CN112859581A - Control algorithm of vehicle hidden door handle - Google Patents
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- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
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Abstract
The invention discloses a control algorithm of a vehicle hidden door handle, belonging to the technical field of automobile electronics, and comprising mechanical dead point positions for the push-out and recovery of a turbine worm in an MCU (microprogrammed control Unit); setting the duty ratio of a PWM driving signal of a direct current driving motor to be delta, and controlling the output duty ratio delta by the MCU through a PID algorithm; the door handle control method comprises the steps of setting a failure mode, controlling the door handle according to the failure mode, setting a self-learning mode, judging and recording a zero position, and solving the technical problems of failure mode ice breaking control and the self-learning mode in the door handle control.
Description
Technical Field
The invention belongs to the technical field of automotive electronics, and particularly relates to a control algorithm of a hidden door handle for a vehicle.
Background
As shown in fig. 1 and 2, the hidden door handle of the automobile comprises an execution component and a control unit, and a direct current motor is widely applied to position control; in the existing execution part, a direct current motor 1 is matched with a transmission turbine 3 to drive a turbine worm 4 to rotate, so that the functions of pushing out and recovering the door handle are realized; the existing control unit 2 drives a direct current motor 10 through sending a PWM driving signal 8 and a driving bridge 9, a transmission turbine 3 rotates to drive a turbine worm 4 to push out or recover a door handle, and meanwhile, a magnet Hall sensor 5 senses the rotation of the motor and feeds back the rotation to the control unit 2 to record the number of Hall pulses.
In addition, the current on the drive axle chip of the control unit 2 is sampled by the AD module 13 and fed back to the MCU in the control unit for processing after current collection.
The existing executing component door handle push-out screw stroke design and the processing thereof are easy to have errors or tolerance, and the position of a starting point cannot be accurately determined.
Disclosure of Invention
The invention aims to provide a control algorithm of a hidden door handle for a vehicle, which solves the technical problems of failure mode ice breaking control and self-learning mode during door handle control.
In order to achieve the purpose, the invention adopts the following technical scheme:
a control algorithm of a hidden door handle for a vehicle comprises the following steps:
step 1: establishing an automobile door handle executing component and a control unit, wherein the handle executing component comprises a direct current motor, a transmission worm wheel and a worm gear worm, the direct current motor is used for driving the transmission worm wheel to rotate, the transmission worm wheel is used for driving the worm gear worm to drive, and the worm gear worm is used for controlling the action of a door handle of an automobile;
the control unit comprises an MCU, a direct current motor driving circuit and a magnet Hall sensor, wherein the direct current motor driving circuit and the magnet Hall sensor are electrically connected with the MCU;
step 2: marking the mechanical dead point positions of the pushing-out and recovering of the worm gear and the worm in the MCU;
and step 3: setting the duty ratio of a PWM driving signal of a direct current driving motor to be delta, and controlling the output duty ratio delta by the MCU through a PID algorithm;
and 4, step 4: and setting a failure mode, controlling the door handle according to the failure mode, setting a self-learning mode, and judging and recording the zero position.
Preferably, when step 2 is executed, the method specifically includes the following steps:
step A1: the MCU controls the direct current motor driving circuit to control and drive the direct current motor, the worm gear is rotated to the recovered mechanical dead point position, and the recovered mechanical dead point position is set as a zero point;
step A2: collecting the accumulated Hall pulse number A from the recovered mechanical dead point position to the pushed mechanical dead point position of the motor through a magnet Hall sensor, and feeding the Hall pulse number A and the recovered mechanical dead point position zero point back to the MCU for processing by the magnet Hall sensor;
step A3: setting the total stroke length as a factor, and calculating the value of the corresponding Hall pulse number by the MCU through the following formula;
step A4: the MCU calculates and sets a push-out threshold and a recovery threshold of the worm gear, and the method specifically comprises the following steps:
step S1: determining a recovery threshold value, namely recovering after the MCU is powered on, and judging that the point is a zero point when the locked-rotor current is detected to be greater than 1.5A and lasts for 200 ms;
step A5: the determination of the push-out threshold comprises the step of determining the threshold of push-out in place according to the calibrated Hall pulse number A of the total stroke.
Preferably, when step 3 is executed, the method specifically includes the following steps:
step B1: the MCU sets an initial value of a DUTY ratio delta as K _ MIN _ DUTY, when the MCU controls the motor to execute a pushing-out or recovery action, the value of the PWM DUTY ratio delta output by the PID algorithm is controlled to change in the range of K _ MIN _ DUTY and K _ MAX _ DUTY, wherein the K _ MAX _ DUTY is the maximum value of the DUTY ratio delta;
step B2: the MCU monitors the feedback of the magnet Hall sensor in real time, determines the threshold position of the door handle during pushing out or recovering, and gradually reduces the value of the output PWM DUTY ratio delta to K _ MIN _ DUTY through a PID algorithm when the door handle is closer to the threshold position during pushing out or recovering; otherwise, the output DUTY ratio of PWM controlled by the PID algorithm is adjusted to be K _ MAX _ DUTY.
