CN111169332B - Anti-pinch control method for electric automobile seat - Google Patents
Anti-pinch control method for electric automobile seat Download PDFInfo
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- CN111169332B CN111169332B CN202010017182.9A CN202010017182A CN111169332B CN 111169332 B CN111169332 B CN 111169332B CN 202010017182 A CN202010017182 A CN 202010017182A CN 111169332 B CN111169332 B CN 111169332B
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- 238000000034 method Methods 0.000 title claims abstract description 35
- 238000005070 sampling Methods 0.000 claims abstract description 37
- 230000000737 periodic effect Effects 0.000 claims abstract description 7
- 230000003044 adaptive effect Effects 0.000 claims description 12
- 230000035945 sensitivity Effects 0.000 claims description 12
- 230000008859 change Effects 0.000 claims description 11
- 230000009471 action Effects 0.000 claims description 3
- 108010070880 sigma K Proteins 0.000 claims description 3
- 230000008901 benefit Effects 0.000 abstract description 8
- 230000008569 process Effects 0.000 description 15
- 238000001514 detection method Methods 0.000 description 6
- 239000000428 dust Substances 0.000 description 5
- 230000032683 aging Effects 0.000 description 4
- 230000006872 improvement Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
- B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
- B60N2/02—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles the seat or part thereof being movable, e.g. adjustable
- B60N2/22—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles the seat or part thereof being movable, e.g. adjustable the back-rest being adjustable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
- B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
- B60N2/02—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles the seat or part thereof being movable, e.g. adjustable
- B60N2/0224—Non-manual adjustments, e.g. with electrical operation
- B60N2/02246—Electric motors therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
- B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
- B60N2/02—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles the seat or part thereof being movable, e.g. adjustable
- B60N2/0224—Non-manual adjustments, e.g. with electrical operation
- B60N2/02246—Electric motors therefor
- B60N2/02253—Electric motors therefor characterised by the transmission between the electric motor and the seat or seat parts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
- B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
- B60N2/02—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles the seat or part thereof being movable, e.g. adjustable
- B60N2/0224—Non-manual adjustments, e.g. with electrical operation
- B60N2/0244—Non-manual adjustments, e.g. with electrical operation with logic circuits
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
- B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
- B60N2/02—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles the seat or part thereof being movable, e.g. adjustable
- B60N2/04—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles the seat or part thereof being movable, e.g. adjustable the whole seat being movable
- B60N2/06—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles the seat or part thereof being movable, e.g. adjustable the whole seat being movable slidable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
- B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
- B60N2/02—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles the seat or part thereof being movable, e.g. adjustable
- B60N2/04—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles the seat or part thereof being movable, e.g. adjustable the whole seat being movable
- B60N2/16—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles the seat or part thereof being movable, e.g. adjustable the whole seat being movable height-adjustable
- B60N2/1635—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles the seat or part thereof being movable, e.g. adjustable the whole seat being movable height-adjustable characterised by the drive mechanism
Abstract
The invention discloses an anti-pinch control method for an electric automobile seatmaxThe condition of judging, confirm whether the current sampling moment need start to prevent pressing from both sides the measure, can combine operating current to prevent pressing from both sides and judge that the reliability is high, the pivot rotates cycle and prevents pressing from both sides and judge fast, the pivot rotational speed prevents pressing from both sides and judges the advantage that stability is good, realizes quick accurate electric automobile seat and prevents pressing from both sides control, has improved the safety in utilization of electric automobile seat, has reduced the risk that electric automobile seat cliied the foreign matter. Weighting the current by the current weighting coefficients K through the steps S2-1 to S2-3, respectivelyiA periodic weighting coefficient KtAnd a rotational speed weighting coefficient KnThe self-adaptive adjustment mode is matched, the anti-pinch judgment accuracy of the electric automobile seat can be further improved, and the self-adaptive adjustment mode has the advantage of high anti-jamming performance.
Description
Technical Field
The invention relates to an automobile seat, in particular to an anti-pinch control method for an electric automobile seat.
Background
In recent years, with the continuous improvement of living standard of people, automobiles become a main tool for people to go out gradually. The electric seat is the basic configuration of modern automobiles, and brings safety and comfort to automobile driving. However, the power seat is convenient and has potential safety hazards, and safety accidents of clamping passengers can happen in use.
