CN111997471B - Anti-pinch detection method and device for vehicle body closing system - Google Patents
Anti-pinch detection method and device for vehicle body closing system Download PDFInfo
- Publication number
- CN111997471B CN111997471B CN202010909080.8A CN202010909080A CN111997471B CN 111997471 B CN111997471 B CN 111997471B CN 202010909080 A CN202010909080 A CN 202010909080A CN 111997471 B CN111997471 B CN 111997471B
- Authority
- CN
- China
- Prior art keywords
- speed
- coefficient
- motor rotor
- temperature
- clamping force
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 49
- 238000000034 method Methods 0.000 claims abstract description 34
- 230000007613 environmental effect Effects 0.000 claims description 56
- 230000008569 process Effects 0.000 claims description 23
- 230000005540 biological transmission Effects 0.000 claims description 14
- 238000012545 processing Methods 0.000 claims description 4
- 238000012360 testing method Methods 0.000 claims description 4
- 239000011521 glass Substances 0.000 description 16
- 230000004888 barrier function Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 238000000418 atomic force spectrum Methods 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/40—Safety devices, e.g. detection of obstructions or end positions
- E05F15/42—Detection using safety edges
-
- 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
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/60—Power-operated mechanisms for wings using electrical actuators
- E05F15/603—Power-operated mechanisms for wings using electrical actuators using rotary electromotors
- E05F15/632—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for horizontally-sliding wings
- E05F15/655—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for horizontally-sliding wings specially adapted for vehicle wings
-
- 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
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
- E05F15/71—Power-operated mechanisms for wings with automatic actuation responsive to temperature changes, rain, wind or noise
-
- 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
- E05Y2900/542—Roof panels
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Power-Operated Mechanisms For Wings (AREA)
Abstract
The invention provides an anti-pinch detection method and device of a vehicle body closing system, belonging to the technical field of vehicles, wherein the method comprises the steps of calculating a temperature coefficient corresponding to the current ambient temperature according to a pre-calibrated relational expression of the ambient temperature and the temperature coefficient when the vehicle body closing system executes closing operation; when the angular speed difference value of the motor rotor is larger than a preset difference threshold value, the fact that a moving part of a vehicle body closing system just contacts an obstacle is determined, a speed coefficient corresponding to the angular speed of the motor rotor obtained in the previous period is obtained through calculation according to a pre-calibrated relation between the angular speed of the motor rotor and the speed coefficient, the clamping force is calculated by combining the speed coefficient and the temperature coefficient, the influence of the angular speed of the motor rotor on the clamping force when the moving part just contacts the obstacle is considered by the speed coefficient, the larger the angular speed of the motor rotor when the moving part just contacts the obstacle is, the larger the speed coefficient is, the earlier a reversal sign is given, and the consistency of the clamping force under different power supply voltages is guaranteed.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to an anti-pinch detection method and device for a vehicle body closing system.
Background
The automobile body closing system mainly comprises a skylight, a door window, a tail door, a side sliding door and the like, and according to relevant industrial regulation requirements, in the closing process of a moving part of the automobile body closing system, an anti-pinch function is required to be achieved within a specified moving range, and the automobile body closing system can automatically move back when meeting an obstacle. The clamping force of the retraction point of the moving part of the vehicle body closing system when meeting an obstacle is the anti-clamping force.
The inventor discovers that in the process of implementing the invention: different motor rotor angular velocities can be provided when anti-pinch reversal conditions are met under different power supply voltages, different frictional resistance and the like, and the different motor rotor angular velocities of inertia mean different clamping forces at a backspacing point. However, the existing anti-pinch detection method does not consider the influence of the angular speeds of different motor rotors, so that the consistency of anti-pinch force is difficult to ensure, and a large variance exists.
Disclosure of Invention
In view of the above, the present invention provides an anti-pinch detection method and device for a vehicle body closing system, which are intended to improve the consistency of anti-pinch force.
In order to achieve the above object, the following solutions are proposed:
in a first aspect, a method for detecting anti-pinch of a vehicle body closing system is provided, which comprises the following steps:
when the closing operation of the vehicle body closing system is executed, calculating to obtain a temperature coefficient corresponding to the current ambient temperature according to a pre-calibrated relational expression of the ambient temperature and the temperature coefficient;
periodically acquiring the angular speed of a motor rotor of the car body closing system after a moving part of the car body closing system enters an anti-pinch area;
when the angular speed of the motor rotor is obtained, subtracting the angular speed of the motor rotor obtained in the previous period from the angular speed of the motor rotor to obtain a motor rotor angular speed difference value;
judging whether the angular speed difference of the motor rotor is greater than a preset difference threshold value, if so, calculating to obtain a speed coefficient corresponding to the angular speed of the motor rotor obtained in the previous period according to a pre-calibrated relational expression of the angular speed of the motor rotor and the speed coefficient, and taking the angular speed of the motor rotor obtained in the previous period as a reference angular speed;
and in each period after the angular speed difference value of the motor rotor is judged to be larger than the preset difference value threshold value, obtaining a clamping force according to the difference value of the angular speed of the motor rotor obtained by subtracting the current period from the reference angular speed, the speed coefficient obtained by calculation and the temperature coefficient obtained by calculation, and controlling a moving part of the vehicle body closing system to move reversely after the clamping force is larger than the preset anti-clamping detection threshold value.
Optionally, the calibration process of the relation between the ambient temperature and the temperature coefficient includes:
testing motor torque coefficients and motor rotor resistances corresponding to different environmental temperatures, and obtaining a relational expression of the environmental temperature and the motor torque coefficients and a relational expression of the environmental temperature and the motor rotor resistances through fitting;
calculating to obtain a functional relation between the ambient temperature and the temperature coefficient, wherein the functional relation between the ambient temperature and the temperature coefficient is as follows:
wherein i is the transmission ratio of the worm and gear, l is the gear radius, eta is the transmission efficiency, K (T) is the torque coefficient of the motor, R (T) is the resistance of the rotor of the motor, K1Is the temperature coefficient, T is the ambient temperature, and K (T) and R (T) are both functions of the ambient temperature T.
Optionally, the calibration process of the relational expression between the angular speed and the speed coefficient of the motor rotor includes:
keeping the ambient temperature unchanged, calculating the clamping force by using different speed coefficients under the same motor rotor angular speed, and selecting the speed coefficient under the working condition that the actual clamping force is equal to the target clamping force as the speed coefficient corresponding to the motor rotor angular speed;
and fitting the angular speeds of the different motor rotors and the corresponding speed coefficients to obtain a relational expression of the angular speeds and the speed coefficients of the motor rotors.