Preferably, the failure mode includes an ice breaking mode, and specifically includes the following steps:
step C1: when the MCU receives an instruction of the vehicle body controller and performs an ejecting action, if the door handle is frozen and cannot be ejected, the door handle enters an ice breaking mode;
judging whether the door handle is frozen or not by detecting the locked-rotor current of the motor;
step C2: after the MCU drives the motor to recover the self-learning zero point and stay for 1s, the door handle is continuously pushed out, if the door handle is successfully pushed out, the door handle is considered to be successfully icebroken, and the door handle normally operates;
if the door handle still cannot be pushed out in place after the trial for 3 times, the ice breaking is regarded as failure, the self-learning zero point is recovered, and the next vehicle body controller instruction is waited.
Preferably, the self-learning mode specifically comprises that the MCU drives the motor to recover, when the motor is detected to generate a locked-rotor current of 1.5A for 200ms, the point is judged to be a zero point, and the zero point position is updated and covered.
The control algorithm of the hidden door handle for the vehicle solves the technical problems of failure mode ice breaking control and self-learning mode during door handle control, and controls the motor to rotate through PWM pulses with different duty ratios output by a PID algorithm, so that a link mechanism is driven to pop up and recover the door handle, the control requirements of pushing out and recovering the door handle are met, the zero point position can be determined better and more accurately, and ice breaking control is performed.
Drawings
FIG. 1 is a schematic diagram of a hidden door handle controller in the prior art;
FIG. 2 is a schematic diagram of a control unit in the background art;
FIG. 3 is a schematic diagram of the PID algorithm of the present invention;
in the figure: the device comprises a direct current motor 1, a control unit 2, a transmission turbine 3, a turbine worm 4, a magnet Hall sensor 5, an MCU6, a PWM signal 7, a PWM driving signal 8, a drive bridge 9, a direct current motor 10, a magnet Hall sensor 11, a current collection 12 and an AD module 13.
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.
The control algorithm of the hidden door handle for the vehicle shown in fig. 1-3 comprises the following steps:
step 1: establishing an automobile door handle executing component and a control unit 2, wherein the handle executing component comprises a direct current motor 1, a transmission worm wheel 3 and a worm gear 4, the direct current motor 1 is used for driving the transmission worm wheel 3 to rotate, the transmission worm wheel 3 is used for driving the worm gear 4 to transmit, and the worm gear 4 is used for controlling the action of a door handle of a vehicle;
the control unit 2 comprises an MCU, a direct current motor driving circuit and a magnet Hall sensor 5, wherein the direct current motor driving circuit and the magnet Hall sensor 5 are both electrically connected with the MCU;
in this embodiment, the magnet hall sensor 5 and the magnet hall sensor 11 are the same sensor.
Step 2: marking the mechanical dead point position of the pushing and recovering of the worm gear 4 in the MCU;
and step 3: setting the duty ratio of a PWM driving signal of a direct current driving motor to be delta, and controlling the output duty ratio delta by the MCU through a PID algorithm;
and 4, step 4: and setting a failure mode, controlling the door handle according to the failure mode, setting a self-learning mode, and judging and recording the zero position.
Preferably, when step 2 is executed, the method specifically includes the following steps:
step A1: the MCU controls the direct current motor driving circuit to control and drive the direct current motor 1, the worm gear 4 is rotated to the recovered mechanical dead point position, and the point is set as a zero point;
step A2: the accumulated Hall pulse number A from the recovered mechanical dead point position to the pushed mechanical dead point position of the motor is collected through the magnet Hall sensor 5, and the Hall pulse number A and the recovered mechanical dead point position zero point are fed back to the MCU by the magnet Hall sensor 5 to be processed;
step A3: setting the total stroke length as a factor, and calculating the value of the corresponding Hall pulse number by the MCU through the following formula;
in this embodiment, the number of hall pulses of the full stroke is a, and the stroke distance of 1 hall pulse number should be:
step A4: the MCU calculates and sets a push-out threshold and a recovery threshold of the worm gear 4, and the method specifically comprises the following steps:
step S1: determining a recovery threshold value, namely recovering after the MCU is powered on, and judging that the point is a zero point when the locked-rotor current is detected to be greater than 1.5A and lasts for 200 ms;
setting the stroke reserve margin value as C, wherein the Hall pulse number allowances corresponding to the stroke reserve margin value is as follows:
determination of the reclamation threshold: and after the MCU is electrified, recovering, and judging that the point is a zero point when the locked-rotor current is detected to be greater than 1.5A and lasts for 200 ms. Setting a threshold value K _ DOOR _ HANDLE _ LOCK _ POS which is recovered in place as Allowance;
step A5: the determination of the push-out threshold comprises the step of determining the threshold of push-out in place according to the calibrated Hall pulse number A of the total stroke.
