CN111267592B - Closing control method and device for closing structure on automobile - Google Patents
Closing control method and device for closing structure on automobile Download PDFInfo
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- CN111267592B CN111267592B CN202010196494.0A CN202010196494A CN111267592B CN 111267592 B CN111267592 B CN 111267592B CN 202010196494 A CN202010196494 A CN 202010196494A CN 111267592 B CN111267592 B CN 111267592B
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- limit position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60J—WINDOWS, WINDSCREENS, NON-FIXED ROOFS, DOORS, OR SIMILAR DEVICES FOR VEHICLES; REMOVABLE EXTERNAL PROTECTIVE COVERINGS SPECIALLY ADAPTED FOR VEHICLES
- B60J7/00—Non-fixed roofs; Roofs with movable panels, e.g. rotary sunroofs
- B60J7/02—Non-fixed roofs; Roofs with movable panels, e.g. rotary sunroofs of sliding type, e.g. comprising guide shoes
- B60J7/04—Non-fixed roofs; Roofs with movable panels, e.g. rotary sunroofs of sliding type, e.g. comprising guide shoes with rigid plate-like element or elements, e.g. open roofs with harmonica-type folding rigid panels
- B60J7/057—Driving or actuating arrangements e.g. manually operated levers or knobs
- B60J7/0573—Driving or actuating arrangements e.g. manually operated levers or knobs power driven arrangements, e.g. electrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60J—WINDOWS, WINDSCREENS, NON-FIXED ROOFS, DOORS, OR SIMILAR DEVICES FOR VEHICLES; REMOVABLE EXTERNAL PROTECTIVE COVERINGS SPECIALLY ADAPTED FOR VEHICLES
- B60J7/00—Non-fixed roofs; Roofs with movable panels, e.g. rotary sunroofs
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Abstract
The invention discloses a closing control method and a closing control device for a closed structure, wherein the method comprises the following steps: controlling the closing structure to move towards the closing direction according to the obtained closing instruction; after the closed structure enters a forced shutdown area, determining the variation of the preset parameters in the latest N acquisition periods in a preset period; and controlling the closing structure to stop moving under the condition that the variation is larger than a preset threshold value. According to the embodiment of the invention, under the conditions that the closed structure is deformed and has position offset and the like, the closed structure can be controlled to stop moving by using the judgment condition that the variation of the preset parameter between the latest N acquisition cycles is larger than the preset threshold value, so that the closed structure meets the sealing condition, and therefore, the closed structure cannot be extruded and deformed due to over-tight closing, the sealing performance of the closed structure cannot be deteriorated due to over-loose closing, and the user experience is good. In addition, the universal property is good because the fixed position when the door is closed is not available.
Description
Technical Field
The invention relates to an automatic control technology, in particular to a closing control method and device for a closing structure on an automobile.
Background
The automobile is provided with a plurality of automatically controlled closing structures such as a skylight, a door window, a back door and the like, and the complete closing operation of the closing structures is usually realized by adopting a fixed position closing method. For example, during the complete closing process of the automobile skylight, the system detects the position of the closing structure through the position sensor, and controls the automobile skylight to move towards the closing direction until the automobile skylight stops moving to the preset fixed position.
In practical situations, due to different use habits of different users, structural performance degradation of the closing structure in the use process and the like, the same closing structure can be deformed and shifted in position in the use process, and thus, the distance between the closing structure and the frame structure on the closing side can be gradually changed when the closing structure is controlled to be closed by adopting a fixed position closing method; therefore, the closing structure may be squeezed and deformed due to over-tight closing or the sealing performance of the closing structure may be deteriorated due to over-loose closing, which may affect the user experience. In addition, because the assembly of each closing structure has independence, the relative positions of different closing structures of the same type can be different when leaving a factory, and the fixed position of the closing structure is not universal when the closing structure is closed.
Disclosure of Invention
In view of this, the present invention provides the following technical solutions:
a closing control method of a closing structure on an automobile, comprising:
controlling the closing structure to move towards the closing direction according to the obtained closing instruction;
after the closed structure enters a forced shutdown area, determining the variation of the preset parameters in the latest N acquisition periods in a preset period; the upper limit position of the forced shutdown area is arranged between the anti-pinch lower limit position and the mechanical zero position of the closing structure, and the preset parameters comprise: the movement speed of the closing structure, the motor speed of a motor driving the closing structure to move or the resistance value of the closing structure;
controlling the closing structure to stop moving under the condition that the variation is larger than a preset threshold; the preset threshold value is obtained according to the sealing condition calibration of the closed structure.