Optionally, the calibration process of the relational expression between the angular speed and the speed coefficient of the motor rotor includes:
keeping the ambient temperature unchanged, setting the temperature coefficient to be 1, calculating the clamping force by combining different speed coefficients with the set temperature coefficient under the same motor rotor angular speed, and selecting the speed coefficient under the working condition that the actual clamping force is equal to the target clamping force as the speed coefficient corresponding to the motor rotor angular speed;
fitting the angular speeds of different motor rotors and corresponding speed coefficients to obtain a relational expression of the angular speeds and the speed coefficients of the motor rotors;
the calibration process of the relation between the ambient temperature and the temperature coefficient comprises the following steps:
keeping the angular speed of the motor rotor unchanged, calculating clamping force by combining different temperature coefficients with a calibrated relational expression of the angular speed and the speed coefficient of the motor rotor at the same environmental temperature, and selecting the temperature coefficient under the working condition that the actual clamping force is equal to the target clamping force as the temperature coefficient corresponding to the environmental temperature;
fitting different environmental temperatures and corresponding temperature coefficients to obtain a relational expression of the environmental temperatures and the temperature coefficients.
Optionally, the calibration process of the relation between the ambient temperature and the temperature coefficient includes:
keeping the angular speed of the motor rotor unchanged, setting a speed coefficient to be 1, calculating clamping force by combining different temperature coefficients with the set speed coefficient at the same ambient temperature, and selecting a temperature coefficient under the working condition that the actual clamping force is equal to the target clamping force as a temperature coefficient corresponding to the ambient temperature;
fitting different environmental temperatures and corresponding temperature coefficients to obtain a relational expression of the environmental temperatures and the temperature coefficients;
the calibration process of the relation between the angular speed and the speed coefficient of the motor rotor comprises the following steps:
keeping the ambient temperature unchanged, calculating the clamping force by combining different speed coefficients with a calibrated relational expression of the ambient temperature and the temperature coefficient under the same motor rotor angular speed, and selecting a speed coefficient under the working condition that the actual clamping force is equal to the target clamping force as a speed coefficient corresponding to the motor rotor angular speed;
and fitting the angular speeds of the different motor rotors and the corresponding speed coefficients to obtain a relational expression of the angular speeds and the speed coefficients of the motor rotors.
In a second aspect, an anti-pinch detection device for a vehicle body closure system is provided, comprising:
the temperature coefficient calculation unit is used for calculating and obtaining a temperature coefficient corresponding to the current ambient temperature according to a pre-calibrated relational expression of the ambient temperature and the temperature coefficient when the vehicle body closing system executes closing operation;
the motor rotor angular speed acquisition unit is used for periodically acquiring the motor rotor angular speed of the vehicle body closing system after a moving part of the vehicle body closing system enters the anti-pinch area;
the difference value calculating unit is used for subtracting the angular speed of the motor rotor obtained in the previous period from the angular speed of the motor rotor obtained by the motor rotor angular speed obtaining unit to obtain a motor rotor angular speed difference value;
the speed coefficient calculation unit is used for judging whether the angular speed difference of the motor rotor is larger than a preset difference threshold value, if so, calculating to obtain a speed coefficient corresponding to the angular speed of the motor rotor obtained in the previous period according to a pre-calibrated relation between the angular speed of the motor rotor and the speed coefficient, and taking the angular speed of the motor rotor obtained in the previous period as a reference angular speed;
prevent pressing from both sides the processing unit for judge every cycle after the motor rotor angular velocity difference is greater than predetermined difference threshold value, according to the reference angular velocity subtracts the difference of the motor rotor angular velocity that the current cycle acquireed, the speed coefficient that obtains and the temperature coefficient that obtains of calculation, obtains the clamp force, and after the clamp force is greater than predetermined prevent pressing from both sides the detection threshold value, control automobile body closed system's removal part reverse motion.
Optionally, the anti-pinch detection device of the vehicle body closing system further comprises a temperature coefficient calibration unit, configured to:
testing motor torque coefficients and motor rotor resistances corresponding to different environmental temperatures, and obtaining a functional relation between the environmental temperature and the motor torque coefficients and a functional relation between the environmental temperature and the motor rotor resistances through fitting;
calculating to obtain a relational expression of the ambient temperature and the temperature coefficient, wherein the relational expression of the ambient temperature and the temperature coefficient is as follows:
wherein i is the transmission ratio of the worm and gear, l is the gear radius, eta is the transmission efficiency, K (T) is the torque coefficient of the motor, R (T) is the resistance of the rotor of the motor, K1Is the temperature coefficient, T is the ambient temperature, and K (T) and R (T) are both functions of the ambient temperature T.
Optionally, the anti-pinch detection device of the vehicle body closing system further includes a speed coefficient calibration unit, configured to:
keeping the ambient temperature unchanged, calculating the clamping force by using different speed coefficients under the same motor rotor angular speed, and selecting the speed coefficient under the working condition that the actual clamping force is equal to the target clamping force as the speed coefficient corresponding to the motor rotor angular speed;
and fitting the angular speeds of the different motor rotors and the corresponding speed coefficients to obtain a relational expression of the angular speeds and the speed coefficients of the motor rotors.
Optionally, the anti-pinch detection device of the vehicle body closing system further includes a speed coefficient and temperature coefficient combined calibration unit, and is configured to:
keeping the ambient temperature unchanged, setting the temperature coefficient to be 1, calculating the clamping force by combining different speed coefficients with the set temperature coefficient under the same motor rotor angular speed, and selecting the speed coefficient under the working condition that the actual clamping force is equal to the target clamping force as the speed coefficient corresponding to the motor rotor angular speed;
fitting the angular speeds of different motor rotors and corresponding speed coefficients to obtain a relational expression of the angular speeds and the speed coefficients of the motor rotors;
keeping the angular speed of the motor rotor unchanged, calculating clamping force by combining different temperature coefficients with a calibrated relational expression of the angular speed and the speed coefficient of the motor rotor at the same environmental temperature, and selecting the temperature coefficient under the working condition that the actual clamping force is equal to the target clamping force as the temperature coefficient corresponding to the environmental temperature;
fitting different environmental temperatures and corresponding temperature coefficients to obtain a relational expression of the environmental temperatures and the temperature coefficients.