Determination of the extrapolation threshold: according to the calibrated Hall pulse number A of the full stroke, the threshold value K _ DOOR _ HANDLE _ UNLOCK _ POS of pushing out in place can be set to be A-Allowance.
Preferably, when step 3 is executed, the method specifically includes the following steps:
step B1: the MCU sets an initial value of a DUTY ratio delta as K _ MIN _ DUTY, when the MCU controls the motor to execute a pushing-out or recovery action, the value of the PWM DUTY ratio delta output by the PID algorithm is controlled to change in the range of K _ MIN _ DUTY and K _ MAX _ DUTY, wherein the K _ MAX _ DUTY is the maximum value of the DUTY ratio delta;
step B2: the MCU monitors the feedback of the magnet Hall sensor 5 in real time, determines the threshold position of the door handle in pushing out or withdrawing, and gradually reduces the value of the output PWM DUTY ratio delta to K _ MIN _ DUTY through a PID algorithm when the door handle is closer to the threshold position in pushing out or withdrawing; otherwise, the output DUTY ratio of PWM controlled by the PID algorithm is adjusted to be K _ MAX _ DUTY.
In the embodiment, the proportional link is used for amplifying the error signal and improving the sensitivity of the controller to the deviation signal, and is characterized in that the input signal of the controller is not distorted, delayed and proportionally changed. The calculation formula of the output control quantity of the integral link is as follows: up (kpe) (n); kp is proportional coefficient
The integration link can play a position memory function, and continuously accumulates the deviation of the set value and the feedback value, so that the output control signal of the controller is continuously enhanced until the deviation is 0, and the steady-state error of the system is eliminated. The calculation formula of the output control quantity of the integral link is as follows:
kp is a proportional coefficient, TI is an integral time constant, wherein,
and e (n) R-c (n), wherein X is a set coefficient value.
The larger the value of | e (n) | is, the smaller the value of a is, and the slower the accumulation speed of the integral term is; conversely, the smaller the value of | e (n) | is, the larger the value of a is, and the speed of integral term accumulation is also improved.
The differential link outputs control quantity according to the variation trend of the deviation and can output an advance correction signal before the deviation value is greatly changed. The differential link can reduce the overshoot of the system and improve the dynamic regulation speed of the system. The differential link output control quantity calculation formula is as follows:
kp is a proportionality coefficient, TD is a differential time constant, and a differential leading algorithm is adopted to predict the output change trend and avoid the pulse of a control quantityThe impact type frequent mutation is beneficial to the stability of the system.
Preferably, the failure mode includes an ice breaking mode, and specifically includes the following steps:
step C1: when the MCU receives an instruction of the vehicle body controller and performs an ejecting action, if the door handle is frozen and cannot be ejected, the door handle enters an ice breaking mode;
judging whether the door handle is frozen or not by detecting the locked-rotor current of the motor;
step C2: after the MCU drives the motor to recover the self-learning zero point and stay for 1s, the door handle is continuously pushed out, if the door handle is successfully pushed out, the door handle is considered to be successfully icebroken, and the door handle normally operates;
if the door handle still cannot be pushed out in place after the trial for 3 times, the ice breaking is regarded as failure, the self-learning zero point is recovered, and the next vehicle body controller instruction is waited.
Preferably, the self-learning mode specifically comprises that the MCU drives the motor to recover, when the motor is detected to generate a locked-rotor current of 1.5A for 200ms, the point is judged to be a zero point, and the zero point position is updated and covered.
The control algorithm of the hidden door handle for the vehicle solves the technical problems of failure mode ice breaking control and self-learning mode during door handle control, and controls the motor to rotate through PWM pulses with different duty ratios output by a PID algorithm, so that a link mechanism is driven to pop up and recover the door handle, the control requirements of pushing out and recovering the door handle are met, the zero point position can be determined better and more accurately, and ice breaking control is performed.