The anti-pinch technology is a key in the control technology of the automobile seat, the anti-pinch control is not complex in principle, but in practical application, a plurality of problems need to be solved. As is known to all, the electric seat of the automobile can encounter resistance in the moving process, and if more dust or sundries exist in the running track, the running resistance of the electric seat is larger; in addition, uncertain vibration and weight difference of drivers and passengers can not be avoided in the driving process of the automobile, and the vibration and the weight difference can cause great interference on detection of clamping torque, motor current and motor rotating speed. Therefore, if the anti-pinch algorithm is designed to be too sensitive, the normal work of the electric seat is likely to be influenced, and if the anti-pinch algorithm is designed to be not too sensitive, the anti-pinch process is likely to be misjudged; this means that even if the power seat is equipped with an anti-pinch function, it must encounter a large pinching torque before it is functional. Only by designing a proper anti-pinch algorithm, the anti-pinch function can have a good effect.
The technical scheme is prevented pressing from both sides mainly has the scheme of preventing pressing from both sides based on motor current, hall pulse prevents pressing from both sides the scheme, prevent pressing from both sides the scheme based on ripple, prevent pressing from both sides the scheme based on torque, prevent pressing from both sides the scheme based on hall pulse's speed to present.
However, the above methods all have defects in different degrees, and the main reason is that the observation variables of the anti-pinch control process are greatly influenced by internal and external interferences, which causes misjudgment and non-judgment of the anti-pinch process. The traditional anti-pinch scheme comprises a current detection method, a Hall pulse method, a current ripple detection method and a speed judgment anti-pinch scheme based on Hall pulse.
Current detection method: the current of the motor is basically kept unchanged in the normal driving process, and the normal running current is far lower than the locked-rotor current, while in the abnormal running process, the seat encounters an obstacle, and the running current of the motor is increased. Whether the obstacle is met in the seat running process can be indirectly reflected by monitoring the change of the current magnitude of the motor and the frequency of the current change through tests. However, the power seat may be started in a short period of time at a high current stage, and at this time, if the power seat is in the anti-pinch area, a misjudgment may be caused.
Hall pulse method: and performing anti-pinch judgment according to the number of the received Hall pulses in unit time, and judging that the obstacle is encountered if the number of the received Hall pulses is less than a set value. The method has weaker adaptability to different seat mechanical structures, the reference of the number of compared signal pulses is different, and the change of the environmental temperature can cause the change of the performance of the motor, so that the change of the number of pulses is larger, and the error anti-pinch operation is easy to generate;
current ripple detection method: when the motor runs, alternating current is superposed on direct current, the alternating current component change corresponds to the speed of the motor, and whether the electric anti-pinch seat meets an obstacle or not can be judged according to the change of ripple current. The technical difficulty is that interference burrs in current ripple detection are not easy to filter, the burrs are related to contact and electric corrosion between the brush commutator of the motor and change along with the increase of the running time of the motor, and the reliability of the operation of the anti-pinch seat is influenced;
hall velocity method: when the motor is started, the rotating speed is increased from zero to the rated rotating speed, so misjudgment is easy to occur in the process, in addition, the automobile running process is difficult to avoid encountering uneven road conditions, the Hall speed fluctuation range is large under the condition, and the Hall speed fluctuation range is also an important factor for causing misjudgment.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the anti-pinch control method of the electric automobile seat is provided to solve the problems that the electric automobile seat is easily influenced by internal and external interference (including larger resistance caused by more dust or sundries in a running track, vibration in the automobile running process, weight difference of drivers and passengers, mechanical structure or motor aging degree), and misjudgment in the anti-pinch process are caused.
The technical scheme adopted by the invention is as follows:
an anti-pinch control method for an electric automobile seat is characterized by comprising the following steps:
when a driving motor of the electric automobile seat works, anti-pinch control is performed according to the following steps:
step S1, sampling the driving motor, including: the working current I of the driving motor, the rotating period T of a rotating shaft of the driving motor and the rotating speed N of the rotating shaft of the driving motor;
step S2, according to the working condition of the electric automobile seat at the previous sampling moment, adaptively adjusting the current weighting coefficient KiA periodic weighting coefficient KtAnd a rotational speed weighting coefficient Kn；
Step S3, calculating the anti-pinch decision factor sigma-K of the current sampling timei*Ip+Kt*Tp+Kn*Np；
Wherein, Ip、Tp、NpSequentially setting the working current I, the rotating period T and the rotating speed N of the rotating shaft at the current sampling moment;
step S4, if sigma > lambda F is satisfiedmaxIf not, the anti-pinch measure is not started;
wherein λ is a proportionality coefficient obtained by calibration, FmaxIs a preset pressure threshold value, which indicates that: and under the driving of the driving motor, the electric automobile seat has the maximum safe acting force on the clamped object.