Optionally, the anti-pinch detection device of the vehicle body closing system further includes a temperature coefficient and a speed coefficient combined calibration unit, and is configured to:
keeping the angular speed of the motor rotor unchanged, setting a speed coefficient to be 1, calculating clamping force by combining different temperature coefficients with the set speed coefficient at the same ambient temperature, and selecting a temperature coefficient under the working condition that the actual clamping force is equal to the target clamping force as a temperature coefficient corresponding to the ambient temperature;
fitting different environmental temperatures and corresponding temperature coefficients to obtain a relational expression of the environmental temperatures and the temperature coefficients;
keeping the ambient temperature unchanged, calculating the clamping force by combining different speed coefficients with a calibrated relational expression of the ambient temperature and the temperature coefficient under the same motor rotor angular speed, and selecting a speed coefficient under the working condition that the actual clamping force is equal to the target clamping force as a speed coefficient corresponding to the motor rotor angular speed;
and fitting the angular speeds of the different motor rotors and the corresponding speed coefficients to obtain a relational expression of the angular speeds and the speed coefficients of the motor rotors.
Compared with the prior art, the technical scheme of the invention has the following advantages:
according to the technical scheme, the anti-pinch detection method and the anti-pinch detection device for the vehicle body closing system comprise the steps that when the vehicle body closing system performs closing operation, a temperature coefficient corresponding to the current ambient temperature is obtained through calculation according to a pre-calibrated relational expression between the ambient temperature and the temperature coefficient; when the angular speed difference value of the motor rotor is larger than a preset difference threshold value, the fact that a moving part of a vehicle body closing system just contacts an obstacle is determined, a speed coefficient corresponding to the angular speed of the motor rotor obtained in the previous period is obtained through calculation according to a pre-calibrated relation between the angular speed of the motor rotor and the speed coefficient, the clamping force is calculated by combining the speed coefficient and the temperature coefficient, the influence of the angular speed of the motor rotor on the clamping force when the moving part just contacts the obstacle is considered by the speed coefficient, the larger the angular speed of the motor rotor when the moving part just contacts the obstacle is, the larger the speed coefficient is, the earlier a reversal sign is given, and the consistency of the clamping force under different power supply voltages is guaranteed.
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 schematic view of a sunroof control system;
FIG. 2 is a schematic diagram of an anti-pinch reverse process;
FIG. 3 is a flowchart of an anti-pinch detection method for a vehicle body closure system according to an embodiment of the present invention;
fig. 4 is a schematic view of an anti-pinch detection device of a vehicle body closing system 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.
In the following, a sunroof control system of a vehicle is taken as an example to explain the problem of inconsistent anti-pinch force existing in the existing anti-pinch detection method, referring to fig. 1, the sunroof control system of the vehicle is characterized in that a sunroof controller outputs a voltage signal to control a motor to rotate, a motor rotor drives a zipper to move along a zipper track through a worm and gear mechanism, and the zipper drags a sunroof to move glass to open and close the sunroof.
The following kinetic equations were established for moving glass:
wherein, FoIs a clamping force, FmIs motor driving force, FrThe system resistance is, v is the glass translation speed, and m is the moving part mass of the skylight.
The kinetic equation for the motor end is as follows:
wherein, TlFor outputting torque, T, of the motorfThe rotation friction force of the motor end is equal to USupply voltage at two ends of the motor, omega is the angular speed of the motor rotor, K is the torque coefficient of the motor, R is the resistance of the motor rotor, JrIs the rotational inertia of the motor rotor.
When the glass is moving at a constant speed, the effect of acceleration can be ignored, i.e., dv/dt is 0 and d Ω/dt is 0, and is obtained from equations (1) and (2):
wherein i is the worm gear transmission ratio, l is the gear radius, and η is the transmission efficiency.
When there is no obstacle Fo＝0，Ω＝ΩrCarrying out the following step (3):
wherein omegarThe angular velocity of the rotor of the motor without obstacles is also referred to as the reference angular velocity.
When the obstacle exists, the obstacle is obtained by the following formulas (3) and (4):
Fo＝K1·(Ωr-Ω) (5)
for K1Wherein i, l and η are all constant values. K and R are motor characteristic parameters which respectively represent a motor torque coefficient and a motor rotor resistance, are related to the environment temperature T and can be obtained through calibration. The motor torque coefficient can also be represented by K (T), R (T) represents the motor rotor resistance, and K (T) and R (T) are functions of the ambient temperature T. K1For the temperature coefficient, which is dependent on the system and ambient temperature, and which can be obtained by calibration, the clamping force FoCan pass through K1And calculating the angular speed difference of the motor rotor.
When the skylight is closed and encounters an obstacle, the angular speed omega of the motor rotor is reduced, and the formula (5) and the referenceAngular velocity omegarThe clamping force F can be obtainedo. The skylight retreating conditions are as follows:
Fo＞FTHR (7)
wherein, FTHRFor anti-pinch detection threshold, when the calculated pinch force FoWhen the anti-pinch detection threshold value is larger than the anti-pinch detection threshold value, the controller outputs a stop signal and provides reverse voltage to drive the motor to rotate reversely, and the motor drives the skylight to move reversely. However, under the action of inertia, the skylight still continues to be rushed forward for a certain distance from the detection of an anti-pinch event to the actual retreat of the skylight, and if the force gauge is used for anti-pinch detection, the skylight moving glass continues to extrude the spring under the action of inertia, so that the actually obtained anti-pinch force is larger than the expected anti-pinch force.
The anti-pinch reverse process is shown in FIG. 2. Wherein, the ordinate Force is the clamping Force, and the unit is N; the abscissa Distance is the moving Distance of the glass in the anti-pinch area, and the unit is mm; f is the desired anti-pinch force, i.e. the target anti-pinch force; f1 denotes the actual anti-pinch force; Δ F represents the difference between F1 and F. From the real clamping force curve in fig. 2 and the software calculated clamping force curve it can be seen that: the point A is an actual position point of the glass when the barrier is actually contacted with the glass, namely a distance value of the glass which actually moves in the anti-pinch area; the point B is the actual position point of the glass when the software detects that the obstacle is in contact with the glass of the skylight, and the distance between the point A and the point B is the detection delay caused by the system elasticity and the detection signal lag. Point C is an actual position point of the glass when the clamping force obtained by software logic calculation reaches an anti-clamping detection threshold value, and software at the point gives a motor reversal command; and the point D is the position point of the actual back-off of the glass. The distance between the point C and the point D is the forward stroke distance caused by the moving inertia of the glass, so that the distance between the point A and the point D forms the compression distance of the spring before the reversal. The actual anti-pinch force F1 is greater than the desired anti-pinch force F due to the effect of the kick-in. And the larger the angular speed of the motor rotor is when the glass is just contacted with the barrier, the larger the inertia is, and the larger the actual anti-pinch force is. This results in inconsistent actual pinch resistance for the same skylight under different supply voltages.
