CN107975316B - Electronic passenger doors intelligence control system and anti-clamping method - Google Patents
Electronic passenger doors intelligence control system and anti-clamping method Download PDFInfo
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- CN107975316B CN107975316B CN201711128509.4A CN201711128509A CN107975316B CN 107975316 B CN107975316 B CN 107975316B CN 201711128509 A CN201711128509 A CN 201711128509A CN 107975316 B CN107975316 B CN 107975316B
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- 238000012360 testing method Methods 0.000 claims abstract description 11
- 230000033001 locomotion Effects 0.000 claims description 42
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- 238000003745 diagnosis Methods 0.000 claims description 7
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- 238000004519 manufacturing process Methods 0.000 abstract description 4
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Classifications
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- 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
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- 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
- E05Y2900/506—Application of doors, windows, wings or fittings thereof for vehicles for buses
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- 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
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- Power-Operated Mechanisms For Wings (AREA)
Abstract
The present invention provides a kind of electronic passenger doors intelligence control system and anti-clamping methods, including CPU module and difference switch gate input signal detection module, electric machines test module, door position sensor, temperature sensor, motor drive module, non-volatile memory module, communication module and failure indication module connected to it；The present invention, which can better meet passenger doors, prevents from crushing the security requirement of personnel, solves the problems, such as anti-pinch limited performance in environment temperature；The convenience requirement for preferably meeting passenger doors installation and debugging, solves the problems, such as to lead to door switch irregularity due to different door opening sizes or manufacturing tolerance；The reliability requirement for preferably meeting anti-pinch performance and switch gate smooth degree in passenger doors product design life cycle, anti-pinch performance caused by solving the problems, such as because of mechanical life and abrasion and switch smooth degree deterioration；It is easy to maintain simultaneously, it can diagnose and record the failure of executing agency or proof mechanism.
Description
Technical field
The present invention relates to door for coach to control system regions, and in particular to a kind of passenger doors intelligence control system and anti-pinch side
Method.
Background technique
Along with the promotion of people's environmental protection consciousness and the development of new energy technology, got in automobile industry
Fully rely on battery-driven vehicle come more.Simultaneously as the continuous promotion of on-vehicle battery capacity and capacity usage ratio, so that
Traditional vehicle assembly (such as passenger doors, air-conditioning) selects to be possibly realized using electric power as its power resources, and is followed by vehicle
Enter the pure electric vehicle epoch together.Use electric power as power source, also makes it possible the Intelligent electronic control system introduced in assembly.
Basic assembly one of of the passenger doors as vehicle, traditional scheme is realized using air pressure as power source using theory of mechanics
Prevent from crushing personnel and the smooth requirement of door switch.But due to mechanical characteristic limitation itself, with using the increase of time not
Occur mechanical abrasion and aging avoidablely, material property can also change with environment temperature, these can all cause it anti-
The performances deterioration such as folder and door switch smooth degree.
It is current in the prior art, utility model patent (Publication No. CN205743421U) discloses a kind of car and multiplies
The objective pneumatic anti-pinch device of door comprising for controlling the air-channel system and anti-pinch control circuit of passenger's door switch, the gas circuit
System includes that gate solenoid valve and door pump cylinder, and the gate solenoid valve includes enabling solenoid valve and shutdown solenoid valve,
In, be provided with enabling gas circuit between the enabling solenoid valve and the enabling pump chamber of door pump cylinder, the shutdown solenoid valve with
It is provided with shutdown gas circuit between the shutdown pump chamber of the door pump cylinder, is provided with baroceptor in the enabling gas circuit；It is described
Anti-pinch control circuit includes power circuit and the manual switch for controlling the enabling solenoid valve or shutdown electromagnetic valve work
Circuit is provided with one for controlling the centre of the enabling electromagnetic valve work between the power circuit and the enabling solenoid valve
Conversion circuit, the baroceptor are electrically connected on the power circuit, and the signal of the baroceptor acquisition controls institute
State the work of intermediate conversion circuit.However be that anti-pinch is realized based on pneumatic mechanical device in the above-mentioned technical solutions, it not can solve
Because of deteriorated reliability problem caused by tracheae aging gas leakage etc..
