CN106567635B - Electronic side sliding door anti-clamping method and system - Google Patents
Electronic side sliding door anti-clamping method and system Download PDFInfo
- Publication number
- CN106567635B CN106567635B CN201610922136.7A CN201610922136A CN106567635B CN 106567635 B CN106567635 B CN 106567635B CN 201610922136 A CN201610922136 A CN 201610922136A CN 106567635 B CN106567635 B CN 106567635B
- Authority
- CN
- China
- Prior art keywords
- side sliding
- sliding door
- car door
- door
- real time
- 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
- 238000000034 method Methods 0.000 title claims abstract description 33
- 230000004888 barrier function Effects 0.000 claims description 6
- 230000000694 effects Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 241000283725 Bos Species 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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
- 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
- E05F15/60—Power-operated mechanisms for wings using electrical actuators
- E05F15/603—Power-operated mechanisms for wings using electrical actuators using rotary electromotors
- E05F15/632—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for horizontally-sliding wings
- E05F15/655—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for horizontally-sliding wings specially adapted for vehicle wings
- E05F15/659—Control circuits therefor
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2900/00—Application of doors, windows, wings or fittings thereof
- E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
- E05Y2900/53—Type of wing
- E05Y2900/531—Doors
Landscapes
- Power-Operated Mechanisms For Wings (AREA)
Abstract
The present invention relates to electronic side sliding door anti-pinch fields, disclose a kind of electronic side sliding door anti-clamping method and system, this method include：The acquisition position of side sliding door and corresponding speed value V in real times；According to preset Place object speed correspondence, the corresponding target velocity V of the position t are obtainedk；When acquire in real time the position it is constant when, the velocity amplitude V that will acquire in real timesWith VkCompare, and record the duration that side sliding door is in position；When comparison result isAnd the duration, when being more than duration threshold value T, M is proportion threshold value, then judges that car door encounters obstacle, starts anti-pinch processing.The present invention determines whether that starting anti-pinch is handled, and after obstacle is encountered, anti-pinch processing is then carried out in the case that car door maintains original position within a certain period of time, and the speed of car door is relatively low always with the speed of service of car door.Efficiently solve when car door is heavier, in 20% gradient can not normal switch door and after a certain period of vehicle operation, accidentally anti-pinch phenomenon problem after car door ride comfort is deteriorated.
Description
Technical field
The present invention relates to electronic side sliding door field, more particularly to electronic side sliding door anti-clamping method and system.
Background technology
Vehicular electric side sliding door is by the way of current of electric anti-pinch at present, and car door encounters barrier in car door operational process
Hinder the object tail gate speed of service that can reduce, to ensure car door uniform motion, controller can increase motor output voltage, to increase electricity
Machine output torque can accordingly be increased at this time by the electric current of motor, and controller judges that car door is being transported according to the variation of current of electric
It is dynamic whether to encounter barrier in the process, so as to perform anti-pinch processing.Motor output torque formula：T=C Φ Ι, wherein, T--
Electromagnetic torque/Nm of motor；C-- motor torque constants, it is tightly related with electric machine structure；Φ -- air-gap flux/Wb per magnetic pole；
Electric current/A that I-- passes through armature.
When car door is heavier, since car door weight component is larger in 20% gradient, lead to not normal switch door；Car door
Operation a period of time, after ride comfort is deteriorated, curent change is more frequent in car door normal course of operation, such as still uses motor
Electric current anti-pinch strategy is susceptible to accidentally anti-pinch phenomenon.
Invention content
(1) technical problems to be solved
The object of the present invention is to provide a kind of electronic side sliding door anti-clamping method and system, to solve electronic side sliding door on slope
Operational effect and electronic side sliding door ride comfort be deteriorated after, be susceptible in the course of work accidentally anti-pinch phenomenon the problem of.
(2) technical solution
In order to solve the above technical problem, the present invention provides a kind of electronic side sliding door anti-clamping method, including：
The acquisition position of side sliding door and corresponding speed value V in real times；
According to preset position-target velocity correspondence, the corresponding target velocity V in the position is obtainedk；
When acquire in real time the position it is constant when, the velocity amplitude V that will acquire in real timesWith VkCompare, and record side sliding door and be in
The duration of position；
When comparison result isAnd the duration be more than duration threshold value T when, M is proportion threshold value, then judges car door
Obstacle is encountered, starts anti-pinch processing.