The inventor finds that the angular speed of the rotor of the motor is related to the supply voltage and the frictional resistance, the more the supply voltage isThe greater the high motor rotor angular velocity; the power supply voltage is unchanged, and the smaller the track resistance is, the larger the angular speed of the motor rotor is. This can lead to different frictional resistance and inconsistent angular speeds of the motor rotor under the same supply voltage, and further inconsistent anti-pinch force; in the same way, the angular speeds of the motor rotors under different power supply voltages and the same frictional resistance are inconsistent, and further the anti-pinch force is inconsistent. Therefore, the problem of inconsistent anti-clamping force cannot be solved by using the power supply voltage and the frictional resistance, and the inventor finally considers the problem of inconsistent anti-clamping force by adopting a speed factor. For this purpose, the invention introduces a speed coefficient KΩ：
Correspondingly selecting different K for different motor rotor angular speedsΩThe value is obtained. The higher the angular velocity of the motor rotor when the glass just contacts the obstacle, the higher KΩThe larger the clamping force is, the earlier the clamping force reaching the anti-clamping detection threshold value is calculated according to a formula (8), the earlier the controller gives a reverse sign, and the smaller the distance of the compression spring is, so that the actual anti-clamping force is reduced; therefore, under different power supply voltages, namely different motor rotor angular speeds, the distance between the actual position point A of the moving part just contacting the barrier and the actual position point D of the moving part returning back is consistent, and the consistency of anti-clamping force is ensured. Based on the principle, the invention provides an anti-pinch detection method for a vehicle body closing system, and referring to fig. 3, the method can comprise the following steps:
s31: and when the vehicle body closing system executes closing operation, calculating to obtain a temperature coefficient corresponding to the current ambient temperature according to a pre-calibrated relational expression between the ambient temperature and the temperature coefficient.
The vehicle body closing system can specifically comprise a skylight control system, a door and window control system, a tail door control system, a side sliding door control system and the like. In the whole operation process of the closing operation of the vehicle body closing system, the ambient temperature generally does not jump, so the time for calculating the temperature coefficient is not particularly limited, and the temperature coefficient calculated when the closing operation of the vehicle body closing system is performed belongs to the protection scope of the invention.
In some embodiments, the relationship between the ambient temperature and the resistance of the motor rotor and the torque coefficient of the motor may be calibrated to obtain the ambient temperature T and the temperature coefficient K1The relationship (2) of (c). Specifically, motor torque coefficients and motor rotor resistances corresponding to different environmental temperatures are measured through experiments, and a functional relation between the environmental temperature and the motor torque coefficients and a functional relation between the environmental temperature and the motor rotor resistances are obtained through fitting; and then calculating to obtain a relational expression of the ambient temperature and the temperature coefficient. The relationship between the ambient temperature and the temperature coefficient is:
wherein i is the transmission ratio of the worm and gear, l is the gear radius, eta is the transmission efficiency, K (T) is the torque coefficient of the motor, R (T) is the resistance of the rotor of the motor, K1Is the temperature coefficient, T is the ambient temperature, and K (T) and R (T) are both functions of the ambient temperature T.
In the invention, the two parameters are fitted to obtain a relational expression or a functional relational expression between the two parameters, and the fitting can be carried out by adopting a least square method, and of course, the fitting can also be carried out by other possible modes.
S32: after a moving part of the vehicle body closing system enters the anti-pinch area, the angular speed of the motor rotor of the vehicle body closing system is acquired periodically.
Prevent pressing from both sides the district and preset need carry out the removal scope of preventing pressing from both sides the detection promptly, if detect the barrier and block the further removal of moving part in preventing pressing from both sides the district, then control moving part and move back automatically, avoid pressing from both sides and hinder driver and crew in moving part closed in-process.
S33: when the angular speed of the motor rotor is obtained, the angular speed of the motor rotor obtained in the previous period is subtracted from the angular speed of the motor rotor to obtain a motor rotor angular speed difference value.
For example, when the electronic rotor angular velocity of the nth period is obtained, the electronic rotor angular velocity of the nth period is used to subtract the electronic rotor angular velocity of the (n-1) th period, so as to obtain the motor rotor angular velocity difference.
S34: and judging whether the angular speed difference of the motor rotor is greater than a preset difference threshold value, if so, calculating to obtain a speed coefficient corresponding to the angular speed of the motor rotor obtained in the previous period according to a pre-calibrated relational expression of the angular speed of the motor rotor and the speed coefficient, and taking the angular speed of the motor rotor obtained in the previous period as a reference angular speed.
Step S33 is executed for each cycle before it is not detected that the motor rotor angular velocity difference is greater than the preset difference threshold, for determining whether the moving member is in contact with the obstacle. And when the angular speed difference of the motor rotor is larger than a preset difference threshold value, determining that the moving part is in contact with the obstacle, executing the subsequent step of calculating the speed coefficient, determining that the previous period is the time when the moving part just contacts the obstacle, and taking the angular speed of the motor rotor obtained in the previous period as the reference angular speed. It should be noted that, after the angular velocity difference of the motor rotor is determined to be greater than the preset difference threshold, step S33 is not executed in the following period. Wherein the difference threshold may be obtained by calibration or empirically.
In some embodiments, the calibration process of the relationship between the angular speed and the speed coefficient of the rotor of the motor includes: keeping the ambient temperature unchanged, calculating clamping force by using different speed coefficients under the same motor rotor angular speed, and selecting the speed coefficient under the working condition that the actual clamping force is equal to the target clamping force as the speed coefficient corresponding to the motor rotor angular speed; and then fitting the angular speeds of the different motor rotors and the corresponding speed coefficients to obtain a relational expression of the angular speeds and the speed coefficients of the motor rotors.
For example, the environmental temperature is kept to be 28 degrees, the angular speed of the rotor of the same motor is 200rad/s, and the target anti-clamping force is 75N; when the speed coefficient is 2, the actual anti-clamping force is 76N; when the speed coefficient is 3, the actual anti-clamping force is 75N; at a velocity factor of 4, the actual anti-pinch force is 74N. Since the actual anti-pinch force at a velocity factor of 3 is 75N, i.e. equal to the target anti-pinch force, 3 is chosen as the velocity factor corresponding to 200 rad/s.
It should be noted that the same motor rotor angular velocity in the clamping force calculated by using different velocity coefficients at the same motor rotor angular velocity specifically refers to the motor rotor angular velocity at the time when the moving member is just in contact with the obstacle. The obstacle can be a spring when the calibration is carried out. And when the clamping force is calculated by using different speed coefficients under the same motor rotor angular speed, the temperature coefficient is determined according to a pre-calibrated relational expression of the environmental temperature and the temperature coefficient.
