current environmental temperature, to actual current and normal drive current
Difference and anti-pinch current threshold are compared, according to comparative result, it is possible to judge whether anti-pinch.It follows that the present invention is carried
The anti-clamping method and device of confession can be locked in the self-priming of electric rear tail gate for automobile, side sliding door moves to one-level lock-bit by secondary latch position
When, anti-pinch can be realized instead of anti-biting bar, reduce electric rear tail gate for automobile, electronic side sliding door anti-pinch cost, and then reduce whole
Car cost.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
The embodiment of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
The accompanying drawing of offer obtains other accompanying drawings.
Fig. 1 is a kind of schematic flow sheet of the anti-clamping method of automobile door lock provided in an embodiment of the present invention；
Fig. 2 is a kind of structural representation of the anti-pinch device of automobile door lock provided in an embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Embodiment one
Fig. 1 is a kind of schematic flow sheet of the anti-clamping method for automobile door lock that the embodiment of the present invention one is provided.
The embodiments of the invention provide a kind of anti-clamping method of automobile door lock, applied to electric rear tail gate for automobile, side sliding door,
As shown in figure 1, the anti-clamping method includes：
S101：The cell voltage of automobile locking motor is obtained in real time.
During electric rear tail gate for automobile, side sliding door are locked, the cell voltage for motor of locking is obtained.
S102：According to cell voltage, the dutycycle of the equivalent voltage of adjustment cell voltage and motor of locking makes motor of locking
Equivalent voltage it is stable.
In the prior art, motor-drive circuit of locking generally uses relay driving, that is, when motor of locking needs driving
Cell voltage is applied to motor two ends, rotates forward it, it is necessary to which cell voltage to be reversely applied to motor two ends of locking during return,
Invert it.But cell voltage can change with the difference of whole vehicle state, therefore motor movement of being locked under different operating modes
Characteristic can be different such as electric current, speed.
In this step, motor-drive circuit of locking can use MOSFET (Metal-Oxide-Semiconductor
Field-Effect Transistor, metal oxide layer semiconductcor field effect transisto) drive circuit, software uses PWM
(Pulse Width Modulation, pulse width modulation) is controlled, and accounting for for motor both end voltage of locking is applied to by adjustment
Sky ratio, so that ensure motor two ends application identical equivalent voltage of being locked under different cell voltages, thus it is constant loading
In the case of motor movement characteristic of locking be consistent such as electric current, speed.
S103：The temperature of current environment is obtained, the normal drive current and anti-pinch electricity of motor of being locked according to the temperature computation
Flow threshold value.
Because the rotational angular velocity of the internal resistance of motor of locking, lock counter electromotive force of motor constant and motor of locking all can be by
The influence of ambient temperature, therefore the normal drive current and anti-pinch current threshold of motor of locking can be by motors of locking
Internal resistance, lock counter electromotive force of motor constant and the rotational angular velocity for motor of locking and the equivalent voltage for motor of locking is calculated.
S104：Current environment is obtained to lock the actual current of motor.
During electric rear tail gate for automobile, side sliding door are locked, the driving current for motor of locking, that is, electricity of locking are obtained
The actual current of machine in the operating condition.
S105：Compare the difference and anti-pinch current threshold of actual current and normal drive current.
S106：According to comparative result, judge whether anti-pinch.
That is, can be according to the size between actual current and the difference and anti-pinch current threshold of normal drive current
Relation, judgement draw whether anti-pinch.If specifically, comparative result, which is anti-pinch current threshold, is less than difference, anti-pinch, automobile locking
Motor stops driving and being unlocked operation；If comparative result, which is anti-pinch current threshold, is more than or equal to difference, not anti-pinch, automobile
Motor of locking continues to drive.
A kind of anti-clamping method of the automobile door lock provided by the embodiment of the present invention one, can electric rear tail gate for automobile,
When the self-priming lock of side sliding door moves to one-level lock-bit by secondary latch position, it can realize that arrangements for automotive doors anti-pinch is detected instead of anti-biting bar,
Electric rear tail gate for automobile, electronic side sliding door anti-pinch cost are reduced, and then reduces integral vehicle cost.
Embodiment two
The embodiment of the present invention two provides a kind of anti-clamping method of automobile door lock, by the step in the embodiment of the present invention one
S102 is optimized for：
Acquisition standard equivalent voltage, calculates the dutycycle of cell voltage and standard equivalent voltage, obtains standard dutycycle；
Dutycycle is adjusted to standard dutycycle, the equivalent voltage for the motor that makes to lock is equal to standard equivalent voltage.