Utility model patent (Publication No. CN206190096U) discloses a kind of passenger on public transport door air bag anti-pinch device,
Including anti-pinch air bag, anti-pinch tracheae, baroceptor, controller, combined aural and visual alarm and drive module；The anti-pinch air bag is fixed
In the adhesive tape of door outside, anti-pinch tracheae is provided in anti-pinch air bag, the top of anti-pinch tracheae passes through connecting tube and air pressure transmission
Sensor is connected, and the bottom of anti-pinch air bag is provided with inflation/deflation detection interface；The controller respectively with baroceptor, acousto-optic
Alarm, drive module are connected.However above-mentioned technical proposal is as judgement by the cavity pressure variation after air bag deformation
It is no to clip to people, it not can solve because environment temperature reduces, air bag rubber hardening, external force needed for deformation becomes larger, and judges the threshold of anti-pinch
The problem of value also becomes larger therewith, and the decline of anti-pinch performance is caused even to be failed.
Above-mentioned technical proposal only can control the open and close of power output simultaneously, cannot be adjusted according to the virtual condition of door
Output power controls the movement velocity of door, the i.e. smooth degree of door switch；Different door opening size or manufacturing tolerance tune cannot be directed to
Whole mechanical structure cannot be rapidly adapted to vehicle；Above-mentioned technical proposal is all made of opened loop control, cannot be to outputting and inputting
Signal carries out fault diagnosis, and reliability is not high.
Summary of the invention
The present invention to solve the above-mentioned problems, provides a kind of electronic passenger doors intelligence control system and anti-clamping method, energy
Enough better meeting passenger doors prevents from crushing the security requirement of personnel, solves the problems, such as anti-pinch limited performance in environment temperature；
Preferably meet the convenience requirement of passenger doors installation and debugging, solves to cause door to be opened due to different door opening sizes or manufacturing tolerance
The problem of closing irregularity；Preferably meet the reliable of anti-pinch performance and switch gate smooth degree in passenger doors product design life cycle
Property require, solves the problems, such as because mechanical life and abrasion caused by anti-pinch performance and switch smooth degree deteriorate；It is easy to maintain simultaneously
Maintenance, can diagnose and record the failure of executing agency or proof mechanism.
The technical solution adopted by the present invention are as follows: a kind of electronic passenger doors intelligence control system, including CPU module
With switch gate input signal detection module connected to it respectively, electric machines test module, door position sensor, temperature sensor,
Motor drive module, non-volatile memory module, communication module and failure indication module；
The CPU module is responsible for the acquisition and processing of all signals, including in CPU module
Anti-pinch algorithm in pinch resistant functionality unit is handled, and is supported the processing of motor drive module, support to communicate with vehicle, is supported event
Barrier instruction and failed storage；
Switch gate signal is transferred to CPU module to judge whether completely by the switch gate input signal detection module
Foot executes the condition of switch gate movement；
The instantaneous operating conditions of the electric machines test module detection motor, provide the electricity of motor for pinch resistant functionality unit
Stream, revolving speed and torque information；
The real time position of passenger doors is converted electric signal by the door position sensor, is in CPU module
The real time position and real time kinematics velocity information of pinch resistant functionality unit offer door；
Temperature information is converted electric signal by the temperature sensor, is the pinch resistant functionality list in CPU module
Member provides environment temperature and motor temperature information；
The motor drive module driving motor forward, reverse or stop machine drives passenger doors to complete switch gate movement；
The non-volatile memory module by the curve movement of passenger doors, anti-pinch curve, fault message, calibrating parameters and
Configuration information carries out fast reading and writing；
The communication module can be communicated with vehicle or diagnostic device, pass through its achievable fault diagnosis or software upgrading
Function；
The failure indication module informs driver and related personnel by control indicator, by the state of passenger doors,
Whether prompt passengers door is in normal condition.