S35: and in each period after the angular speed difference value of the motor rotor is judged to be larger than the preset difference value threshold value, the clamping force is obtained by subtracting the angular speed difference value of the motor rotor obtained in the current period, the calculated speed coefficient and the calculated temperature coefficient from the reference angular speed, and the moving part of the vehicle body closing system is controlled to move reversely after the clamping force is larger than the preset anti-clamping detection threshold value.
Step S35 is executed, that is, after it is determined that the moving member is in contact with the obstacle, the difference value of the angular velocity of the motor rotor obtained in the current period subtracted from the reference angular velocity, the calculated velocity coefficient, and the calculated temperature coefficient may be multiplied to obtain the clamping force, so that the clamping force may be calculated using formula (8), and the retraction timing of the moving member may be determined using formula (7). In formula (8)
Is the temperature coefficient. And when the clamping force is judged to be not greater than the preset anti-pinch detection threshold value, calculating the clamping force by using a formula (8) in a later period, and determining the moving part back-off time by using a formula (7).
In some embodiments, the temperature coefficient and the velocity coefficient are calibrated simultaneously. Meanwhile, the temperature coefficient and the speed coefficient can be calibrated firstly and then, or the speed coefficient and then, the temperature coefficient can be calibrated. The process of calibrating the speed coefficient and then calibrating the temperature coefficient comprises the following steps:
firstly, keeping the ambient temperature unchanged, setting a temperature coefficient to be 1, calculating clamping force by combining different speed coefficients with the set temperature coefficient under the same motor rotor angular speed, and selecting the speed coefficient under the working condition that the actual clamping force is equal to the target clamping force as the speed coefficient corresponding to the motor rotor angular speed.
And secondly, fitting the angular speeds of the different motor rotors and the corresponding speed coefficients to obtain a relational expression of the angular speeds and the speed coefficients of the motor rotors.
And thirdly, keeping the angular speed of the motor rotor unchanged, calculating the clamping force by combining different temperature coefficients and a calibrated relational expression of the angular speed and the speed coefficient of the motor rotor at the same environmental temperature, and selecting the temperature coefficient under the working condition that the actual clamping force is equal to the target clamping force as the temperature coefficient corresponding to the environmental temperature.
And finally, fitting different environmental temperatures and corresponding temperature coefficients to obtain a relational expression of the environmental temperatures and the temperature coefficients.
The process of calibrating the temperature coefficient and then the speed coefficient comprises the following steps:
firstly: keeping the angular speed of the motor rotor unchanged, setting a speed coefficient to be 1, calculating clamping force by combining different temperature coefficients and the set speed coefficient at the same ambient temperature, and selecting the temperature coefficient under the working condition that the actual clamping force is equal to the target clamping force as the temperature coefficient corresponding to the ambient temperature.
And fitting different environmental temperatures and corresponding temperature coefficients to obtain a relational expression of the environmental temperatures and the temperature coefficients.
Thirdly, keeping the ambient temperature unchanged, calculating the clamping force by combining different speed coefficients with a calibrated relational expression of the ambient temperature and the temperature coefficient under the same motor rotor angular speed, and selecting a speed coefficient under the working condition that the actual clamping force is equal to the target clamping force as a speed coefficient corresponding to the motor rotor angular speed;
and fitting the angular speeds of the different motor rotors and the corresponding speed coefficients to obtain a relational expression of the angular speeds and the speed coefficients of the motor rotors.
It can be understood that: the temperature coefficient of 1 or the speed coefficient of 1 set in the foregoing embodiment merely indicates a specific set threshold, and it is obvious that the temperature coefficient and the speed coefficient set in the actual calibration may take other values.
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.
The following are embodiments of the apparatus of the present invention that may be used to perform embodiments of the method of the present invention. For details which are not disclosed in the embodiments of the apparatus of the present invention, reference is made to the embodiments of the method of the present invention.
Referring to fig. 4, the anti-pinch detection device for a vehicle body closing system provided by the invention comprises: a temperature coefficient calculation unit 41, a motor rotor angular velocity acquisition unit 42, a difference calculation unit 43, a velocity coefficient calculation unit 44, and an anti-pinch processing unit 45.
And the temperature coefficient calculating unit 41 is configured to calculate a temperature coefficient corresponding to the current ambient temperature according to a pre-calibrated relational expression between the ambient temperature and the temperature coefficient when the vehicle body closing system performs a closing operation.
And the motor rotor angular speed acquisition unit 42 is used for periodically acquiring the motor rotor angular speed of the vehicle body closing system after the moving part of the vehicle body closing system enters the anti-pinch area.
And a difference calculating unit 43, configured to, when the motor rotor angular velocity obtaining unit 42 obtains one motor rotor angular velocity, subtract the motor rotor angular velocity obtained in the previous cycle from the obtained motor rotor angular velocity to obtain a motor rotor angular velocity difference.
And the speed coefficient calculation unit 44 is configured to determine whether the difference between the angular speeds of the motor rotor is greater than a preset difference threshold, and if so, calculate a speed coefficient corresponding to the angular speed of the motor rotor obtained in the previous period according to a pre-calibrated relation between the angular speed of the motor rotor and the speed coefficient, and use the angular speed of the motor rotor obtained in the previous period as a reference angular speed.
And the anti-pinch processing unit 45 is used for subtracting the difference value of the angular speed of the motor rotor obtained in the current period, the speed coefficient obtained by calculation and the temperature coefficient obtained by calculation according to the reference angular speed in each period after the angular speed difference value of the motor rotor is judged to be larger than the preset difference value threshold value, obtaining a pinching force, and controlling the moving part of the vehicle body closing system to move reversely after the pinching force is larger than the preset anti-pinch detection threshold value.
In some embodiments, the anti-pinch detection device of the vehicle body closing system further comprises a temperature coefficient calibration unit, which is used for measuring motor torque coefficients and motor rotor resistances corresponding to different environmental temperatures through experiments, and obtaining a functional relation between the environmental temperature and the motor torque coefficients and a functional relation between the environmental temperature and the motor rotor resistances through fitting; calculating to obtain a relational expression of the ambient temperature and the temperature coefficient, wherein the relational expression of the ambient temperature and the temperature coefficient is as follows:
wherein i is the transmission ratio of the worm and gear, l is the gear radius, eta is the transmission efficiency, K (T) is the torque coefficient of the motor, R (T) is the resistance of the rotor of the motor, K1Is the temperature coefficient, T is the ambient temperature, and K (T) and R (T) are both functions of the ambient temperature T.
In some specific embodiments, the anti-pinch detection device of the vehicle body closing system further comprises a speed coefficient calibration unit, which is used for keeping the ambient temperature unchanged, calculating the clamping force by using different speed coefficients under the same motor rotor angular speed, and selecting the speed coefficient under the working condition that the actual anti-pinch force is equal to the target anti-pinch force as the speed coefficient corresponding to the motor rotor angular speed; and fitting the angular speeds of the different motor rotors and the corresponding speed coefficients to obtain a relational expression of the angular speeds and the speed coefficients of the motor rotors.