Therefore, the invention obtains the anti-clamping decision factor sigma by carrying out dynamic weighted summation of adaptive adjustment of the weighting coefficient on the working current I, the rotating period T of the rotating shaft and the rotating speed N of the rotating shaft, and then carries out sigma & gt lambda & ltF & gtmaxThe condition of judging, confirm whether the current sampling moment need start to prevent pressing from both sides the measure, can combine operating current to prevent pressing from both sides and judge that the reliability is high, the pivot rotates cycle and prevents pressing from both sides and judge fast, the pivot rotational speed prevents pressing from both sides and judges the advantage that stability is good, realizes quick accurate electric automobile seat and prevents pressing from both sides control, has improved the safety in utilization of electric automobile seat, has reduced the risk that electric automobile seat cliied the foreign matter.
Preferably: the driving motor is any one of a backrest adjusting motor for adjusting the angle of the backrest, a horizontal adjusting motor for adjusting the levelness of the seat and a lifting adjusting motor for adjusting the height of the seat.
As a preferred embodiment of the present invention: the unit time of the rotating speed N of the rotating shaft is 100 ms;
the step S2 includes:
step S2-1, the current weighting coefficient KiThe adaptive adjustment of (2):
when I is satisfiedp-IbWhen > 0, if Ip< 2.5A, then KiNot equal to 0, otherwise, Ki＝5；
When I is satisfiedp-IbIf < 0, if IpIf > 1.2A, then KiNot, K is 5i＝0；
When I is satisfiedp＝IbThe current weighting coefficient KiKeeping the original shape;
wherein, IpIs the working current I, I at the current sampling momentbThe working current I at the previous sampling moment;
step S2-2, the period weighting coefficient KtThe adaptive adjustment of (2):
Kt＝Kt1*Tout+Kt2*Vbat+Kt3*S+C；
wherein the in-vehicle temperature coefficient Kt1 is 1.5, ToutThe battery voltage coefficient Kt2 is 3, V for the vehicle internal temperature of the vehicle where the electric vehicle seat is positionedbatThe battery voltage of the automobile where the electric automobile seat is located is represented by a mileage coefficient Kt3 which is 1.1, and S is the mileage of the automobile where the electric automobile seat is located;
according to the following table, the anti-pinch control sensitivity is selected by the user, and the battery voltage V at the current sampling timebatAnd determining the value of a battery voltage compensation coefficient C within the voltage range:
in the table, C-Normal indicates Normal anti-pinch control sensitivity, C-Fast indicates high anti-pinch control sensitivity, and C-Slow indicates low anti-pinch control sensitivity;
step S2-3, the rotating speed weighting coefficient KnThe adaptive adjustment of (2):
when N is satisfiedp-NbWhen > 0, if N ispIf < 10, then KnNot equal to 0, otherwise, Kn(ii) 5; when N is satisfiedp-NbIf N is < 0pIf greater than 7, then KnNot, K is 5n＝0；
When N is satisfiedp＝NbWhile, the rotating speed weighting coefficient KnKeeping the original shape;
wherein N ispThe rotating speed N, N of the rotating shaft at the current sampling momentbThe rotating speed N of the rotating shaft at the previous sampling moment.
Therefore, aiming at internal and external interferences of 'more dust or sundries in a running track, larger resistance, vibration in the driving process of an automobile, weight difference of drivers and passengers, mechanical structure or motor aging degree' which are easily suffered by the electric automobile seat, the current weighting coefficient K is respectively weighted through the steps S2-1 to S2-3iA periodic weighting coefficient KtAnd a rotational speed weighting coefficient KnThe self-adaptive adjustment mode is matched, misjudgment and misjudgment caused by the fact that the clamping control of the electric automobile seat is prevented by the internal and external interference can be avoided, the clamping judgment accuracy of the electric automobile seat is further improved, and the self-adaptive adjustment mode has the advantage of high anti-interference performance.
As a preferred embodiment of the present invention: the sampling mode of the driving motor in the step S1 is as follows: detecting a working current real-time value, a rotating shaft rotating period real-time value and a rotating shaft rotating speed real-time value of the driving motor according to a preset frequency, calculating to obtain a median of a plurality of continuous working current real-time values as the working current I according to a preset sampling period, calculating to obtain a median of a plurality of continuous rotating shaft rotating period real-time values as the rotating shaft rotating period T, and calculating to obtain a median of a plurality of continuous rotating shaft rotating speed real-time values as the rotating shaft rotating speed N so as to improve the anti-interference performance of anti-pinch control.
As a preferred embodiment of the present invention: in step S4, the scaling factor λ is calibrated in the following manner: enabling a driving motor of the calibrated electric automobile seat to be in a locked-rotor state, and measuring an anti-clamping decision factor of the electric automobile seat in the locked-rotor state, and recording the anti-clamping decision factor as sigma0And measuring the acting force of the electric automobile seat on the clamped object under the driving of the driving motor, and recording as F0To calculate the said proportional coefficient lambda ═ Sigma0/F0。
As a preferred embodiment of the present invention: step S4 the anti-pinch measure includes: and controlling the driving motor to stop the original driving action and controlling the rotating shaft of the driving motor to rotate reversely by a preset rotating angle.
As a preferred embodiment of the present invention: in the first step, a magnetic ring is mounted on a rotating shaft of the driving motor, and a hall sensor is used for detecting the magnetic field change of the magnetic ring when the rotating shaft rotates, so that the rotating period T of the rotating shaft and the rotating speed N of the rotating shaft are obtained through a hall pulse signal output by the hall sensor.
Compared with the prior art, the invention has the following beneficial effects:
firstly, the invention obtains the anti-clamping decision factor sigma by carrying out dynamic weighted summation of adaptive adjustment of the weighting coefficient on the working current I, the rotating period T of the rotating shaft and the rotating speed N of the rotating shaft, and then carrying out sigma > lambda x FmaxThe condition of judging, confirm whether the current sampling moment need start to prevent pressing from both sides the measure, can combine operating current to prevent pressing from both sides and judge that the reliability is high, the pivot rotates cycle and prevents pressing from both sides and judge fast, the pivot rotational speed prevents pressing from both sides and judges the advantage that stability is good, realizes quick accurate electric automobile seat and prevents pressing from both sides control, has improved the safety in utilization of electric automobile seat, has reduced the risk that electric automobile seat cliied the foreign matter.
Second, the present invention is directed to an electric vehicle seatThe chair is susceptible to internal and external interferences such as large resistance caused by much dust or sundries in the running track, vibration in the driving process of an automobile, weight difference of drivers and passengers, mechanical structure or motor aging degree, and the current weighting coefficient K is respectively subjected to steps S2-1 to S2-3iA periodic weighting coefficient KtAnd a rotational speed weighting coefficient KnThe self-adaptive adjustment mode is matched, misjudgment and misjudgment caused by the fact that the clamping control of the electric automobile seat is prevented by the internal and external interference can be avoided, the clamping judgment accuracy of the electric automobile seat is further improved, and the self-adaptive adjustment mode has the advantage of high anti-interference performance.
Drawings
The invention is described in further detail below with reference to the following figures and specific examples:
FIG. 1 is a flow chart of an anti-pinch control method for an electric vehicle seat according to the present invention.
Detailed Description
The present invention will be described in detail with reference to the following embodiments and the accompanying drawings to help those skilled in the art to better understand the inventive concept of the present invention, but the scope of the claims of the present invention is not limited to the following embodiments, and all other embodiments obtained without inventive efforts by those skilled in the art will fall within the scope of the present invention without departing from the inventive concept of the present invention.
Example one
As shown in FIG. 1, the invention discloses an anti-pinch control method for an electric automobile seat, which comprises the following steps:
when a driving motor of the electric automobile seat works, anti-pinch control is performed according to the following steps:
step S1, sampling the driving motor, including: the working current I of the driving motor, the rotating period T of a rotating shaft of the driving motor and the rotating speed N of the rotating shaft of the driving motor;
step S2, according to the working condition of the electric automobile seat at the previous sampling moment, adaptively adjusting the current weighting coefficient KiA periodic weighting coefficient KtAnd a rotational speed weighting coefficient Kn；
Step S3, calculating the anti-pinch decision factor sigma-K of the current sampling timei*Ip+Kt*Tp+Kn*Np；
Wherein, Ip、Tp、NpSequentially setting the working current I, the rotating period T and the rotating speed N of the rotating shaft at the current sampling moment;
step S4, if sigma > lambda F is satisfiedmaxIf not, the anti-pinch measure is not started;
wherein λ is a proportionality coefficient obtained by calibration, FmaxIs a preset pressure threshold value, which indicates that: and under the driving of the driving motor, the electric automobile seat has the maximum safe acting force on the clamped object.
Therefore, the invention obtains the anti-clamping decision factor sigma by carrying out dynamic weighted summation of adaptive adjustment of the weighting coefficient on the working current I, the rotating period T of the rotating shaft and the rotating speed N of the rotating shaft, and then carries out sigma & gt lambda & ltF & gtmaxThe condition of judging, confirm whether the current sampling moment need start to prevent pressing from both sides the measure, can combine operating current to prevent pressing from both sides and judge that the reliability is high, the pivot rotates cycle and prevents pressing from both sides and judge fast, the pivot rotational speed prevents pressing from both sides and judges the advantage that stability is good, realizes quick accurate electric automobile seat and prevents pressing from both sides control, has improved the safety in utilization of electric automobile seat, has reduced the risk that electric automobile seat cliied the foreign matter.
The above is a basic implementation manner of the first embodiment, and further optimization, improvement and limitation may be performed on the basis of the basic implementation manner:
preferably: the driving motor is any one of a backrest adjusting motor for adjusting the angle of the backrest, a horizontal adjusting motor for adjusting the levelness of the seat and a lifting adjusting motor for adjusting the height of the seat.
Example two
On the basis of the first embodiment, the second embodiment also adopts the following preferred embodiments:
the unit time of the rotating speed N of the rotating shaft is 100 ms;
the step S2 includes:
step S2-1, the current weighting coefficient KiThe adaptive adjustment of (2):
when I is satisfiedp-IbWhen > 0, if Ip< 2.5A, then KiNot equal to 0, otherwise, Ki＝5；
When I is satisfiedp-IbIf < 0, if IpIf > 1.2A, then KiNot, K is 5i＝0；
When I is satisfiedp＝IbThe current weighting coefficient KiKeeping the original shape;
wherein, IpIs the working current I, I at the current sampling momentbThe working current I at the previous sampling moment;
step S2-2, the period weighting coefficient KtThe adaptive adjustment of (2):
Kt＝Kt1*Tout+Kt2*Vbat+Kt3*S+C；
wherein the in-vehicle temperature coefficient Kt1 is 1.5, ToutThe battery voltage coefficient Kt2 is 3, V for the vehicle internal temperature of the vehicle where the electric vehicle seat is positionedbatThe battery voltage of the automobile where the electric automobile seat is located is represented by a mileage coefficient Kt3 which is 1.1, and S is the mileage of the automobile where the electric automobile seat is located;
according to the following table, the anti-pinch control sensitivity is selected by the user, and the battery voltage V at the current sampling timebatAnd determining the value of a battery voltage compensation coefficient C within the voltage range:
| C-Normal | C-Fast | C-Slow | |
| Vbat≤9V | 41 | 57 | 30 |
| 9＜Vbat≤10V | 35 | 52 | 27 |
| 10＜Vbat≤11V | 30 | 48 | 25 |
| 11＜Vbat≤12V | 28 | 43 | 23 |
| 12＜Vbat≤13V | 25 | 37 | 20 |
| 13＜Vbat≤14V | 22 | 35 | 16 |
| 14＜Vbat≤15V | 17 | 29 | 12 |
| 15＜Vbat＜16V | 13 | 23 | 9 |
| Vbat≥16V | 10 | 20 | 5 |
in the table, C-Normal indicates Normal anti-pinch control sensitivity, C-Fast indicates high anti-pinch control sensitivity, and C-Slow indicates low anti-pinch control sensitivity;
step S2-3, the rotating speed weighting coefficient KnThe adaptive adjustment of (2):
when N is satisfiedp-NbWhen > 0, if N ispIf < 10, then KnNot equal to 0, otherwise, Kn(ii) 5; when N is satisfiedp-NbIf N is < 0pIf greater than 7, then KnNot, K is 5n＝0；
When N is satisfiedp＝NbWhile, the rotating speed weighting coefficient KnKeeping the original shape;
wherein N ispThe rotating speed N, N of the rotating shaft at the current sampling momentbThe rotating speed N of the rotating shaft at the previous sampling moment.
Therefore, aiming at internal and external interferences of 'more dust or sundries in a running track, larger resistance, vibration in the driving process of an automobile, weight difference of drivers and passengers, mechanical structure or motor aging degree' which are easily suffered by the electric automobile seat, the current weighting coefficient K is respectively weighted through the steps S2-1 to S2-3iA periodic weighting coefficient KtAnd a rotational speed weighting coefficient KnThe self-adaptive adjustment mode can avoid the electric interference caused by the internal and external interferenceMisjudgment and non-judgment caused by anti-pinch control of the automobile seat further improve the accuracy of anti-pinch judgment of the electric automobile seat, and the automobile seat anti-pinch control method has the advantage of high anti-interference performance.
EXAMPLE III
On the basis of the first embodiment or the second embodiment, the third embodiment further adopts the following preferred embodiments:
the sampling mode of the driving motor in the step S1 is as follows: detecting a working current real-time value, a rotating shaft rotating period real-time value and a rotating shaft rotating speed real-time value of the driving motor according to a preset frequency, calculating to obtain a median of a plurality of continuous working current real-time values as the working current I according to a preset sampling period, calculating to obtain a median of a plurality of continuous rotating shaft rotating period real-time values as the rotating shaft rotating period T, and calculating to obtain a median of a plurality of continuous rotating shaft rotating speed real-time values as the rotating shaft rotating speed N so as to improve the anti-interference performance of anti-pinch control.
Example four
On the basis of any one of the first to third embodiments, the fourth embodiment further adopts the following preferred embodiments:
in step S4, the scaling factor λ is calibrated in the following manner: enabling a driving motor of the calibrated electric automobile seat to be in a locked-rotor state, and measuring an anti-clamping decision factor of the electric automobile seat in the locked-rotor state, and recording the anti-clamping decision factor as sigma0And measuring the acting force of the electric automobile seat on the clamped object under the driving of the driving motor, and recording as F0To calculate the said proportional coefficient lambda ═ Sigma0/F0。
EXAMPLE five
On the basis of any one of the first to fourth embodiments, the fifth embodiment further adopts the following preferred embodiments:
step S4 the anti-pinch measure includes: and controlling the driving motor to stop the original driving action and controlling the rotating shaft of the driving motor to rotate reversely by a preset rotating angle.
EXAMPLE six
On the basis of any one of the first to fifth embodiments, the sixth embodiment further adopts the following preferred embodiments:
in the first step, a magnetic ring is mounted on a rotating shaft of the driving motor, a hall sensor is used for detecting the magnetic field change of the magnetic ring when the rotating shaft rotates, and the rotating period T of the rotating shaft, namely the period of the hall pulse signal, and the rotating speed N of the rotating shaft, namely the pulse number of the hall pulse signal in unit time are obtained through the hall pulse signal output by the hall sensor.
The present invention is not limited to the above embodiments, and various other equivalent modifications, substitutions and alterations can be made without departing from the basic technical concept of the invention as described above, according to the common technical knowledge and conventional means in the field.
Claims (6)
1. An anti-pinch control method for an electric automobile seat is characterized by comprising the following steps:
when a driving motor of the electric automobile seat works, anti-pinch control is performed according to the following steps:
step S1, sampling the driving motor, including: the working current I of the driving motor, the rotating period T of a rotating shaft of the driving motor and the rotating speed N of the rotating shaft of the driving motor;
step S2, according to the working condition of the electric automobile seat at the previous sampling moment, adaptively adjusting the current weighting coefficient KiA periodic weighting coefficient KtAnd a rotational speed weighting coefficient Kn；
Step S3, calculating the anti-pinch decision factor sigma-K of the current sampling timei*Ip+Kt*Tp+Kn*Np；
Wherein, Ip、Tp、NpSequentially setting the working current I, the rotating period T and the rotating speed N of the rotating shaft at the current sampling moment;
step S4, if satisfied∑＞λ*FmaxIf not, the anti-pinch measure is not started;
wherein λ is a proportionality coefficient obtained by calibration, FmaxIs a preset pressure threshold value, which indicates that: the maximum safe acting force of the electric automobile seat on a clamped object is driven by the driving motor;
the unit time of the rotating speed N of the rotating shaft is 100 ms;
the step S2 includes:
step S2-1, the current weighting coefficient KiThe adaptive adjustment of (2):
when I is satisfiedp-IbWhen > 0, if Ip< 2.5A, then KiNot equal to 0, otherwise, Ki＝5；
When I is satisfiedp-IbIf < 0, if IpIf > 1.2A, then KiNot, K is 5i＝0；
When I is satisfiedp＝IbThe current weighting coefficient KiKeeping the original shape;
wherein, IpIs the working current I, I at the current sampling momentbThe working current I at the previous sampling moment;
step S2-2, the period weighting coefficient KtThe adaptive adjustment of (2):
Kt＝Kt1*Tout+Kt2*Vbat+Kt3*S+C；
wherein the in-vehicle temperature coefficient Kt1 is 1.5, ToutThe battery voltage coefficient Kt2 is 3, V for the vehicle internal temperature of the vehicle where the electric vehicle seat is positionedbatThe battery voltage of the automobile where the electric automobile seat is located is represented by a mileage coefficient Kt3 which is 1.1, and S is the mileage of the automobile where the electric automobile seat is located;
according to the following table, the anti-pinch control sensitivity is selected by the user, and the battery voltage V at the current sampling timebatAnd determining the value of a battery voltage compensation coefficient C within the voltage range:
in the table, C-Normal indicates Normal anti-pinch control sensitivity, C-Fast indicates high anti-pinch control sensitivity, and C-Slow indicates low anti-pinch control sensitivity;
step S2-3, the rotating speed weighting coefficient KnThe adaptive adjustment of (2):
when N is satisfiedp-NbWhen > 0, if N ispIf < 10, then KnNot equal to 0, otherwise, Kn(ii) 5; when N is satisfiedp-NbIf N is < 0pIf greater than 7, then KnNot, K is 5n＝0；
When N is satisfiedp＝NbWhile, the rotating speed weighting coefficient KnKeeping the original shape;
wherein N ispThe rotating speed N, N of the rotating shaft at the current sampling momentbThe rotating speed N of the rotating shaft at the previous sampling moment.
2. The anti-pinch control method of the electric automobile seat as claimed in claim 1, characterized in that: the driving motor is any one of a backrest adjusting motor for adjusting the angle of the backrest, a horizontal adjusting motor for adjusting the levelness of the seat and a lifting adjusting motor for adjusting the height of the seat.
3. The anti-pinch control method of the electric automobile seat as claimed in claim 1 or 2, characterized in that: the sampling mode of the driving motor in the step S1 is as follows: detecting a working current real-time value, a rotating shaft rotating period real-time value and a rotating shaft rotating speed real-time value of the driving motor according to a preset frequency, calculating a median of a plurality of continuous working current real-time values according to a preset sampling period to be used as the working current I, calculating a median of a plurality of continuous rotating shaft rotating period real-time values to be used as the rotating shaft rotating period T, and calculating a median of a plurality of continuous rotating shaft rotating speed real-time values to be used as the rotating shaft rotating speed N.
4. The anti-pinch control method of the electric automobile seat as claimed in claim 1 or 2, characterized in that: in step S4, the scaling factor λ is calibrated in the following manner: enabling a driving motor of the calibrated electric automobile seat to be in a locked-rotor state, and measuring an anti-clamping decision factor of the electric automobile seat in the locked-rotor state, and recording the anti-clamping decision factor as sigma0And measuring the acting force of the electric automobile seat on the clamped object under the driving of the driving motor, and recording as F0Calculating the ratio λ ═ Σ0/F0。
5. The anti-pinch control method of the electric automobile seat as claimed in claim 1 or 2, characterized in that: step S4 the anti-pinch measure includes: and controlling the driving motor to stop the original driving action and controlling the rotating shaft of the driving motor to rotate reversely by a preset rotating angle.
6. The anti-pinch control method of the electric automobile seat as claimed in claim 1 or 2, characterized in that: in the first step, a magnetic ring is mounted on a rotating shaft of the driving motor, and a hall sensor is used for detecting the magnetic field change of the magnetic ring when the rotating shaft rotates, so that the rotating period T of the rotating shaft and the rotating speed N of the rotating shaft are obtained through a hall pulse signal output by the hall sensor.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| WO2023066092A1 (en) * | 2021-10-20 | 2023-04-27 | 北京经纬恒润科技股份有限公司 | Seat control method, seat controller, and product |
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Denomination of invention: An anti pinch control method for electric vehicle seat Effective date of registration: 20220105 Granted publication date: 20210727 Pledgee: Industrial and Commercial Bank of China Limited Guangzhou Huangpu sub branch Pledgor: GAC COMPONENT Co.,Ltd. Registration number: Y2021980017329 |