In some embodiments, preferably, the presetting method of the position-target velocity correspondence includes：
Determine the closing of the door time；
According to the closing of the door time, determine car door in t0-tnThe target velocity V of each positionk, t0For closing of the door shape
State door position, tnFor car door maximum position.
In some embodiments, preferably, t0It is 0, tnHall number during for car door maximum position.
In some embodiments, preferably, the determining car door is in t0-tnThe target velocity V of each positionkIncluding：
By car door in t0-tnEach position be divided at least two continuous positions sections；
It determines the target speed value of each position section, the target speed value is set to each position in the section of the position
Target velocity Vk。
In some embodiments, preferably, the position and corresponding speed value VsReal-time acquisition mode be：Per i milliseconds
Acquisition is primary, i≤T.
In some embodiments, preferably, the value range of the M is 0.5-0.99.
In some embodiments, preferably, the value range of the duration threshold value T is 10 milliseconds -300 milliseconds.
In some embodiments, preferably, when the position is constant, the velocity amplitude V that will acquire in real timesWith VkIn comparing,
When comparison result is Vs＜ VkWhen, and do not carry out anti-pinch processing, then incrementally increase the output power of driving motor.
In some embodiments, preferably, electronic side sliding door anti-clamping method further includes：The velocity amplitude V that will be acquired in real timesWith
VkIn comparing, when comparison result is Vs>VkWhen, then reduce the output power of driving motor.
Another aspect of the present invention additionally provides a kind of electronic side sliding door anti-clipping system, including：Acquisition module, acquisition module
And comparison module；
The acquisition module, for acquiring the position of side sliding door and corresponding speed value V in real times；
The acquisition module, for according to preset position-target velocity correspondence, obtaining the corresponding mesh in the position
Mark speed Vk；
The comparison module, for judging to acquire whether the position changes with respect to the position of last time acquisition in real time,
If acquire in real time the position it is constant when, the velocity amplitude V that will acquire in real timesWith VkCompare, and record side sliding door be in position when
It is long；When comparison result isAnd the duration be more than duration threshold value T when, M is proportion threshold value, then judges that car door encounters barrier
Hinder, start anti-pinch processing.
(3) advantageous effect
Electronic side sliding door anti-pinch algorithm provided by the invention determines whether that starting anti-pinch is handled with the speed of service of car door,
After obstacle is encountered, car door maintains original position within a certain period of time, and is then prevented in the case that the speed of car door is relatively low always
Folder processing.Efficiently solve when car door is heavier, in 20% gradient can not normal switch door and vehicle run a period of time
Afterwards, occurs the problem of accidentally anti-pinch phenomenon after car door ride comfort is deteriorated.
Description of the drawings
Fig. 1 is the structure diagram of electronic side sliding door anti-clipping system in one embodiment of the invention.
Specific embodiment
With reference to the accompanying drawings and examples, the specific embodiment of the present invention is described in further detail.Following instance
For illustrating the present invention, but it is not limited to the scope of the present invention.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or be integrally connected；It can
To be mechanical connection or be electrically connected；It can be directly connected, can also be indirectly connected by intermediary, Ke Yishi
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
It is right since current of electric being used to be susceptible to the process of accidentally anti-pinch processing during determining pinch resistant operation at present
This, the present invention provides a kind of electronic side sliding door anti-clamping method.
This method is described in detail followed by basic engineering and extension design, alternative design：
A kind of electronic side sliding door anti-clamping method, which is characterized in that including：
The acquisition position of side sliding door and corresponding speed value V in real times；
According to preset position-target velocity correspondence, the corresponding target velocity V of the position t are obtainedk；
When acquire in real time the position it is constant when, the velocity amplitude V that will acquire in real timesWith VkCompare, and record side sliding door and be in
The duration of position；
When comparison result isAnd the duration be more than duration threshold value T when, M is proportion threshold value, then judges car door
Obstacle is encountered, starts anti-pinch processing.
It should be noted that：The electronic side sliding door anti-clamping method acquires the acquisition of data to be real-time, follow-up comparison procedure
In data be also the data acquired in real time, that is to say, that it is all its last time acquisition that different time sections, which are used for the data that compare,
Data.The purpose acquired in real time is more accurately to obtain the speed in different moments of side sliding door, the corresponding acquired value into
Row judges, to make timely anti-pinch processing.
Wherein, it in order to subsequently compare, needs to be defined the Objective speed of electronic side sliding door in early period, consider simultaneously
Ways of carrying out to electronic side sliding door is essentially：Accelerate, it is near at the uniform velocity, slow down, therefore, the Objective speed of corresponding different location
It differs, it is therefore desirable to establish position-target velocity correspondence.