In some embodiments, the anti-pinch detection device of the vehicle body closing system further comprises a speed coefficient and temperature coefficient combined calibration unit for:
keeping the ambient temperature unchanged, setting the temperature coefficient to be 1, calculating the clamping force by combining different speed coefficients with the set temperature coefficient under the same motor rotor angular speed, and selecting the speed coefficient under the working condition that the actual clamping force is equal to the target clamping force as the speed coefficient corresponding to the motor rotor angular speed;
fitting the angular speeds of different motor rotors and corresponding speed coefficients to obtain a relational expression of the angular speeds and the speed coefficients of the motor rotors;
keeping the angular speed of the motor rotor unchanged, calculating clamping force by combining different temperature coefficients with a calibrated relational expression of the angular speed and the speed coefficient of the motor rotor at the same environmental temperature, and selecting the temperature coefficient under the working condition that the actual clamping force is equal to the target clamping force as the temperature coefficient corresponding to the environmental temperature;
fitting different environmental temperatures and corresponding temperature coefficients to obtain a relational expression of the environmental temperatures and the temperature coefficients.
In some embodiments, the anti-pinch detection device of the vehicle body closing system further comprises a temperature coefficient and speed coefficient combined calibration unit for:
keeping the angular speed of the motor rotor unchanged, setting a speed coefficient to be 1, calculating clamping force by combining different temperature coefficients and the set speed coefficient at the same ambient temperature, and selecting the temperature coefficient under the working condition that the actual clamping force is equal to the target clamping force as the temperature coefficient corresponding to the ambient temperature.
Fitting different environmental temperatures and corresponding temperature coefficients to obtain a relational expression of the environmental temperatures and the temperature coefficients;
keeping the ambient temperature unchanged, calculating the clamping force by combining different speed coefficients with a calibrated relational expression of the ambient temperature and the temperature coefficient under the same motor rotor angular speed, and selecting a speed coefficient under the working condition that the actual clamping force is equal to the target clamping force as a speed coefficient corresponding to the motor rotor angular speed;
and fitting the angular speeds of the different motor rotors and the corresponding speed coefficients to obtain a relational expression of the angular speeds and the speed coefficients of the motor rotors.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
In this document, 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 embodiments in the present description are mainly described as different from other embodiments, the same and similar parts in the embodiments may be referred to each other, and the features described in the embodiments in the present description may be replaced with each other or combined with each other.
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 (10)
1. An anti-pinch detection method of a vehicle body closing system is characterized by comprising the following steps:
when the closing operation of the vehicle body closing system is executed, calculating to obtain a temperature coefficient corresponding to the current ambient temperature according to a pre-calibrated relational expression of the ambient temperature and the temperature coefficient;
periodically acquiring the angular speed of a motor rotor of the car body closing system after a moving part of the car body closing system enters an anti-pinch area;
when the angular speed of the motor rotor is obtained, subtracting the angular speed of the motor rotor obtained in the previous period from the angular speed of the motor rotor to obtain a motor rotor angular speed difference value;
judging whether the angular speed difference of the motor rotor is greater than a preset difference threshold value, if so, calculating to obtain a speed coefficient corresponding to the angular speed of the motor rotor obtained in the previous period according to a pre-calibrated relational expression of the angular speed of the motor rotor and the speed coefficient, and taking the angular speed of the motor rotor obtained in the previous period as a reference angular speed;
and in each period after the angular speed difference value of the motor rotor is judged to be larger than the preset difference value threshold value, obtaining a clamping force according to the difference value of the angular speed of the motor rotor obtained by subtracting the current period from the reference angular speed, the speed coefficient obtained by calculation and the temperature coefficient obtained by calculation, and controlling a moving part of the vehicle body closing system to move reversely after the clamping force is larger than the preset anti-clamping detection threshold value.
2. The anti-pinch detection method of the vehicle body closing system according to claim 1, wherein the calibration process of the relation between the ambient temperature and the temperature coefficient comprises:
testing motor torque coefficients and motor rotor resistances corresponding to different environmental temperatures, and obtaining a functional relation between the environmental temperature and the motor torque coefficients and a functional relation between the environmental temperature and the motor rotor resistances through fitting;
calculating to obtain a relational expression of the ambient temperature and the temperature coefficient, wherein the relational expression of the ambient temperature and the temperature coefficient is as follows:
wherein i is the transmission ratio of the worm and gear, l is the gear radius, eta is the transmission efficiency, K (T) is the torque coefficient of the motor, R (T) is the resistance of the rotor of the motor, K1Is the temperature coefficient, T is the ambient temperature, and K (T) and R (T) are both functions of the ambient temperature T.
3. The anti-pinch detection method of the vehicle body closing system according to claim 1, wherein the calibration process of the relation between the angular velocity and the velocity coefficient of the motor rotor comprises the following steps:
keeping the ambient temperature unchanged, calculating the clamping force by using different speed coefficients under the same motor rotor angular speed, and selecting the speed coefficient under the working condition that the actual clamping force is equal to the target clamping force as the speed coefficient corresponding to the motor rotor angular speed;
and fitting the angular speeds of the different motor rotors and the corresponding speed coefficients to obtain a relational expression of the angular speeds and the speed coefficients of the motor rotors.
4. The anti-pinch detection method of the vehicle body closing system according to claim 1, wherein the calibration process of the relation between the angular velocity and the velocity coefficient of the motor rotor comprises the following steps:
keeping the ambient temperature unchanged, setting the temperature coefficient to be 1, calculating the clamping force by combining different speed coefficients with the set temperature coefficient under the same motor rotor angular speed, and selecting the speed coefficient under the working condition that the actual clamping force is equal to the target clamping force as the speed coefficient corresponding to the motor rotor angular speed;
fitting the angular speeds of different motor rotors and corresponding speed coefficients to obtain a relational expression of the angular speeds and the speed coefficients of the motor rotors;
the calibration process of the relation between the ambient temperature and the temperature coefficient comprises the following steps:
keeping the angular speed of the motor rotor unchanged, calculating clamping force by combining different temperature coefficients with a calibrated relational expression of the angular speed and the speed coefficient of the motor rotor at the same environmental temperature, and selecting the temperature coefficient under the working condition that the actual clamping force is equal to the target clamping force as the temperature coefficient corresponding to the environmental temperature;
fitting different environmental temperatures and corresponding temperature coefficients to obtain a relational expression of the environmental temperatures and the temperature coefficients.