The invention also includes anti-clamping method employed in a kind of electronic passenger doors intelligence control system, this method includes such as
Lower step:
After system starting, before the effective switch gate signal of switch gate input signal detection module feedback, system is kept
Standby mode；
When opening the door or door signal is any effectively and after meet full-vehicle control logic, system can be first from nonvolatile storage mould
Block reads required curve movement and anti-pinch curve, then starts motor, while starting motor status, temperature, door position, Men Su
The detection of degree and door acceleration, real-time monitoring system operating status；
If it was found that relevant information is recorded in non-volatile memory module if failure and makes motor stopping；
Door position and motor status are combined if fault-free, are judged according to motor operating condition, anti-pinch curve and temperature corrected value
Whether anti-pinch is triggered；
Judge door whether in place according to door position if not triggering anti-pinch；
If not in place if motor running parameter adjusted according to curve movement and door position, make to keep a smooth movement, continue
Execute switch gate movement；
If shutdown in place, makes motor stopping.
Further, parameter needed for the curve movement and anti-pinch curve are respectively driving motor and judge anti-pinch is bent
Line.
Further, the motor running parameter includes motor rotating speed of target and motor upper limit current.
Further, the anti-pinch includes three kinds of electric current anti-pinch, Men Sudu anti-pinch and door acceleration anti-pinch determination methods,
Middle either condition, which meets, to be judged to triggering anti-pinch:
The electric current anti-pinch: determining electric current anti-pinch base value Ib according to door position and anti-pinch curve, determines electricity according to temperature
Anti-pinch correction value It is flowed, electric current anti-pinch threshold value is the sum of Ib and It；When motor current flow is greater than electric current anti-pinch threshold value, sentence
It is set to trigger current anti-pinch；
The door speed anti-pinch: determining door speed anti-pinch base value Sb according to door position and curve movement, true according to temperature
Determining door speed anti-pinch correction value St, Men Sudu anti-pinch threshold value is the sum of Sb and St；When door present speed is less than door speed anti-pinch
When threshold value, it is determined as trigger gate speed anti-pinch；
The door acceleration anti-pinch: door acceleration anti-pinch base value Ab is determined according to door position and curve movement, according to temperature
It spends and determines door acceleration anti-pinch correction value At, door acceleration anti-pinch threshold value is the sum of Ab and At；When door current acceleration is less than
When door acceleration anti-pinch threshold value, it is determined as trigger gate acceleration anti-pinch.
Further, the control system is equipped with self-studying mode；At the end of switch gate movement, to nonvolatile storage
Operation curve and anti-pinch curve in module are modified；The diagnosis control that the self-studying mode can be fed back by communication module
Triggering or switch gate input signal detection module feedback it is special switch combination sequence triggering；When control system is in self study mould
Under formula, passenger doors will record during switch gate this movement in actual operating parameter, including door position, Men Sudu,
Door acceleration, current of electric and motor speed, it is standby it is preceding operation curve and anti-pinch curve are adjusted, to adapt to not fellow disciple
The influence of hole size or the door smooth degree as caused by mechanical clearance.
Because each self study adjustment has the limitation of range can be by more if still backlog demand after a self study
Reach perfect condition after secondary self study, or passes through the direct calibration curve of communication module by diagnostic device.
The beneficial effect comprise that:
1, realization mechanism of the invention is the anti-pinch algorithm based on electronically controlled intelligence system and software, the judgement of anti-pinch
Independent of mechanical structure, therefore the life problems of traditional, pneumatic anti-clipping system are avoided, there is higher reliability.
2, anti-pinch strategy of the invention is the anti-pinch algorithm based on motor control and sensor feedback, wherein motor feedback number
According to, be aided with environment temperature amendment, it is final to determine anti-pinch decision, do not solve conventional balloon anti-pinch singly and be limited to asking for environment temperature
The problem of topic, also solving mechanical structure, the resistance of motion is different at different ambient temperatures, leads to anti-pinch changes of threshold, have
Higher safety.
3, the present invention realizes the closed-loop control of motor and door using the feedback signal of sensor, can be according to the practical shape of door
State adjusts the parameter of electric machine, it is ensured that the smooth degree of Men Yundong has more preferably performance.
4, the present invention realizes autonomous learning function using the algorithm of software, the feedback that can be moved according to last door switch
Parameter is modified scheduled curve movement and anti-pinch curve, and then realizes the adaptive of curve, is vehicle installation and debugging, mentions
Better convenience is supplied.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of electronic passenger doors intelligence control system；
Fig. 2 is anti-pinch algorithm flow chart.