The correspondence of position-target velocity can combine the shut-in time of car door, the switch distance of car door is integrated
Setting.Specially：Determine the closing of the door time；According to the closing of the door time, determine car door in t0-tnEach position on
Target velocity Vk, t0For closing of the door state door position, tnFor car door maximum position.
Car door speed clear and definite first is got by motor speed conversion, and motor speed is controller by acquiring motor
Hall signal calculating get, such as motor turns around and sends out 6 hall signals, then according to the hall signal number per minute received
N divided by 6 obtains motor speed.Define closing of the door state door position t0It is 0, car door maximum position is car door maximum position
When Hall number tn。
It should be noted that if position and speed setting density are larger, more collection capacities, comparative quantity, nothing are needed
The calculation amount of anti-pinch algorithm can be increased in shape, slow down efficiency.Therefore, in some embodiments, generally use draws the mode of section, will
Car door is in t0-tnEach position be divided at least two continuous positions sections, preferably 3 sections (accelerate, it is similar at the uniform velocity, slow down)；Really
The target speed value is set to the target velocity of each position in the section of the position by the target speed value of fixed each position section
Vk。
Meanwhile how to acquire in real time, there is larger shadow at the frequency of acquisition, the interval of acquisition to the progress and efficiency of anti-clamping method
It rings, if frequency acquisition is excessive, the workload that anti-pinch judges increases.If acquisition is overstocked, it is suddenly fast, suddenly slow to be susceptible to side sliding door
Situation, can side sliding door service life and using effect impact.Therefore, in some embodiments, position and corresponding speed value
VsReal-time acquisition mode be：Per i milliseconds, acquisition is primary, i≤T.Such as：A motor operation speed is detected per 10ms controllers
Degree is converted to the speed of side sliding door.
In above-mentioned relatively formula, the selection of M values is variable, depends primarily on road environment where vehicle, such as：
Flat road surface traveling, slope surface traveling etc..The value range of M is 0.5-0.99.For example：
When flat road surface travels, anti-grip force (obstruction force) can be set as 100-150 oxen by car door operation smooth-going
, M values are set as 10%.During more than 10%, it is possible to encounter larger obstruction force, which may be to clamp barrier
Cause.
When uneven road traveling, anti-grip force (obstruction force) can be set as 200- by car door operation irregularity
260 newton, M values are set as 20%, during more than 20%, are just judged to being likely encountered larger obstruction force, which may
Cause to clamp barrier.
Obstacle is encountered in car door, there are during deviation for the car door speed of service and target velocity, it is impossible to directly be defined as anti-pinch, have
The car door driving of effect, effective buffer time judge to be necessary, therefore, it is necessary to judge the constant duration in car door present position,
The duration and duration threshold value are compared.The value range of duration threshold value T is preferably 10 milliseconds -300 milliseconds.
Similarly, obstacle is encountered in car door, there are during deviation for the car door speed of service and target velocity, it is impossible to directly be defined as preventing
Folder, effective car door driving can help car door to overcome the problems, such as the non-speed governing clamped in the case of obstacle, so, when normally offer drive
After power, in the case that car door is still motionless, i.e., when door position is constant, Vs＜ VkAnd do not carry out anti-pinch processing, then gradually increase
The output power of big driving motor improves car door speed by increasing output power, car door is promoted smoothly to close.
In addition there is a kind of situation, in acquisition car door speed VsAfterwards, if Vs>Vk, then reduce the output work of driving motor
Rate, adjustment car door speed to target velocity.
The present invention also proposes a kind of electronic side sliding door anti-clipping system, to perform electronic side sliding door anti-clamping method.The system can
Think the independent hardware configuration for performing this method.Or the chip of this method program is loaded with, it is placed in other hardware knots
In structure, it can also be the soft-program system of method, be loaded into all kinds of electronic devices.
A kind of electronic side sliding door anti-clipping system, as shown in Figure 1, including：Acquisition module, acquisition module and comparison module；
The acquisition module, for acquiring the position of side sliding door and corresponding speed value V in real times；
The acquisition module, for according to preset position-target velocity correspondence, obtaining the corresponding mesh in the position
Mark speed Vk；
The comparison module, for judging to acquire whether the position changes with respect to the position of last time acquisition in real time,
If acquire in real time the position it is constant when, the velocity amplitude V that will acquire in real timesWith VkCompare, and record side sliding door be in position when
It is long；When comparison result is VAnd the duration be more than duration threshold value T when, M is proportion threshold value, then judges that car door encounters
Obstacle starts anti-pinch processing.