Need to illustrate, the business of standard equivalent voltage and cell voltage is standard dutycycle, in cell voltage liter
Gao Shi, standard dutycycle declines, and dutycycle is adjusted to standard dutycycle, the dutycycle after adjustment is multiplied by cell voltage, then may be used
To obtain the equivalent voltage for acting on motor two ends of locking.Because the equivalent voltage at motor two ends of locking is stable, then motor of locking
Electric current and the speed of service also relatively stablize, be not in due to voltage pulsation cause the speed of service mutation machinery is caused to door lock
Damage, extends the service life of door lock.
The anti-clamping method of a kind of automobile door lock provided by the embodiment of the present invention two, it is ensured that in different cell voltages
Under motor two ends of locking apply identical equivalent voltage, thus load it is constant in the case of motor movement characteristic of locking it is for example electric
Stream, speed etc. are consistent.
Embodiment three
The embodiment of the present invention three provides a kind of anti-clamping method of automobile door lock, by the step in the embodiment of the present invention one
S103 is optimized for：
Obtain the temperature of current environment, the characterisitic parameter for motor of being locked at such a temperature according to the temperature, according to special
Property parameter calculate the lock normal drive current and anti-pinch current threshold of motor.
Illustrate with reference to motor driving equation (1) is locked, motor driving equation (1) of locking is as follows：
U=I*R+K* ω (1)
Wherein, U is motor both end voltage of locking, and I is motor drive current of locking, and R is motor internal resistance of locking, and K is to lock
Counter electromotive force of motor constant, ω is motor rotational angular velocity of locking.
It was found from from above-mentioned motor driving equation (1) of locking, even if being controlled using software PWM, it is ensured that motor of locking
Equivalent voltage it is stable, the current of electric that makes to lock is consistent, but the electric current on motor of locking remain unchanged can be locked motor internal resistance, on
Lock the influence of the rotational angular velocity of counter electromotive force of motor constant and motor of locking.
But, it has been investigated that, the rotational angular velocity for motor of locking, the counter electromotive force of lock motor internal resistance and motor of locking
Constant is mainly influenceed by environment temperature.Therefore in embodiments of the present invention, at different ambient temperatures to motor of locking
Normal drive current is tested, and show that electric rear tail gate for automobile, side sliding door are locked motor in the range of normal working temperature
Curve and data that normal drive current is varied with temperature, so that the temperature by obtaining current environment, to draw motor of locking
Normal drive current at such a temperature.
Illustrate in conjunction with motor driving equation (2) is locked, motor driving equation (2) of locking is as follows：
T=Kt*I (2)
Wherein, T is the output torque of motor of locking, and Kt is the torque constant of motor of locking, and I is motor driving electricity of locking
Stream.
It was found from from above-mentioned motor driving equation (2) of locking, the driving current for motor of locking, which can accurately react, locks
The size of motor output torque, when anti-pinch occurs, the rotating speed for motor of locking is pulled low, by above-mentioned motor driving equation of locking
(1) understand, in the case that U is constant, the driving current I of motor of locking increase, make the driving current of the motor of locking after increase with
Driving current of the motor in the case of normal load of locking does difference processing, and the driving current of increase is caused by barrier.By
Fixed in the gearratio for motor of locking, therefore the driving current of increase is directly proportional to anti-grip force, therefore only need at different temperatures
Corresponding current value is carried out with dynamometer to fixed anti-grip force to be marked, you can to draw anti-pinch current threshold.
First under different environment temperatures, the internal resistance to motor of locking, lock counter electromotive force of motor constant and electricity of locking
The rotational angular velocity of machine is detected, calibrates corresponding value, therefore, by obtaining the temperature of current environment, according to the temperature
Degree can just calculate the normal drive current and anti-pinch current threshold for motor of locking.
For example, when automobile is when temperature is in the environment of 25 DEG C, the characterisitic parameter of motor of locking has certain value, and
During test under different temperature environments, the characteristic parameter value for motor of locking all is demarcated and drawn.Therefore, only need to obtain
The temperature of current environment, with reference to motor driving equation (1) and the motor driving equation (2) of locking of locking, it is possible to calculate electricity of locking
The normal drive current and anti-pinch current threshold of machine.