In the present invention, any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. A more specific example, non-exhaustive list of computer-readable media includes the following: an electronic device having one or more electrical connections for wiring, a portable computer diskette drive, a random access memory RAM, a read-only memory ROM, an erasable programmable read-only memory EPROM or flash memory, an optical fiber device, and a portable compact disc read-only memory CDROM. Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a programmable gate array PGA, a field programmable gate array FPGA, or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (5)
1. A control algorithm of a hidden door handle for a vehicle is characterized in that: the method comprises the following steps:
step 1: establishing an automobile door handle execution component and a control unit (2), wherein the handle execution component comprises a direct current motor (1), a transmission worm wheel (3) and a worm wheel and worm (4), the direct current motor (1) is used for driving the transmission worm wheel (3) to rotate, the transmission worm wheel (3) is used for driving the worm wheel and worm (4) to transmit, and the worm wheel and worm (4) is used for controlling the action of a door handle of a vehicle;
the control unit (2) comprises an MCU, a direct current motor driving circuit and a magnet Hall sensor (5), and the direct current motor driving circuit and the magnet Hall sensor (5) are electrically connected with the MCU;
step 2: marking the mechanical dead point position of the pushing and recovering of the worm gear and worm (4) in the MCU;
and step 3: setting the duty ratio of a PWM driving signal of a direct current driving motor to be delta, and controlling the output duty ratio delta by the MCU through a PID algorithm;
and 4, step 4: and setting a failure mode, controlling the door handle according to the failure mode, setting a self-learning mode, and judging and recording the zero position.
2. The control algorithm of the hidden door handle for vehicle as claimed in claim 1, wherein: when step 2 is executed, the method specifically comprises the following steps:
step A1: the MCU controls the direct current motor driving circuit to control and drive the direct current motor (1), the worm gear (4) is rotated to the recovered mechanical dead point position, and the recovered mechanical dead point position is set as a zero point;
step A2: the accumulated Hall pulse number A from the recovered mechanical dead point position to the pushed mechanical dead point position of the motor is collected through a magnet Hall sensor (5), and the Hall pulse number A and the recovered mechanical dead point position zero point are fed back to the MCU by the magnet Hall sensor (5) for processing;
step A3: setting the total stroke length as a factor, and calculating the value of the corresponding Hall pulse number by the MCU through the following formula;
step A4: the MCU calculates and sets a push-out threshold and a recovery threshold of the worm gear (4), and the method specifically comprises the following steps:
step S1: determining a recovery threshold value, namely recovering after the MCU is powered on, and judging that the point is a zero point when the locked-rotor current is detected to be greater than 1.5A and lasts for 200 ms;
step A5: the determination of the push-out threshold comprises the step of determining the threshold of push-out in place according to the calibrated Hall pulse number A of the total stroke.
3. The control algorithm of the hidden door handle for vehicle as claimed in claim 1, wherein: when step 3 is executed, the method specifically comprises the following steps:
step B1: the MCU sets an initial value of a DUTY ratio delta as K _ MIN _ DUTY, when the MCU controls the motor to execute a pushing-out or recovery action, the value of the PWM DUTY ratio delta output by the PID algorithm is controlled to change in the range of K _ MIN _ DUTY and K _ MAX _ DUTY, wherein the K _ MAX _ DUTY is the maximum value of the DUTY ratio delta;
step B2: the MCU monitors the feedback of the magnet Hall sensor (5) in real time, determines the threshold position of the door handle in pushing out or withdrawing, and gradually reduces the value of the output PWM DUTY ratio delta to K _ MIN _ DUTY through a PID algorithm when the door handle is closer to the threshold position in pushing out or withdrawing; otherwise, the output DUTY ratio of PWM controlled by the PID algorithm is adjusted to be K _ MAX _ DUTY.
4. The control algorithm of the hidden door handle for vehicle as claimed in claim 1, wherein: the failure mode comprises an ice breaking mode and specifically comprises the following steps:
step C1: when the MCU receives an instruction of the vehicle body controller and performs an ejecting action, if the door handle is frozen and cannot be ejected, the door handle enters an ice breaking mode;
judging whether the door handle is frozen or not by detecting the locked-rotor current of the motor;
step C2: after the MCU drives the motor to recover the self-learning zero point and stay for 1s, the door handle is continuously pushed out, if the door handle is successfully pushed out, the door handle is considered to be successfully icebroken, and the door handle normally operates;
if the door handle still cannot be pushed out in place after the trial for 3 times, the ice breaking is regarded as failure, the self-learning zero point is recovered, and the next vehicle body controller instruction is waited.
5. The control algorithm of the hidden door handle for vehicle as claimed in claim 1, wherein: the self-learning mode specifically comprises the step that the MCU drives the motor to recover, when the motor generates locked-rotor current for 1.5A and lasts for 200ms, the motor is judged to be a zero point, and the zero point position is updated and covered.
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| CN113404393A (en) * | 2021-07-22 | 2021-09-17 | 中国第一汽车股份有限公司 | Control method and control system of automobile hidden door handle and storage medium |
| CN113775268A (en) * | 2021-08-13 | 2021-12-10 | 一汽奔腾轿车有限公司 | Method, device and equipment for automatically correcting zero point of door handle and storage medium |
| CN114592758A (en) * | 2022-01-28 | 2022-06-07 | 中国第一汽车股份有限公司 | Hidden door handle control method, controller and automobile |
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