Specific embodiment
The present invention will be further described below with reference to the drawings.
As shown in Figure 1, the present invention is a kind of electronic passenger doors intelligence control system, including CPU module 101, open
Shutdown input signal detection module 102, electric machines test module 103, door position sensor 104, temperature sensor 105, motor drive
Dynamic model block 106, non-volatile memory module 107, communication module 108 and failure indication module 109, wherein CPU module
101 respectively with switch gate input signal detection module 102, electric machines test module 103, door position sensor 104, temperature sensor
105, motor drive module 106, non-volatile memory module 107, communication module 108 are connected with failure indication module 109.
Wherein, CPU module 101 is responsible for the acquisition and processing of all signals, including in CPU module
Pinch resistant functionality unit 110 in anti-pinch algorithm handled, support that the processing of motor drive module 106, support and vehicle are logical
Letter supports indicating fault and failed storage；Switch gate signal is transferred to central processing by switch gate input signal detection module 102
Device module 101 judges whether to meet the condition for executing switch gate movement；The real-time working shape of the detection motor of electric machines test module 103
State provides the electric current, revolving speed and torque information of motor for pinch resistant functionality unit 110；Door position sensor 104 is by the reality of passenger doors
When position be converted into electric signal, provide the real time position and reality of door for the pinch resistant functionality unit 110 in CPU module 101
When motion velocity information；Temperature information is converted electric signal by temperature sensor 105, is anti-in CPU module 101
It presss from both sides functional unit 110 and environment temperature and motor temperature information is provided；Motor drive module drives 106 motor forward, reverse or stop
Machine drives passenger doors to complete switch gate movement；Non-volatile memory module 107 by the curve movement of passenger doors, anti-pinch curve, therefore
Hinder information, calibrating parameters and configuration information and carries out fast reading and writing；Communication module 108 can be communicated with vehicle or diagnostic device, be led to
Cross its achievable fault diagnosis or software upgrading function；Failure indication module 109 is by control indicator, by the shape of passenger doors
State informs whether driver and related personnel, prompt passengers door are in normal condition.
Control system in the present invention passes through detection switch gate input signal and executes switch gate movement to determine whether meeting
Condition, and by 106 driving motor of motor drive module drive passenger doors complete switch gate movement；Central processing unit mould simultaneously
Pinch resistant functionality unit 110 in block 101 is anti-according to electric machines test module 103, door position sensor 104 and temperature sensor 105
The all data of feedback, respectively in connection with the anti-pinch curve and curve movement real-time judge door stored in non-volatile memory module 107
Whether exceed anti-pinch threshold value in switching process, adjustment motor running parameter ensures that the movement of door is smooth；If noting abnormalities, immediately
Stop current action；If the anti-pinch algorithm in pinch resistant functionality unit 110 finds failure in the process, it will record and deposited non-volatile
It is checked when in memory modules 107 to overhaul, while vehicle or diagnostic device is reported to by communication module 108, pass through failure
Indicating module 109 carries out warning note.
As shown in Fig. 2, it is based on above-mentioned control system, the anti-clamping method in the present invention are as follows:
After system starting, before switch gate input signal detection module 102 feeds back effective switch gate signal, system is protected
Hold standby mode；After switch gate input signal detection module 102 detects effective switch gate signal, system can be first from non-easy
It loses memory module 107 and reads required curve movement and anti-pinch curve, above-mentioned curve movement and anti-pinch curve are respectively to drive
Motor and parameter curve needed for judging anti-pinch.Then start motor, while detecting motor shape using electric machines test module 103
State, detects temperature using temperature sensor 105, detects door position, Men Sudu and door acceleration using door position sensor 104,
Real-time monitoring system operating status；Relevant information is recorded in non-volatile memory module 107 if finding failure and makes electricity
Machine is shut down；
It combines door position and anti-pinch curve to determine electric current anti-pinch base value Ib if fault-free, electric current anti-pinch is determined according to temperature
Correction value It, electric current anti-pinch threshold value are that the sum of Ib and It are judged to touching when motor current flow is greater than electric current anti-pinch threshold value
Power generation stream anti-pinch, motor stopping.Above-mentioned electric current anti-pinch correction value It is obtained according to the environmental test before factory.