Optionally, the preset period is equal to the acquisition period of the preset parameter, and N is 2.
Optionally, the forced shutdown area further includes: a configuration zero and a lower limit position corresponding to the mechanical zero position, the configuration zero being located between the upper limit position and the lower limit position, the method further comprising:
and if the position of the closing structure is less than or equal to the lower limit position when the closing structure stops moving, initializing and resetting the configuration zero point and the lower limit position.
Optionally, the forced shutdown area further includes: a soft stop position disposed between the upper limit position and the configuration zero, the method further comprising:
and after the closed structure moves to the soft stop position, controlling to reduce the motor rotating speed of a motor for driving the closed structure to move.
Optionally, the closing instruction is determined according to a switch signal of the closing structure and a motion state and a position when the switch signal is received.
A closure control device for a closure structure on an automobile, comprising:
the closing control module is used for controlling the closing structure to move towards the closing direction according to the acquired closing instruction;
the variable quantity determining module is used for determining the variable quantity of the preset parameter in the latest N acquisition periods in a preset period after the closed structure enters the forced shutdown area; the upper limit position of the forced shutdown area is arranged between the anti-pinch lower limit position and the mechanical zero position of the closing structure, and the preset parameters comprise: the movement speed of the closing structure, the motor speed of a motor driving the closing structure to move or the resistance value of the closing structure;
the stopping control module is used for controlling the closing structure to stop moving under the condition that the variation is larger than a preset threshold; the preset threshold value is obtained according to the sealing condition calibration of the closed structure.
Optionally, the preset period is equal to the acquisition period of the preset parameter, and N is 2.
Optionally, the forced shutdown area further includes: a configuration zero point and a lower limit position corresponding to the mechanical zero point position, the configuration zero point being located between the upper limit position and the lower limit position, the apparatus further comprising:
and the initialization module is used for initializing and resetting the configuration zero point and the lower limit position when the position of the closed structure is less than or equal to the lower limit position when the closed structure stops moving.
Optionally, the forced shutdown area further includes: a soft stop position disposed between the upper limit position and the configuration zero, the apparatus further comprising:
and the motor control module is used for controlling and reducing the motor rotating speed of a motor for driving the closed structure to move after the closed structure moves to the soft stop position.
Optionally, the closing instruction is determined according to a switch signal of the closing structure and a motion state and a position when the switch signal is received.
Compared with the prior art, the embodiment of the invention discloses a closing control method and a closing control device for a closing structure on an automobile, wherein the method comprises the following steps: controlling the closing structure to move towards the closing direction according to the obtained closing instruction; after the closed structure enters a forced shutdown area, determining the variation of the preset parameters in the latest N acquisition periods in a preset period; the upper limit position of the forced shutdown area is arranged between the anti-pinch lower limit position and the mechanical zero position of the closing structure, and the preset parameters comprise: the movement speed of the closing structure, the motor speed of a motor driving the closing structure to move or the resistance value of the closing structure; controlling the closing structure to stop moving under the condition that the variation is larger than a preset threshold; the preset threshold value is obtained according to the sealing condition calibration of the closed structure. According to the embodiment of the invention, under the conditions that the closed structure is deformed and has position offset and the like, the closed structure can be controlled to stop moving by using the judgment condition that the variation of the preset parameter between the latest N acquisition cycles is larger than the preset threshold value, so that the closed structure meets the sealing condition, and therefore, the closed structure cannot be extruded and deformed due to over-tight closing, the sealing performance of the closed structure cannot be deteriorated due to over-loose closing, and the user experience is good. In addition, the universal property is good because the fixed position when the door is closed is not available.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a flowchart of a closing control method for a closing structure of an automobile according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a method for determining a variation according to a predetermined period according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a forced shutdown area located on a motion path of a shutdown structure according to an embodiment of the present invention;
FIG. 4 is a flowchart of another closing control method for a closure structure on a vehicle according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of the position of another forced shutdown area on the motion line of the closed structure according to the embodiment of the invention;
FIG. 6 discloses a flow chart of yet another method for controlling closure of a closure on a vehicle;
fig. 7 is a schematic structural diagram of a closing control device of a closing structure on an automobile according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a flowchart of a closing control method for an automobile upper closing structure according to an embodiment of the present invention, and referring to fig. 1, the closing control method for the automobile upper closing structure may include:
step 101: and controlling the closing structure to move towards the closing direction according to the acquired closing instruction.