A kind of anti-clamping method of the automobile door lock provided by the embodiment of the present invention three, can overcome variation of ambient temperature pair
The influence of arrangements for automotive doors anti-pinch, and then improve the sensitivity of arrangements for automotive doors anti-pinch.
It should be noted that some currently marketed electric rear tail gate for automobile, side sliding door are generally twin-lock control, i.e., or so
Respectively there is a lock on direction.Due to rigging error and electric rear tail gate for automobile, the influence of side sliding door self-deformation, two locks can not
Accomplish Complete Synchronization.
That is, electric rear tail gate for automobile, side sliding door include：First door lock and the second door lock, and the first door lock and
Two door locks can not accomplish Complete Synchronization again.
Therefore, when the first door lock starts to drive and be judged as anti-pinch, and the second door lock is not when driving, the second door lock not work
Make, and the first door lock is unlocked operation；
When the first door lock and the second door lock all start driving, when the first door lock or the second door lock are judged as anti-pinch, first
Door lock and the second door lock are all unlocked operation；
Lock and finish when the first door lock, and the second door lock is when being judged as anti-pinch during driving, the first door lock and second
Door lock is all unlocked operation.
So as to, when the first door lock or the second door lock are judged as anti-pinch, another door lock can be forbidden to lock, and first
Lock and the second door lock are all unlocked operation, and then prevent from causing user extruding.
Example IV
Fig. 2 is a kind of structural representation of the anti-pinch device for automobile door lock that the embodiment of the present invention four is provided.
The embodiment of the present invention four provides a kind of anti-pinch device of automobile door lock, applied to electric rear tail gate for automobile, breaks away
Door, the anti-clamping method of a kind of automobile door lock for performing the offer of the embodiment of the present invention one, as shown in Fig. 2 the anti-pinch device bag
Include：Cell voltage acquisition module 21, adjusting module 22, current threshold acquisition module 23, actual current acquisition module 24, compare mould
Block 25 and judge module 26.
Wherein, cell voltage acquisition module 21, the cell voltage for obtaining automobile locking motor in real time.
During electric rear tail gate for automobile, side sliding door are locked, cell voltage acquisition module 21 obtains the electricity for motor of locking
Cell voltage.
Adjusting module 22, for according to cell voltage, adjusting the dutycycle of the equivalent voltage of cell voltage and motor of locking,
Make to lock motor equivalent voltage it is stable.
In the prior art, motor-drive circuit of locking generally uses relay driving, that is, when motor of locking needs driving
Cell voltage is applied to motor two ends, rotates forward it, it is necessary to which cell voltage to be reversely applied to motor two ends of locking during return,
Invert it.But cell voltage can change with the difference of whole vehicle state, therefore motor movement of being locked under different operating modes
Characteristic can be different such as electric current, speed.
In this step, motor-drive circuit of locking can use MOSFET (Metal-Oxide-Semiconductor
Field-Effect Transistor, metal oxide layer semiconductcor field effect transisto) drive circuit, software uses PWM
(Pulse Width Modulation, pulse width modulation) is controlled, therefore adjusting module 22 is applied to electricity of locking by adjustment
The dutycycle of machine both end voltage, so that ensure motor two ends application identical equivalent voltage of being locked under different cell voltages, because
And motor movement characteristic of being locked in the case where load is constant is consistent such as electric current, speed.
Current threshold acquisition module 23, the temperature for obtaining current environment, motor is being locked just according to the temperature computation
Normal driving current and anti-pinch current threshold.
Due to the internal resistance for motor of locking, the rotational angular velocity of lock counter electromotive force of motor constant and motor of locking all can be by
The influence of ambient temperature, therefore current threshold acquisition module 23 can be anti-electric by the internal resistance of motor of locking, motor of locking
The equivalent voltage of the rotational angular velocity and motor of locking of kinetic potential constant and motor of locking calculates the driven for motor of locking
Electric current and anti-pinch current threshold.
Actual current acquisition module 24, locks the actual current of motor for obtaining current environment.
During electric rear tail gate for automobile, side sliding door are locked, actual current acquisition module 24 obtains the drive for motor of locking
Streaming current, that is, the actual current of motor in the operating condition of locking.
Comparison module 25, difference and anti-pinch current threshold for comparing actual current and normal drive current.
Judge module 26, for according to comparative result, judging whether anti-pinch.