If non-trigger current anti-pinch, door speed anti-pinch base value Sb is determined according to door position and curve movement, according to temperature
Determine that door speed anti-pinch correction value St, Men Sudu anti-pinch threshold value is the sum of Sb and St, when door present speed is anti-less than door speed
When pressing from both sides threshold value, it is determined as trigger gate speed anti-pinch, motor stopping.
If non-trigger gate position anti-pinch, door acceleration anti-pinch base value Ab is determined according to door position and curve movement, according to
Temperature determines door acceleration anti-pinch correction value At, and door acceleration anti-pinch threshold value is the sum of Ab and At, when door current acceleration is small
When door acceleration anti-pinch threshold value, it is determined as trigger gate acceleration anti-pinch, motor stopping.
If non-trigger gate acceleration anti-pinch, whether in place to be closed the door by the detection of door position sensor 104, arrived if closing the door
Position, then make motor stopping.If the actual operating parameter of passenger doors in place, is not recorded according to the actual operation, according to movement
Curve and door position adjustment motor rotating speed of target and motor upper limit current, make a holding smooth movement, it is dynamic to continue to execute switch gate
Make.
To adapt to different door opening size or manufacturing tolerance, control system can enter self-studying mode.It is i.e. dynamic in switch gate
At the end of work, in non-volatile memory module 107 operation curve and anti-pinch curve be modified.Self-studying mode can be by leading to
Believe the diagnosis control triggering that module 108 is fed back, special switch combination can also be fed back by switch gate input signal detection module 102
Sequence triggering.If system, under self-studying mode, system will record actual fortune in this movement during switch gate
Row parameter: door position, Men Sudu, door acceleration, current of electric, motor speed, standby preceding to operation curve and anti-pinch curve
It is adjusted, to adapt to the influence of different door opening sizes or the door smooth degree as caused by mechanical clearance.Because each self study adjusts
Have the limitation of range, if still backlog demand after a self study, can by reaching perfect condition after multiple self study, or
Pass through the direct calibration curve of communication module 108 by diagnostic device.
It is noted that above-described embodiment is to the illustrative and not limiting of the art of this patent scheme, technical field is general
The equivalent replacement of logical technical staff or the other modifications made according to the prior art, as long as not exceeding thinking and model of the invention
It encloses, should be included within interest field of the presently claimed invention.
Claims (5)
1. anti-clamping method used by a kind of electronic passenger doors intelligence control system, including CPU module and respectively with its
The switch gate input signal detection module of connection, electric machines test module, door position sensor, temperature sensor, motor driven mould
Block, non-volatile memory module, communication module and failure indication module；
The CPU module is responsible for the acquisition and processing of all signals, including to the anti-pinch in CPU module
Anti-pinch algorithm in functional unit is handled, and the processing of motor drive module, support is supported to communicate with vehicle, failure is supported to refer to
Show and failed storage；
Switch gate signal is transferred to CPU module to judge whether that satisfaction is held by the switch gate input signal detection module
The condition of row switch gate movement；
The instantaneous operating conditions of the electric machines test module detection motor provide the electric current of motor for pinch resistant functionality unit, turn
Speed and torque information；
The real time position of passenger doors is converted electric signal by the door position sensor, is the anti-pinch in CPU module
The real time position and real time kinematics velocity information of functional unit offer door；
Temperature information is converted electric signal by the temperature sensor, mentions for the pinch resistant functionality unit in CPU module
For environment temperature and motor temperature information；
The motor drive module driving motor forward, reverse or stop machine drives passenger doors to complete switch gate movement；
The non-volatile memory module is by the curve movement of passenger doors, anti-pinch curve, fault message, calibrating parameters and configuration
Information carries out fast reading and writing；
The communication module can be communicated with vehicle or diagnostic device, pass through its achievable fault diagnosis or software upgrading function
Energy；
The failure indication module informs driver and related personnel by control indicator, by the state of passenger doors, prompts
Whether passenger doors are in normal condition；
It is characterized in that, this method comprises the following steps:
After system starting, before the effective switch gate signal of switch gate input signal detection module feedback, system keeps standby
State；
When opening the door or door signal is any effectively and after meet full-vehicle control logic, system can first be read from non-volatile memory module
Take required curve movement and anti-pinch curve, then start motor, at the same start motor status, temperature, door position, Men Sudu and
The detection of door acceleration, real-time monitoring system operating status；
If it was found that relevant information is recorded in non-volatile memory module if failure and makes motor stopping；
Door position and motor status are combined if fault-free, are judged whether according to motor operating condition, anti-pinch curve and temperature corrected value
Trigger anti-pinch；
Judge door whether in place according to door position if not triggering anti-pinch；
If not in place if motor running parameter adjusted according to curve movement and door position, make to keep a smooth movement, continue to execute
Switch gate movement；
If shutdown in place, makes motor stopping；
The control system is equipped with self-studying mode；At the end of switch gate movement, to the fortune in non-volatile memory module
Row curve and anti-pinch curve are modified；The diagnosis control that the self-studying mode can be fed back by communication module triggers, or opens
The special switch combination sequence triggering of shutdown input signal detection module feedback；When control system is under self-studying mode, passenger
Door will record during switch gate this movement in actual operating parameter, including door position, Men Sudu, door acceleration,
Current of electric and motor speed, it is standby it is preceding operation curve and anti-pinch curve are adjusted, with adapt to different door opening sizes or
The influence of door smooth degree as caused by mechanical clearance.
2. anti-clamping method used by a kind of electronic passenger doors intelligence control system according to claim 1, feature exist
In: parameter curve needed for the curve movement and anti-pinch curve is respectively driving motor and judges anti-pinch.
3. anti-clamping method used by a kind of electronic passenger doors intelligence control system according to claim 1, feature exist
In: the motor running parameter includes motor rotating speed of target and motor upper limit current.
4. anti-clamping method used by a kind of electronic passenger doors intelligence control system according to claim 1, feature exist
In: the anti-pinch includes three kinds of electric current anti-pinch, Men Sudu anti-pinch and door acceleration anti-pinch determination methods, and any condition is full
Foot is judged to triggering anti-pinch:
The electric current anti-pinch: determining electric current anti-pinch base value Ib according to door position and anti-pinch curve, determines that electric current is anti-according to temperature
Correction value It is pressed from both sides, electric current anti-pinch threshold value is the sum of Ib and It；When motor current flow is greater than electric current anti-pinch threshold value, it is determined as
Trigger current anti-pinch；
The door speed anti-pinch: door speed anti-pinch base value Sb is determined according to door position and curve movement, door is determined according to temperature
Speed anti-pinch correction value St, Men Sudu anti-pinch threshold value is the sum of Sb and St；When door present speed is less than door speed anti-pinch threshold value
When, it is determined as trigger gate speed anti-pinch；
The door acceleration anti-pinch: determining door acceleration anti-pinch base value Ab according to door position and curve movement, true according to temperature
Determine door acceleration anti-pinch correction value At, door acceleration anti-pinch threshold value is the sum of Ab and At；When door current acceleration adds less than door
When speed anti-pinch threshold value, it is determined as trigger gate acceleration anti-pinch.
5. anti-clamping method used by a kind of electronic passenger doors intelligence control system according to claim 1, feature exist
In: the self-studying mode can be carried out repeatedly；What is adjusted in each self-studying mode is limited in scope.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711128509.4A CN107975316B (en) | 2017-11-15 | 2017-11-15 | Electronic passenger doors intelligence control system and anti-clamping method |
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| CN201711128509.4A CN107975316B (en) | 2017-11-15 | 2017-11-15 | Electronic passenger doors intelligence control system and anti-clamping method |
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Families Citing this family (16)
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| CN108442842A (en) * | 2018-05-18 | 2018-08-24 | 宁波欧德意物联科技有限公司 | A kind of control method and system of bidirectional electric vertical hinged door |
| CN109113498B (en) * | 2018-08-01 | 2020-08-07 | 中南大学 | Automatic driving bus door control system based on infrared detector |
| 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 |
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