The closing control method of the closing structure of the embodiment may be a processor with a data processing function for controlling the closing structure, such as a sunroof controller, a window controller, and the like, which may be a controller for controlling the closing structure alone, or a processor with a closing structure control function and other vehicle functions at the same time.
It should be noted that the closing instruction for the closing structure may be issued by different modules, for example, a sunroof of a car, which may be closed by a control button disposed near the sunroof, or closed by a key fob when a car owner is not in the car. Specifically, the closing instruction of the sunroof may be issued by an OHC (OverHead cam Controller), or may be issued by a BCM (body Control module), and after the closing instruction issued by the OHC or the BCM is received by a processor controlling the sunroof, the processor may execute the closing Control method of the closed structure disclosed in the embodiment of the present invention.
After the closing instruction is obtained, the processor of the closing structure may control the closing structure in the open state to start to perform a closing operation according to the closing instruction, that is, control the closing structure to move in a closing direction, so as to close the closing structure. In particular, the movement of the closing structure needs to be driven by a driving device, which may be, but is not limited to, a motor.
Step 102: and after the closed structure enters a forced shutdown area, determining the variation of the preset parameters in the latest N acquisition periods in a preset period.
The upper limit position of the forced shutdown area is arranged between the anti-pinch lower limit position and the mechanical zero position of the closing structure, so that the closing structure is prevented from turning over when meeting an obstacle in the anti-pinch area, and the anti-pinch function is not influenced; the preset parameters include: the movement speed of the closure structure, the motor speed of a motor driving the closure structure to move, or the resistance value of the closure structure.
The forced shutdown area needs to be configured and set in advance, so that the shutdown control method of the closing structure of the embodiment can be implemented smoothly. Due to the influence of factors such as the assembly factor of the closed structure, the usage habit factor of the user, and the structural performance degradation factor, the shutdown position of the closed structure may have a little error, and therefore, the forced shutdown area is set in the present embodiment, and may be understood as an area formed by the shutdown position of the closed structure, where a certain error is allowed.
The determination of the position of the forced shutdown area and the location points related to logic control contained therein will be described in detail in the following embodiments and will not be described in detail herein.
After the closed structure enters the forced shutdown area, it is determined that the closed structure is close to the shutdown position, and in this case, data capable of representing the state of the motion of the closed structure, that is, the variation of the preset parameters between the latest N acquisition cycles, may be determined in a preset cycle. In practical situations, the distance corresponding to the forced shutdown area is small, so that the preset period is not set to be too long, and the control precision of the closed structure can be ensured by the lower preset period (i.e. higher frequency). Wherein the determined amount of change can assist the system in determining whether the closure structure has moved to an appropriate position and, in turn, whether it is desired to control the closure structure to stop moving.
Step 103: and controlling the closing structure to stop moving under the condition that the variation is larger than a preset threshold value.
In the process of continuously determining the variable quantity according to the preset period, after the latest variable quantity is obtained every time, the system correspondingly judges the latest variable quantity to determine whether the closed structure moves to a proper shutdown position.
The preset threshold value can be obtained according to the sealing condition calibration of the target structure. Specifically, the calibration and determination can be performed in a test mode according to the characteristics of the structure of the corresponding device in the actual application scene, for example, the elasticity of the sealing strip, so as to ensure that the preset threshold has sufficient precision, that is, when the variation is greater than the preset threshold, the closing structure is moved to a proper shutdown position, and the closing structure can be controlled to stop moving. In a specific implementation, when a motor driving the closing structure to move is locked, it can be determined that the closing structure is completely closed.