That is, judge module 26 can be according to actual current and normal drive current difference and anti-pinch current threshold
Between magnitude relationship, judgement draw whether anti-pinch.If specifically, comparative result, which is anti-pinch current threshold, is less than difference, preventing
Folder, automobile locking motor stops driving and being unlocked operation；If comparative result, which is anti-pinch current threshold, is more than or equal to difference,
Not anti-pinch, automobile locking motor continues to drive.
The anti-pinch device of a kind of automobile door lock provided by the embodiment of the present invention four, for performing the embodiment of the present invention one
A kind of anti-clamping method of the automobile door lock provided, can be transported in the self-priming lock of electric rear tail gate for automobile, side sliding door by secondary latch position
When moving to one-level lock-bit, it can realize that arrangements for automotive doors anti-pinch is detected instead of anti-biting bar, reduce electric rear tail gate for automobile, electronic side
Slide anti-pinch cost, and then reduce integral vehicle cost.
The present invention implement four in, adjusting module 22 specifically for：
Acquisition standard equivalent voltage, calculates the dutycycle of cell voltage and standard equivalent voltage, obtains standard dutycycle；
Dutycycle is adjusted to standard dutycycle, the equivalent voltage for the motor that makes to lock is equal to standard equivalent voltage.
Need to illustrate, the business of standard equivalent voltage and cell voltage is standard dutycycle, in cell voltage liter
Gao Shi, standard dutycycle declines, and dutycycle is adjusted to standard dutycycle, the dutycycle after adjustment is multiplied by cell voltage, then may be used
To obtain the equivalent voltage for acting on motor two ends of locking.Because the equivalent voltage at motor two ends of locking is stable, then motor of locking
Electric current and the speed of service also relatively stablize, be not in due to voltage pulsation cause the speed of service mutation machinery is caused to door lock
Damage, extends the service life of door lock.
Therefore, adjustment module 22 can ensure motor two ends application identical equivalent electric of being locked under different cell voltages
Pressure, thus load it is constant in the case of motor movement characteristic of locking be consistent such as electric current, speed.
The present invention implement four in, current threshold acquisition module 23 specifically for：
Obtain the temperature of current environment, the characterisitic parameter for motor of being locked at such a temperature according to the temperature, according to special
Property parameter calculate the lock normal drive current and anti-pinch current threshold of motor.
Illustrate with reference to motor driving equation (1) is locked, motor driving equation (1) of locking is as follows：
U=I*R+K* ω (1)
Wherein, U is motor both end voltage of locking, and I is motor drive current of locking, and R is motor internal resistance of locking, and K is to lock
Counter electromotive force of motor constant, ω is motor rotational angular velocity of locking.
It was found from from above-mentioned motor driving equation (1) of locking, even if being controlled using software PWM, it is ensured that motor of locking
Equivalent voltage it is stable, the current of electric that makes to lock is consistent, but the electric current on motor of locking remain unchanged can be locked motor internal resistance, on
Lock the influence of the rotational angular velocity of counter electromotive force of motor constant and motor of locking.
But, it has been investigated that, the rotational angular velocity for motor of locking, the counter electromotive force of lock motor internal resistance and motor of locking
Constant is mainly influenceed by environment temperature.Therefore in embodiments of the present invention, at different ambient temperatures to motor of locking
Normal drive current is tested, and show that electric rear tail gate for automobile, side sliding door are locked motor in the range of normal working temperature
Curve and data that normal drive current is varied with temperature, so that the temperature by obtaining current environment, to draw motor of locking
Normal drive current at such a temperature.
Illustrate in conjunction with motor driving equation (2) is locked, motor driving equation (2) of locking is as follows：
T=Kt*I (2)
Wherein, T is the output torque of motor of locking, and Kt is the torque constant of motor of locking, and I is motor driving electricity of locking
Stream.
It was found from from above-mentioned motor driving equation (2) of locking, the driving current for motor of locking, which can accurately react, locks
The size of motor output torque, when anti-pinch occurs, the rotating speed for motor of locking is pulled low, by above-mentioned motor driving equation of locking
(1) understand, in the case that U is constant, the driving current I of motor of locking increase, make the driving current of the motor of locking after increase with
Driving current of the motor in the case of normal load of locking does difference processing, and the driving current of increase is caused by barrier.By
Fixed in the gearratio for motor of locking, therefore the driving current of increase is directly proportional to anti-grip force, therefore only need at different temperatures
Corresponding current value is carried out with dynamometer to fixed anti-grip force to be marked, you can to draw anti-pinch current threshold.
First under different environment temperatures, internal resistance, lock counter electromotive force of motor constant and electricity of locking to motor of locking
The rotational angular velocity of machine is detected, calibrates corresponding value, therefore, and current threshold acquisition module 23 works as front ring by obtaining
The temperature in border, the normal drive current and anti-pinch current threshold for motor of locking can be just calculated according to the temperature.
For example, when automobile is when temperature is in the environment of 25 DEG C, the characterisitic parameter of motor of locking has certain value, and
During test under different temperature environments, the characteristic parameter value for motor of locking all is demarcated and drawn.Therefore, only need to obtain
The temperature of current environment, with reference to motor driving equation (1) and the motor driving equation (2) of locking of locking, it is possible to calculate electricity of locking
The normal drive current and anti-pinch current threshold of machine.
Current threshold acquisition module 23 can overcome influence of the variation of ambient temperature to arrangements for automotive doors anti-pinch, and then improve vapour
The sensitivity of car car door anti-pinch.
It should be noted that some currently marketed electric rear tail gate for automobile, side sliding door are generally twin-lock control, i.e., or so
Respectively there is a lock on direction.Due to rigging error and electric rear tail gate for automobile, the influence of side sliding door self-deformation, two locks can not
Accomplish Complete Synchronization.
That is, electric rear tail gate for automobile, side sliding door include：First door lock and the second door lock, and the first door lock and
Two door locks can not accomplish Complete Synchronization again.
Therefore the anti-pinch device includes：
Unlocked state 27, for starting to drive and be judged as anti-pinch when the first door lock, and the second door lock is not when driving, and second
Door lock does not work, and the first door lock is unlocked operation；
When the first door lock and the second door lock all start driving, when the first door lock or the second door lock are judged as anti-pinch, first
Door lock and the second door lock are all unlocked operation；
Lock and finish when the first door lock, and the second door lock is when being judged as anti-pinch during driving, the first door lock and second
Door lock is all unlocked operation.
Unlocked state 27 can forbid another door lock to lock when the first door lock or the second door lock are judged as anti-pinch,
And the first door lock and the second door lock are all unlocked operation, and then prevent from causing user extruding.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or using the present invention.
A variety of modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope caused.
Claims (10)
1. a kind of anti-clamping method of automobile door lock, applied to electric rear tail gate for automobile, side sliding door, it is characterised in that the anti-pinch
Method includes：
The cell voltage of automobile locking motor is obtained in real time；
According to the cell voltage, the dutycycle of the equivalent voltage of the cell voltage and the motor of locking is adjusted, is made described
Lock motor equivalent voltage it is stable；
Obtain the temperature of current environment, normal drive current and anti-pinch current threshold according to motor of being locked described in the temperature computation
Value；
Obtain the actual current for motor of being locked described in current environment；
Compare the difference and the anti-pinch current threshold of the actual current and the normal drive current；
According to comparative result, judge whether anti-pinch.
2. anti-clamping method according to claim 1, it is characterised in that described according to the cell voltage, adjusts the electricity
The dutycycle of the equivalent voltage of cell voltage and the motor of locking, makes the equivalent voltage of the motor of locking stable, including：
Acquisition standard equivalent voltage, calculates the dutycycle of the cell voltage and the standard equivalent voltage, obtains standard duty
Than；
The dutycycle is adjusted to the standard dutycycle, makes the equivalent voltage of the motor of locking equivalent equal to the standard
Voltage.
3. anti-clamping method according to claim 1, it is characterised in that the temperature of the acquisition current environment, according to described
Locked described in temperature computation the normal drive current and anti-pinch current threshold of motor, including：
The temperature of current environment is obtained, the characterisitic parameter of the motor of locking at said temperatures is obtained according to the temperature, according to
According to the normal drive current and anti-pinch current threshold of motor of being locked described in characterisitic parameter calculating.
4. anti-clamping method according to claim 1, it is characterised in that described to judge whether anti-pinch according to comparative result, is wrapped
Include：
If the comparative result, which is the anti-pinch current threshold, is less than the difference, anti-pinch, the automobile locking motor stops
Drive and be unlocked operation；
If the comparative result, which is the anti-pinch current threshold, is more than or equal to the difference, not anti-pinch, the automobile locking electricity
Machine continues to drive.
5. anti-clamping method according to claim 1, the electric rear tail gate for automobile, side sliding door include：First door lock and
Two door locks, it is characterised in that including：
When first door lock starts to drive and be judged as anti-pinch, and second door lock, when not driving, second door lock is not
Work, and first door lock is unlocked operation；
When first door lock and second door lock all start driving, first door lock or second door lock are judged as
During anti-pinch, first door lock and second door lock are all unlocked operation；
Lock and finish when first door lock, and second door lock is when being judged as anti-pinch during driving, described first
Lock and second door lock are all unlocked operation.
6. a kind of anti-pinch device of automobile door lock, applied to electric rear tail gate for automobile, side sliding door, it is characterised in that the anti-pinch
Device includes：
Cell voltage acquisition module, the cell voltage for obtaining automobile locking motor in real time；
Adjusting module, for according to the cell voltage, adjusting the equivalent voltage of the cell voltage and the motor of locking
Dutycycle, makes the equivalent voltage of the motor of locking stable；
Current threshold acquisition module, the temperature for obtaining current environment, motor is being locked just according to described in the temperature computation
Normal driving current and anti-pinch current threshold；
Actual current acquisition module, the actual current for obtaining motor of being locked described in current environment；
Comparison module, difference and the anti-pinch current threshold for comparing the actual current and the normal drive current；
Judge module, for according to comparative result, judging whether anti-pinch.
7. anti-pinch device according to claim 6, it is characterised in that the adjusting module specifically for：
Acquisition standard equivalent voltage, calculates the dutycycle of the cell voltage and the standard equivalent voltage, obtains standard duty
Than；
The dutycycle is adjusted to the standard dutycycle, makes the equivalent voltage of the motor of locking equivalent equal to the standard
Voltage.
8. anti-pinch device according to claim 6, it is characterised in that the current threshold acquisition module specifically for：
The temperature of current environment is obtained, the characterisitic parameter of the motor of locking at said temperatures is obtained according to the temperature, according to
According to the normal drive current and anti-pinch current threshold of motor of being locked described in characterisitic parameter calculating.
9. anti-pinch device according to claim 6, it is characterised in that the judge module specifically for：
If the comparative result, which is the anti-pinch current threshold, is less than the difference, anti-pinch, the automobile locking motor stops
Drive and be unlocked operation；
If the comparative result, which is the anti-pinch current threshold, is more than or equal to the difference, not anti-pinch, the automobile locking electricity
Machine continues to drive.
10. anti-pinch device according to claim 6, the electric rear tail gate for automobile, side sliding door include：First door lock and
Two door locks, it is characterised in that the anti-pinch device includes：
Unlocked state, for starting to drive and be judged as anti-pinch when first door lock, and second door lock is not when driving, institute
The second door lock is stated not work, and first door lock is unlocked operation；
When first door lock and second door lock all start driving, first door lock or second door lock are judged as
During anti-pinch, first door lock and second door lock are all unlocked operation；
Lock and finish when first door lock, and second door lock is when being judged as anti-pinch during driving, described first
Lock and second door lock are all unlocked operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610971869.XA CN106285281B (en) | 2016-10-28 | 2016-10-28 | The anti-clamping method and device of a kind of automobile door lock |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610971869.XA CN106285281B (en) | 2016-10-28 | 2016-10-28 | The anti-clamping method and device of a kind of automobile door lock |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106285281A CN106285281A (en) | 2017-01-04 |
| CN106285281B true CN106285281B (en) | 2017-09-15 |
Family
ID=57721086
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610971869.XA Active CN106285281B (en) | 2016-10-28 | 2016-10-28 | The anti-clamping method and device of a kind of automobile door lock |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106285281B (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107558831B (en) * | 2017-07-18 | 2022-11-15 | 重庆海德世拉索系统（集团）有限公司 | Control method and circuit for door lock motor of electric back door of automobile |
| CN110303998B (en) * | 2019-06-28 | 2023-01-03 | 大陆汽车电子(长春)有限公司 | Anti-pinch temperature compensation method for on-board closing equipment and electronic control unit |
| CN111058721A (en) * | 2019-11-13 | 2020-04-24 | 中国第一汽车股份有限公司 | Automobile tail gate control method and system, vehicle and storage medium |
| CN111706200B (en) * | 2020-05-29 | 2022-04-26 | 东风汽车有限公司 | Anti-pinch control method for electric suction door and electronic equipment |
| CN111997471B (en) * | 2020-09-02 | 2022-03-15 | 北京经纬恒润科技股份有限公司 | Anti-pinch detection method and device for vehicle body closing system |
| CN113037145A (en) * | 2020-12-23 | 2021-06-25 | 盛视科技股份有限公司 | Electric door blocking judgment method and system |
| CN112832601A (en) * | 2021-01-06 | 2021-05-25 | 上海科世达-华阳汽车电器有限公司 | Door handle anti-pinch method, device, equipment and computer readable storage medium |
| CN114251024B (en) * | 2021-12-21 | 2023-03-03 | 恩坦华汽车零部件（镇江）有限公司 | PWM control-introduced self-closing automobile back door lock |
| CN117558077A (en) * | 2024-01-10 | 2024-02-13 | 深圳市每开创新科技有限公司 | Parameter adjustment method of electronic lock, storage medium and terminal device |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2966308B2 (en) * | 1995-01-20 | 1999-10-25 | 株式会社大井製作所 | Door closure |
| DE102007056228B4 (en) * | 2007-11-22 | 2010-04-22 | Continental Automotive Gmbh | Method and device for correcting temperature-dependent changes in the mechanical properties of a movable closing part of a vehicle |
| DE102009019015A1 (en) * | 2009-04-27 | 2010-11-11 | Continental Automotive Gmbh | Method and device for detecting a pinching situation |
| CN103397828B (en) * | 2013-07-19 | 2016-06-01 | 马夸特开关(上海)有限公司 | Power window switch anti-pinch system |
| JP5788937B2 (en) * | 2013-08-30 | 2015-10-07 | アイシン精機株式会社 | Vehicle opening / closing body control apparatus and vehicle opening / closing system |
| JP6169965B2 (en) * | 2013-12-25 | 2017-07-26 | アイシン精機株式会社 | Opening / closing member drive control device for vehicle |
-
2016
- 2016-10-28 CN CN201610971869.XA patent/CN106285281B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN106285281A (en) | 2017-01-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106285281B (en) | The anti-clamping method and device of a kind of automobile door lock | |
| US9121214B2 (en) | Opening and closing member control apparatus and method for controlling opening and closing member | |
| US8704476B2 (en) | Method and device for detecting an entrapment situation | |
| CN106899254B (en) | A kind of closing feature Antipinch detection method and device | |
| US20140239867A1 (en) | Pinch detection apparatus for opening-and-closing member, and opening-and-closing member apparatus | |
| US9045929B2 (en) | Open-close member control apparatus and method for controlling open-close member | |
| US6808043B2 (en) | Electric power steering device | |
| CN105317311A (en) | Open-close body control apparatus | |
| US8541969B2 (en) | Method and device for pulse width modulated activation of an electrical drive motor of an adjustment arrangement | |
| US20200031207A1 (en) | Torque current limiting vector control system and method for window regulator brushless motor | |
| US20200195180A1 (en) | Hall sensor based field oriented control system for brushless electric motor | |
| JP6169965B2 (en) | Opening / closing member drive control device for vehicle | |
| US7654039B2 (en) | Method of controlling a closure drive system of a motor vehicle | |
| JP2007092292A (en) | Opening/closing control device for vehicle | |
| CN110173188A (en) | The window regulator system and operating method including electronics stretcher for window | |
| CN105863424A (en) | Automotive anti-pinch controller based on double Hall sensors | |
| CN114016852B (en) | Automatic opening and closing control method and device for charging flap | |
| JP2008150830A (en) | Control unit of opening and closing body for vehicle | |
| CN205663344U (en) | Automobile -usedly prevent pressing from both sides controller based on two hall sensor | |
| JP4785260B2 (en) | Opening / closing object pinching determination control method | |
| JP6072546B2 (en) | Opening and closing body control device | |
| JP7192587B2 (en) | Vehicle opening/closing body control device | |
| KR20200113138A (en) | System for reducing inverter noise of eco friendly vehicle | |
| JP5334623B2 (en) | Opening and closing body control device for vehicle | |
| JP5715203B2 (en) | Opening and closing body control device for vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 4 / F, building 1, No.14 Jiuxianqiao Road, Chaoyang District, Beijing 100020 Patentee after: Beijing Jingwei Hengrun Technology Co., Ltd Address before: 8 / F, block B, No. 11, Anxiang Beili, Chaoyang District, Beijing 100101 Patentee before: Beijing Jingwei HiRain Technologies Co.,Ltd. |