5. The anti-pinch detection method of the vehicle body closing system according to claim 1, wherein the calibration process of the relation between the ambient temperature and the temperature coefficient comprises:
keeping the angular speed of the motor rotor unchanged, setting a speed coefficient to be 1, calculating clamping force by combining different temperature coefficients with the set speed coefficient at the same ambient temperature, and selecting a temperature coefficient under the working condition that the actual clamping force is equal to the target clamping force as a temperature coefficient corresponding to the ambient temperature;
fitting different environmental temperatures and corresponding temperature coefficients to obtain a relational expression of the environmental temperatures and the temperature coefficients;
the calibration process of the relation between the angular speed and the speed coefficient of the motor rotor comprises the following steps:
keeping the ambient temperature unchanged, calculating the clamping force by combining different speed coefficients with a calibrated relational expression of the ambient temperature and the temperature coefficient under the same motor rotor angular speed, and selecting a speed coefficient under the working condition that the actual clamping force is equal to the target clamping force as a speed coefficient corresponding to the motor rotor angular speed;
and fitting the angular speeds of the different motor rotors and the corresponding speed coefficients to obtain a relational expression of the angular speeds and the speed coefficients of the motor rotors.
6. The utility model provides a detection device is prevented pressing from both sides by automobile body closed system which characterized in that includes:
the temperature coefficient calculation unit is used for calculating and obtaining a temperature coefficient corresponding to the current ambient temperature according to a pre-calibrated relational expression of the ambient temperature and the temperature coefficient when the vehicle body closing system executes closing operation;
the motor rotor angular speed acquisition unit is used for periodically acquiring the motor rotor angular speed of the vehicle body closing system after a moving part of the vehicle body closing system enters the anti-pinch area;
the difference value calculating unit is used for subtracting the angular speed of the motor rotor obtained in the previous period from the angular speed of the motor rotor obtained by the motor rotor angular speed obtaining unit to obtain a motor rotor angular speed difference value;
the speed coefficient calculation unit is used for judging whether the angular speed difference of the motor rotor is larger than a preset difference threshold value, if so, calculating to obtain a speed coefficient corresponding to the angular speed of the motor rotor obtained in the previous period according to a pre-calibrated relation between the angular speed of the motor rotor and the speed coefficient, and taking the angular speed of the motor rotor obtained in the previous period as a reference angular speed;
prevent pressing from both sides the processing unit for judge every cycle after the motor rotor angular velocity difference is greater than predetermined difference threshold value, according to the reference angular velocity subtracts the difference of the motor rotor angular velocity that the current cycle acquireed, the speed coefficient that obtains and the temperature coefficient that obtains of calculation, obtains the clamp force, and after the clamp force is greater than predetermined prevent pressing from both sides the detection threshold value, control automobile body closed system's removal part reverse motion.
7. The anti-pinch detection device of a vehicle body closure system of claim 6, further comprising a temperature coefficient calibration unit for:
testing motor torque coefficients and motor rotor resistances corresponding to different environmental temperatures, and obtaining a functional relation between the environmental temperature and the motor torque coefficients and a functional relation between the environmental temperature and the motor rotor resistances through fitting;
calculating to obtain a relational expression of the ambient temperature and the temperature coefficient, wherein the relational expression of the ambient temperature and the temperature coefficient is as follows:
wherein i is the transmission ratio of the worm and gear, l is the gear radius, eta is the transmission efficiency, K (T) is the torque coefficient of the motor, R (T) is the resistance of the rotor of the motor, K1Is the temperature coefficient, T is the ambient temperature, and K (T) and R (T) are both functions of the ambient temperature T.
8. The anti-pinch detection device of a vehicle body closure system of claim 6, further comprising a speed coefficient calibration unit for:
keeping the ambient temperature unchanged, calculating the clamping force by using different speed coefficients under the same motor rotor angular speed, and selecting the speed coefficient under the working condition that the actual clamping force is equal to the target clamping force as the speed coefficient corresponding to the motor rotor angular speed;
and fitting the angular speeds of the different motor rotors and the corresponding speed coefficients to obtain a relational expression of the angular speeds and the speed coefficients of the motor rotors.
9. The anti-pinch detection device of a vehicle body closure system of claim 6, further comprising a speed coefficient and temperature coefficient joint calibration unit for:
keeping the ambient temperature unchanged, setting the temperature coefficient to be 1, calculating the clamping force by combining different speed coefficients with the set temperature coefficient under the same motor rotor angular speed, and selecting the speed coefficient under the working condition that the actual clamping force is equal to the target clamping force as the speed coefficient corresponding to the motor rotor angular speed;
fitting the angular speeds of different motor rotors and corresponding speed coefficients to obtain a relational expression of the angular speeds and the speed coefficients of the motor rotors;
keeping the angular speed of the motor rotor unchanged, calculating clamping force by combining different temperature coefficients with a calibrated relational expression of the angular speed and the speed coefficient of the motor rotor at the same environmental temperature, and selecting the temperature coefficient under the working condition that the actual clamping force is equal to the target clamping force as the temperature coefficient corresponding to the environmental temperature;
fitting different environmental temperatures and corresponding temperature coefficients to obtain a relational expression of the environmental temperatures and the temperature coefficients.