According to the closing control method for the closing structure on the automobile, under the conditions that the target structure deforms and is shifted, the change quantity of the preset parameters between the latest N acquisition cycles is larger than the judgment condition of the preset threshold value, the target structure is controlled to stop moving, the target structure meets the sealing condition, therefore, the phenomenon that the target structure is extruded and deformed due to over-tight closing cannot occur, the phenomenon that the target structure is poor in sealing performance due to over-loose closing cannot occur, and user experience is good. In addition, the universal property is good because the fixed position when the door is closed is not available.
In the above embodiment, the preset period may be equal to an acquisition period of the preset parameter, where N is 2; of course, N may also be an integer greater than 2, and in a specific implementation, the value of N may be configured according to the control precision. And determining the variation of the newly acquired preset parameter and the last acquired preset parameter when the N is 2.
Fig. 2 is a flowchart illustrating an embodiment of determining a variation of a preset parameter in a preset period among the latest N acquisition periods, where N is 2, and the preset period may be equal to the acquisition period of the preset parameter. As shown in fig. 2, may include:
step 201: and collecting preset parameters.
Because the closing structure is when being close to the shut-down position, get into after forcing the shut-down region promptly, corresponding can slowly touch structures such as sealing strip that the frame structure set up, and these sealing strip structures have certain elasticity usually, consequently, after the closing structure touches the sealing strip and the in-process of continuously compressing tightly the sealing strip, the moving resistance of closing structure can be bigger and bigger, reaches a maximum value. Of course, in the embodiment of the present invention, the purpose is not to maximize the resistance value of the structure such as the sealing strip to the closed structure, but to make the resistance value of the sealing strip to the closed structure meet the sealing requirement and avoid the extrusion deformation of the closed structure.
Based on this, in the process that the driving force is not changed and the resistance force is gradually increased, the closed structure or some parameter values related to the closed structure are changed, so the preset parameters can be, but are not limited to, parameters such as the movement speed of the closed structure, the motor rotation speed of a motor driving the closed structure, and the movement resistance force of the closed structure.
The preset period may be set to be smaller, that is, the acquisition period of the corresponding parameter is set to be shorter, for example, the acquisition period is 2ms, so as to ensure the real-time performance of the related control.
Step 202: and determining the variation of the newly acquired preset parameter and the last acquired preset parameter.
After the preset parameters are collected according to the preset period each time, the newly collected preset parameters are compared with the preset parameters collected last time, and the variation of the preset parameters is obtained. Before the closing structure does not contact the sealing strip, the resistance value of the closing structure is basically constant, the value of the resistance value does not fluctuate too much, after the closing structure contacts the sealing strip, the resistance value of the closing structure is increased along with the movement, the variation of the corresponding preset parameter is also increased, and therefore, the variation is not a fixed value after the closing structure enters the forced shutdown area and during the shutdown.
After the closing structure contacts the sealing strip, the resistance of the closing structure is increased along with the continuous movement, the variation of the corresponding preset parameter is increased, and when the variation is larger than a preset threshold value, the closing structure is controlled to stop moving. In this realization, as long as guarantee to predetermine threshold value setting reasonable, then can guarantee the motor stop work back, the position that the closed structure stopped at present makes closed structure can satisfy sealed requirement promptly, also can avoid closed structure's extrusion deformation.
In other implementations, the forced shutdown area further includes: and the arrangement zero point is positioned between the upper limit position and the lower limit position.
Fig. 3 is a schematic position diagram of a forced shutdown area on a motion path of a shutdown structure according to an embodiment of the present invention, and is shown in fig. 3, in the above embodiment, the forced shutdown area may sequentially have an upper limit position D, a configuration zero point position a, and a lower limit position C in a shutdown direction (the lower limit position C is different from the anti-pinch lower limit position, but is a lower limit position of the forced shutdown area), and an area between the upper limit position D and the lower limit position C is the forced shutdown area; the configuration zero position A is a position where the closing structure and the frame are completely closed, the upper limit position D and the lower limit position C are respectively located on two sides of the configuration zero position A, and the upper limit position D is located between the configuration zero position A and the anti-pinch area.
The configuration zero point position a is determined by the closing structure, and is an inherent property of the closing structure, that is, a position where the closing structure and the frame are tightly closed when no structure such as a sealing strip is provided. When the assembly of the closure is completed, the theoretically configured zero position a is also fixed. The upper limit position D is arranged between the anti-pinch area and the configuration zero point position and is positioned on the first side of the configuration zero point position, and the specific position of the upper limit position D can be obtained through calibration. The lower limit position C is arranged on the second side of the zero point configuration position, and is set to avoid that the difference between the position information obtained by initialization and the real position is too large due to aging of a closed structure, software operation errors and the like, for example, if a large deviation occurs in an automobile skylight, the automobile skylight may be not closed, and the lower limit position C can ensure that the deviation does not cause the situation of not closing.
Fig. 4 is a flowchart of another closing control method for an automobile upper closing structure according to an embodiment of the present invention, and as shown in fig. 4, based on the above, the closing control method for an automobile upper closing structure may include:
step 401: and controlling the closing structure to move towards the closing direction according to the acquired closing instruction.
Step 402: and after the closed structure enters a forced shutdown area, determining the variation of the preset parameters in the latest N acquisition periods in a preset period.
Wherein, the upper limit position setting of forced shutdown region is in between the anti-pinch lower limit position and the mechanical zero position of closed structure, preset parameter includes: the movement speed of the closure structure, the motor speed of a motor driving the closure structure to move, or the resistance value of the closure structure.
Step 403: controlling the closing structure to stop moving under the condition that the variation is larger than a preset threshold; the preset threshold value is obtained according to the sealing condition calibration of the closed structure.
Step 404: and if the position of the closing structure is less than or equal to the lower limit position when the closing structure stops moving, initializing and resetting the configuration zero point and the lower limit position.
In practical application, if the actual shutdown position of the closed structure exceeds the lower limit position C, the forced shutdown area needs to be initialized, and the configuration zero point position and the lower limit position are reset. That is, if the closing structure enters the forced shutdown area until the closing structure exceeds the forced shutdown area and crosses the lower limit position C, it indicates that the closing structure has an excessive deviation, and the mechanical structure is abnormal, and it is necessary to reset each position to ensure that the control performance of the closing structure is more accurate and effective.
Fig. 5 is a schematic position diagram of another forced shutdown area on the motion line of the closed structure according to the embodiment of the present invention, and as shown in fig. 5, in addition to the upper limit position D, the configuration zero point position a, and the lower limit position C, the forced shutdown area further includes: and a soft stop position B between the upper limit position and the configuration zero position.
Based on the above, fig. 6 discloses a flowchart of another closing control method for an automobile closing structure, and as shown in fig. 6, the closing control method for the automobile closing structure may include:
step 601: and controlling the closing structure to move towards the closing direction according to the acquired closing instruction.
Step 602: and after the closed structure enters a forced shutdown area, determining the variation of the preset parameters in the latest N acquisition periods in a preset period.
Wherein, the upper limit position setting of forced shutdown region is in between the anti-pinch lower limit position and the mechanical zero position of closed structure, preset parameter includes: the movement speed of the closure structure, the motor speed of a motor driving the closure structure to move, or the resistance value of the closure structure.
Step 603: and after the closed structure moves to the soft stop position, controlling to reduce the motor rotating speed of a motor for driving the closed structure to move.
Wherein controlling to reduce the motor speed of a motor driving the motion of the closure structure may comprise: and controlling and reducing the motor rotating speed of the motor by adjusting the duty ratio of the control voltage of the motor.
After the closed structure moves to the soft stop position in the forced shutdown area, controlling to reduce the motor rotation speed of the motor driving the closed structure to move may include: and controlling to reduce the motor speed of a motor driving the closed structure to move when the closed structure moves to the soft stop position in the forced shutdown area and the variation is not greater than a preset threshold value.
For example, a user needs to stop the automobile skylight at a preset position, a soft stop position is set at a position where a hall value (a detection value of a hall sensor for detecting the position) is larger than the hall value at the preset position (the larger the skylight opening is, the larger the hall number is), when a closed structure reaches the soft stop position, the duty ratio of voltage is adjusted, the rotation speed of the motor is controlled to be reduced, and the problem that the motor speed is sharply reduced when the closed structure is stopped at the preset position and discomfort is brought to the user is avoided.
Step 604: controlling the closing structure to stop moving under the condition that the variation is larger than a preset threshold; the preset threshold value is obtained according to the sealing condition calibration of the closed structure.
In this embodiment, the soft stop position is set in the forced shutdown area, and after the closed structure moves to the soft stop position in the forced shutdown area, the motor speed of the motor driving the closed structure to move can be controlled to be reduced, so that rapid deceleration when the closed structure reaches the shutdown position is avoided, and the use experience of a user is reduced.
In the above embodiment, the closing instruction may be determined according to a switch signal of the closing structure and a motion state and a position when the switch signal is received.
It should be noted that, in the closing control method for the closing structure on the automobile disclosed in the embodiment of the present invention, when the closing structure is located outside the forced shutdown area, the closing motion may be triggered, that is, the closing structure is triggered to move in the closing direction, and when the closing structure is originally located in the forced shutdown area, the control logic of the method disclosed in the embodiment of the present invention is not executed.
In one specific implementation, whether the automobile skylight enters the forced shutdown area or not is judged according to the real-time position information of the automobile skylight in the closed motion state of the automobile skylight.
In a physical state, when the automobile skylight is close to the configuration zero position A, resistance is formed by the sealing strips and the automobile skylight structure, and further the rotating speed of the motor is reduced, so that when the automobile skylight is located in the forced shutdown area, the software can read the rotating speed value of the motor in real time, calculate the rotating speed difference of the motor in the same time interval, and when the rotating speed difference is larger than a preset threshold value, the automobile skylight is considered to have a sealing condition, and the automobile skylight is controlled to stop moving. The preset threshold value can be obtained by utilizing the calibration of a sealing condition, wherein the sealing condition is as follows: when the automobile skylight stops moving, the resistance value between the sealing strip and the automobile skylight structure can meet the sealing requirement and can avoid the skylight structure from being extruded. Particularly, when a soft stop point position is arranged in the forced shutdown area, when the situation that the motor speed difference is larger than a set threshold value does not occur when the automobile skylight moves to the soft stop point position, the duty ratio of the voltage is adjusted, the motor speed is controlled to be reduced, and the motor speed difference is continuously used for determining whether a preset condition is met or not in the later time period, or the motor stalling skylight is completely closed.
While, for purposes of simplicity of explanation, the foregoing method embodiments have been described as a series of acts or combination of acts, it will be appreciated by those skilled in the art that the present invention is not limited by the illustrated ordering of acts, as some steps may occur in other orders or concurrently with other steps in accordance with the invention. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required by the invention.
The method is described in detail in the embodiments disclosed above, and the method of the present invention can be implemented by various types of apparatuses, so that the present invention also discloses an apparatus, and the following detailed description will be given of specific embodiments.
Fig. 7 is a schematic structural diagram of a closing control device of an automobile closing structure according to an embodiment of the present invention, and referring to fig. 7, the closing control device 70 of an automobile closing structure may include:
and a closing control module 701, configured to control the closing structure to move in the closing direction according to the obtained closing instruction.
A variation determining module 702, configured to determine, in a preset period, a variation of a preset parameter between the latest N acquisition periods after the closed structure enters the forced shutdown area.
Wherein, the upper limit position setting of forced shutdown region is in between the anti-pinch lower limit position and the mechanical zero position of closed structure, preset parameter includes: the movement speed of the closing structure, the motor speed of a motor driving the closing structure to move or the resistance value of the closing structure;
a stopping control module 703, configured to control the closing structure to stop moving when the variation is greater than a preset threshold; the preset threshold value is obtained according to the sealing condition calibration of the closed structure.
This embodiment closing control device of closed structure, the target structure appears warping, position skew and so on the condition under can also utilize the predetermined parameter to be greater than the decision condition of predetermineeing the threshold value at the change volume between the latest N collection cycle, control target structure stop motion for the target structure satisfies sealed condition, consequently, can not appear because close the tension make the target structure produce extrusion deformation, also can not appear because close the elasticity make the leakproofness of target structure worsen, user experience is good. In addition, the universal property is good because the fixed position when the door is closed is not available.
In the above embodiment, the preset period may be equal to an acquisition period of the preset parameter, where N is 2; of course, N may also be an integer greater than 2, and in a specific implementation, the value of N may be configured according to the control precision.
In other implementations, the forced shutdown area further includes: and the arrangement zero point is positioned between the upper limit position and the lower limit position. Based on this, the apparatus may further include: and the initialization module is used for initializing and resetting the configuration zero point and the lower limit position when the position of the closed structure is less than or equal to the lower limit position when the closed structure stops moving.
In other implementations, the forced shutdown area further includes: and setting a soft stop position between the upper limit position and the configuration zero point. Based on this, the apparatus may further include: and the motor control module is used for controlling and reducing the motor rotating speed of a motor for driving the closed structure to move after the closed structure moves to the soft stop position.
In the above embodiment, the closing instruction may be determined according to a switch signal of the closing structure and a motion state and a position when the switch signal is received.
The specific implementation and achieved beneficial effects of each module of the closing control device of the closing structure in the above embodiment can be described with reference to the contents of the relevant parts in the method embodiment, and are not repeated herein.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
It is further noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. A closing control method of a closing structure on an automobile, characterized by comprising:
controlling the closing structure to move towards the closing direction according to the obtained closing instruction;
after the closed structure enters a forced shutdown area, determining the variation of the preset parameters in the latest N acquisition periods in a preset period; force the upper limit position setting in shut down region and be in the enclosed construction prevents pressing from both sides between lower limit position and the mechanical zero position to the enclosed construction is preventing pressing from both sides the regional barrier of meeting and can not overturn, and the function is prevented pressing from both sides in the influence, predetermine the parameter and include: the movement speed of the closing structure, the motor speed of a motor driving the closing structure to move or the resistance value of the closing structure; wherein the forced shutdown area comprises: a configuration zero point and a lower limit position corresponding to the mechanical zero point position, and a soft stop position arranged between the upper limit position and the configuration zero point, wherein the configuration zero point is positioned between the upper limit position and the lower limit position;
after the closed structure moves to the soft stop position, controlling to reduce the motor rotating speed of a motor for driving the closed structure to move;
controlling the closing structure to stop moving under the condition that the variation is larger than a preset threshold; the preset threshold value is obtained according to the sealing condition calibration of the closed structure.
2. The method according to claim 1, wherein the preset period is equal to an acquisition period of the preset parameters, and wherein N-2.
3. The method of claim 1, further comprising:
and if the position of the closing structure is less than or equal to the lower limit position when the closing structure stops moving, initializing and resetting the configuration zero point and the lower limit position.
4. A method according to any one of claims 1 to 3, wherein the close command is determined from a switch signal of the closure structure and a state of motion and position of the switch signal when received.
5. A closure control device for a closure structure on an automobile, comprising:
the closing control module is used for controlling the closing structure to move towards the closing direction according to the acquired closing instruction;
the variable quantity determining module is used for determining the variable quantity of the preset parameter in the latest N acquisition periods in a preset period after the closed structure enters the forced shutdown area; force the upper limit position setting in shut down region and be in the enclosed construction prevents pressing from both sides between lower limit position and the mechanical zero position to the enclosed construction is preventing pressing from both sides the regional barrier of meeting and can not overturn, and the function is prevented pressing from both sides in the influence, predetermine the parameter and include: the movement speed of the closing structure, the motor speed of a motor driving the closing structure to move or the resistance value of the closing structure; wherein the forced shutdown area comprises: a configuration zero point and a lower limit position corresponding to the mechanical zero point position, and a soft stop position arranged between the upper limit position and the configuration zero point, wherein the configuration zero point is positioned between the upper limit position and the lower limit position;
the motor control module is used for controlling and reducing the motor rotating speed of a motor for driving the closed structure to move after the closed structure moves to the soft stop position;
the stopping control module is used for controlling the closing structure to stop moving under the condition that the variation is larger than a preset threshold; the preset threshold value is obtained according to the sealing condition calibration of the closed structure.
6. The apparatus according to claim 5, wherein the preset period is equal to an acquisition period of the preset parameters, and wherein N is 2.
7. The apparatus of claim 5, further comprising:
and the initialization module is used for initializing and resetting the configuration zero point and the lower limit position when the position of the closed structure is less than or equal to the lower limit position when the closed structure stops moving.
8. The device according to any one of claims 5 to 7, wherein the closing command is determined according to a switching signal of the closing structure and a motion state and a position when the switching signal is received.
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| CN202010196494.0A CN111267592B (en) | 2020-03-19 | 2020-03-19 | Closing control method and device for closing structure on automobile |
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