The method is effectively solved when car door is heavier, in 20% gradient can not normal switch door and vehicle run
After a period of time, there is the problem of accidentally anti-pinch phenomenon in car door ride comfort after being deteriorated.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
With within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention god.
Claims (10)
1. a kind of electronic side sliding door anti-clamping method, which is characterized in that including：
The acquisition position of side sliding door and corresponding speed value V in real times；
According to preset position-target velocity correspondence, the corresponding target velocity V in the position is obtainedk；
When acquire in real time the position it is constant when, the velocity amplitude V that will acquire in real timesWith VkCompare, and record side sliding door and be in position
Duration；
When comparison result isAnd the duration be more than duration threshold value T when, M is proportion threshold value, then judges that car door encounters barrier
Hinder, start anti-pinch processing.
2. electronic side sliding door anti-clamping method as described in claim 1, which is characterized in that the position-target velocity, which corresponds to, closes
The presetting method of system includes：
Determine the closing of the door time；
According to the closing of the door time, determine car door in t0-tnThe target velocity V of each positionk, t0For closing of the door state car door
Position, tnFor car door maximum position.
3. electronic side sliding door anti-clamping method as claimed in claim 2, which is characterized in that t0It is 0, tnDuring for car door maximum position
Hall number.
4. electronic side sliding door anti-clamping method as claimed in claim 2, which is characterized in that the determining car door is in t0-tnEach position
Target velocity VkIncluding：
By car door in t0-tnEach position be divided at least two continuous positions sections；
It determines the target speed value of each position section, the target speed value is set to the target of each position in the section of the position
Speed Vk。
5. electronic side sliding door anti-clamping method as described in claim 1, which is characterized in that the position and corresponding speed value Vs's
Acquisition mode is in real time：Per i milliseconds, acquisition is primary, i≤T.
6. electronic side sliding door anti-clamping method as described in claim 1, which is characterized in that the value range of the M is 0.5-
0.99。
7. electronic side sliding door anti-clamping method as described in claim 1, which is characterized in that the value range of the duration threshold value T
It is 10 milliseconds -300 milliseconds.
8. such as the electronic side sliding door anti-clamping method of claim 1-7 any one of them, which is characterized in that when the position is constant
When, the velocity amplitude V that will acquire in real timesWith VkIn comparing,
When comparison result is Vs＜ VkWhen, and do not carry out anti-pinch processing, then incrementally increase the output power of driving motor.
9. such as the electronic side sliding door anti-clamping method of claim 1-7 any one of them, which is characterized in that the electronic side sliding door is prevented
Clamping method further includes：The velocity amplitude V that will be acquired in real timesWith VkIn comparing,
When comparison result is Vs>VkWhen, then reduce the output power of driving motor.
10. a kind of electronic side sliding door anti-clipping system, which is characterized in that including：Acquisition module, acquisition module and comparison module；
The acquisition module, for acquiring the position of side sliding door and corresponding speed value V in real times；
The acquisition module, for according to preset position-target velocity correspondence, obtaining the corresponding target speed in the position
Spend Vk；
The comparison module, for judging to acquire whether the position changes with respect to the position of last time acquisition in real time, if real
When acquire the position it is constant when, the velocity amplitude V that will acquire in real timesWith VkCompare, and record the duration that side sliding door is in position；
When comparison result isAnd the duration be more than duration threshold value T when, M is proportion threshold value, then judges that car door encounters obstacle,
Start anti-pinch processing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610922136.7A CN106567635B (en) | 2016-10-21 | 2016-10-21 | Electronic side sliding door anti-clamping method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610922136.7A CN106567635B (en) | 2016-10-21 | 2016-10-21 | Electronic side sliding door anti-clamping method and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106567635A CN106567635A (en) | 2017-04-19 |
| CN106567635B true CN106567635B (en) | 2018-06-26 |
Family
ID=58534125
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610922136.7A Active CN106567635B (en) | 2016-10-21 | 2016-10-21 | Electronic side sliding door anti-clamping method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106567635B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110792352A (en) * | 2019-11-27 | 2020-02-14 | 芜湖莫森泰克汽车科技股份有限公司 | Automobile side sliding door control method and control circuit |
| JP7334607B2 (en) * | 2019-12-16 | 2023-08-29 | 株式会社アイシン | Vehicle opening/closing body control device |
| 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 |
| CN115263113B (en) * | 2022-08-31 | 2024-01-30 | 长城汽车股份有限公司 | Electric sliding door performance monitoring method and device and vehicle |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101231529A (en) * | 2006-10-25 | 2008-07-30 | 罗伯特·博世有限公司 | Systems and methods of tracking partition system performance |
| CN102979397A (en) * | 2012-11-01 | 2013-03-20 | 北京经纬恒润科技有限公司 | Anti-pinch method and device thereof |
| CN103161379A (en) * | 2011-12-15 | 2013-06-19 | 华创车电技术中心股份有限公司 | Anti-pinch car window system |
| CN103929101A (en) * | 2013-10-28 | 2014-07-16 | 芜湖莫森泰克汽车科技有限公司 | Method for realizing anti-clamping function of skylight |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4487588B2 (en) * | 2004-02-18 | 2010-06-23 | アイシン精機株式会社 | Opening and closing body control device |
| DE102008025247B4 (en) * | 2007-05-28 | 2018-05-24 | Asmo Co., Ltd. | Control device for a locking panel |
-
2016
- 2016-10-21 CN CN201610922136.7A patent/CN106567635B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101231529A (en) * | 2006-10-25 | 2008-07-30 | 罗伯特·博世有限公司 | Systems and methods of tracking partition system performance |
| CN103161379A (en) * | 2011-12-15 | 2013-06-19 | 华创车电技术中心股份有限公司 | Anti-pinch car window system |
| CN102979397A (en) * | 2012-11-01 | 2013-03-20 | 北京经纬恒润科技有限公司 | Anti-pinch method and device thereof |
| CN103929101A (en) * | 2013-10-28 | 2014-07-16 | 芜湖莫森泰克汽车科技有限公司 | Method for realizing anti-clamping function of skylight |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106567635A (en) | 2017-04-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106567635B (en) | Electronic side sliding door anti-clamping method and system | |
| US20100057284A1 (en) | Method and apparatus for controlling motor for skid mode of electric vehicle | |
| CN103107769B (en) | Power inverter and circuit overcurrent protection | |
| CN106899254B (en) | A kind of closing feature Antipinch detection method and device | |
| WO2018126967A1 (en) | Method and device for planning and controlling velocity of shuttle, and shuttle | |
| CN1889358A (en) | Permasyn electric machine control system based on adaptive sliding moding structure | |
| CN108715386B (en) | Ladder door operation vibration detection system, operation adjustment method, device and storage medium | |
| CN103696649A (en) | Anti-pinch protection device and method for electric vehicle window | |
| CN105751918B (en) | A kind of closed-loop drive apparatus and method of direct current chopping regulating speed electric locomotive | |
| KR20180119692A (en) | Control method of electric vehicle and control device of electric vehicle | |
| US9423802B2 (en) | Apparatus for controlling vehicle | |
| CN106926746B (en) | The control method that electric car is wriggled is realized based on drive control device | |
| CN108274969A (en) | A kind of feed energy suspension and its damping method for handover control based on speed subregion | |
| CN103277003A (en) | Speed brake method and device and speed control method and device for electric tail gate | |
| JPWO2012093441A1 (en) | Elevator door control system | |
| DE112015006640T5 (en) | Motor controller | |
| CN112130598B (en) | Torque filtering method and device | |
| CN106788008A (en) | The control method and device of a kind of vehicle body closed-system direct current generator | |
| CN104167959A (en) | Method and device for determining number of pole pairs | |
| DE102016110368A1 (en) | CONTROL DEVICE OF A SYNCHRONOUS MOTOR | |
| CN104835327B (en) | A kind of method and device of identification information of road surface | |
| CN108506200B (en) | A kind of control system and method for mixed driven automobile air conditioning torque in compressor | |
| CN107985124B (en) | A kind of driving element condition control method, device, controller and electric car | |
| US20150352975A1 (en) | Torque control apparatus and method for drive motor | |
| JP6135741B2 (en) | Vehicle test apparatus and vehicle speed deviation calculation method for vehicle test apparatus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PP01 | Preservation of patent right | ||
| PP01 | Preservation of patent right |
Effective date of registration: 20201125 Granted publication date: 20180626 |
|
| PD01 | Discharge of preservation of patent | ||
| PD01 | Discharge of preservation of patent |
Date of cancellation: 20220216 Granted publication date: 20180626 |