10. The anti-pinch detection device of a vehicle body closure system of claim 6, further comprising a temperature coefficient and speed coefficient joint calibration unit for:
keeping the angular speed of the motor rotor unchanged, setting a speed coefficient to be 1, calculating clamping force by combining different temperature coefficients with the set speed coefficient at the same ambient temperature, and selecting a temperature coefficient under the working condition that the actual clamping force is equal to the target clamping force as a temperature coefficient corresponding to the ambient temperature;
fitting different environmental temperatures and corresponding temperature coefficients to obtain a relational expression of the environmental temperatures and the temperature coefficients;
keeping the ambient temperature unchanged, calculating the clamping force by combining different speed coefficients with a calibrated relational expression of the ambient temperature and the temperature coefficient under the same motor rotor angular speed, and selecting a speed coefficient under the working condition that the actual clamping force is equal to the target clamping force as a speed coefficient corresponding to the motor rotor angular speed;
and fitting the angular speeds of the different motor rotors and the corresponding speed coefficients to obtain a relational expression of the angular speeds and the speed coefficients of the motor rotors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010909080.8A CN111997471B (en) | 2020-09-02 | 2020-09-02 | Anti-pinch detection method and device for vehicle body closing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010909080.8A CN111997471B (en) | 2020-09-02 | 2020-09-02 | Anti-pinch detection method and device for vehicle body closing system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111997471A CN111997471A (en) | 2020-11-27 |
| CN111997471B true CN111997471B (en) | 2022-03-15 |
Family
ID=73465062
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010909080.8A Active CN111997471B (en) | 2020-09-02 | 2020-09-02 | Anti-pinch detection method and device for vehicle body closing system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111997471B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103782467A (en) * | 2011-08-30 | 2014-05-07 | 博泽哈尔施塔特汽车零件两合公司 | Method and device for monitoring a drive unit, especially of a window lifter, comprising a rotating drive motor |
| CN106285281A (en) * | 2016-10-28 | 2017-01-04 | 北京经纬恒润科技有限公司 | The anti-clamping method of a kind of automobile door lock and device |
| CN106330007A (en) * | 2016-10-28 | 2017-01-11 | 北京经纬恒润科技有限公司 | Device and method for controlling automobile's electric backup door's anti-pinch response time |
| CN106899254A (en) * | 2017-03-30 | 2017-06-27 | 北京经纬恒润科技有限公司 | A kind of closing feature Antipinch detection method and device |
Family Cites Families (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10082533B4 (en) * | 1999-09-03 | 2008-10-02 | Küster Automotive Door Systems GmbH | Method for setting an actual speed of the lifting movement of a window pane |
| JP2004232280A (en) * | 2003-01-29 | 2004-08-19 | Aisin Seiki Co Ltd | Pinching detector for opening/closing body |
| CN102979397B (en) * | 2012-11-01 | 2014-12-10 | 北京经纬恒润科技有限公司 | Anti-pinch method and device thereof |
| JP6174480B2 (en) * | 2013-12-25 | 2017-08-02 | アイシン精機株式会社 | Opening / closing member drive control device for vehicle |
| US20180345973A1 (en) * | 2015-09-11 | 2018-12-06 | GM Global Technology Operations LLC | Vehicle having controlled start |
| DE102015226108A1 (en) * | 2015-12-18 | 2017-06-22 | Brose Fahrzeugteile Gmbh & Co. Kommanditgesellschaft, Bamberg | Anti-jamming method for carrying out a motorized adjusting device for an adjustable vehicle part and associated adjusting device |
| CN105730389B (en) * | 2016-03-16 | 2018-11-20 | 江苏日盈电子股份有限公司 | The adaptive anti-clamping method of power sunroof based on velocity measuring |
| CN107328589A (en) * | 2017-06-28 | 2017-11-07 | 南京工程学院 | A kind of track vehicle door system remote supervision system and its monitoring method |
| DE102018129132B3 (en) * | 2018-11-20 | 2020-01-02 | Knorr-Bremse Systeme für Schienenfahrzeuge GmbH | Procedure for determining a braking distance |
| CN210798615U (en) * | 2019-03-27 | 2020-06-19 | 胜华波汽车电器(滁州)有限公司 | Anti-pinch vehicle window controller with double anti-pinch functions |
| CN111169332B (en) * | 2020-01-08 | 2021-07-27 | 广汽零部件有限公司 | Anti-pinch control method for electric automobile seat |
| CN111267593B (en) * | 2020-03-24 | 2021-08-24 | 北京经纬恒润科技股份有限公司 | Control method and device for vehicle body closing system |
| CN111409572B (en) * | 2020-03-30 | 2021-12-24 | 北京经纬恒润科技股份有限公司 | Control method and device for vehicle body closing system |
-
2020
- 2020-09-02 CN CN202010909080.8A patent/CN111997471B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103782467A (en) * | 2011-08-30 | 2014-05-07 | 博泽哈尔施塔特汽车零件两合公司 | Method and device for monitoring a drive unit, especially of a window lifter, comprising a rotating drive motor |
| CN106285281A (en) * | 2016-10-28 | 2017-01-04 | 北京经纬恒润科技有限公司 | The anti-clamping method of a kind of automobile door lock and device |
| CN106330007A (en) * | 2016-10-28 | 2017-01-11 | 北京经纬恒润科技有限公司 | Device and method for controlling automobile's electric backup door's anti-pinch response time |
| CN106899254A (en) * | 2017-03-30 | 2017-06-27 | 北京经纬恒润科技有限公司 | A kind of closing feature Antipinch detection method and device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111997471A (en) | 2020-11-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US6555982B2 (en) | Method and system for detecting an object in the path of an automotive window utilizing a system equation | |
| JP4370609B2 (en) | Drive apparatus and method for adjusting vehicle parts | |
| CN105730389B (en) | The adaptive anti-clamping method of power sunroof based on velocity measuring | |
| US7305290B2 (en) | Controlling device of a regulating device of a motor vehicle | |
| US6086177A (en) | Process for controlling closing movement of closing mechanisms with immediate squeeze protection after activation of a mechanism | |
| CN110439413B (en) | Anti-pinch control method and device | |
| CN102226368B (en) | Anti-pinch control method with self-adaptability for electric window | |
| TWI430061B (en) | Systems and methods of tracking partition system performance | |
| US8704476B2 (en) | Method and device for detecting an entrapment situation | |
| JP4617041B2 (en) | Method for electronic monitoring and control of a process for positioning a movable member | |
| EP4001569A1 (en) | Pinch detection based on motor current increase | |
| CN111206838A (en) | Ripple anti-pinch position compensation method and device | |
| US6573676B1 (en) | Drive device and method for moving a vehicle part | |
| CN106394204A (en) | Anti-pinch skylight control method | |
| CN111997471B (en) | Anti-pinch detection method and device for vehicle body closing system | |
| CN112211520A (en) | Anti-pinch detection method and system | |
| JPH09502339A (en) | Safety device for moving parts | |
| US9856689B2 (en) | Method and device for determining the offset of an electric window lift system | |
| US6308461B1 (en) | Method and system for detecting an object in the path of an automotive window utilizing a piezoelectric sensor | |
| JP4981431B2 (en) | Control device for vehicle opening / closing body | |
| JP2008150830A (en) | Control unit of opening and closing body for vehicle | |
| EP4001566B1 (en) | Pinch detection during motor restart | |
| EP4001567B1 (en) | Method and device for detecting potential pinches | |
| CN115538886A (en) | Vehicle window anti-pinch control method and device and vehicle | |
| CN112511063A (en) | Anti-pinch self-adaptive learning method and device for vehicle partition system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 4 / F, building 1, No.14 Jiuxianqiao Road, Chaoyang District, Beijing 100020 Applicant after: Beijing Jingwei Hirain Technologies Co.,Inc. Address before: 8 / F, block B, No. 11, Anxiang Beili, Chaoyang District, Beijing 100101 Applicant before: Beijing Jingwei HiRain Technologies Co.,Ltd. |
|
| CB02 | Change of applicant information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |