CN113006626B - Motor current-based electric tail gate anti-pinch method - Google Patents
Motor current-based electric tail gate anti-pinch method Download PDFInfo
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- CN113006626B CN113006626B CN202110286112.8A CN202110286112A CN113006626B CN 113006626 B CN113006626 B CN 113006626B CN 202110286112 A CN202110286112 A CN 202110286112A CN 113006626 B CN113006626 B CN 113006626B
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- 238000000034 method Methods 0.000 title claims abstract description 37
- 238000005070 sampling Methods 0.000 claims abstract description 80
- 238000004364 calculation method Methods 0.000 abstract description 9
- 241000282414 Homo sapiens Species 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/40—Safety devices, e.g. detection of obstructions or end positions
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2900/00—Application of doors, windows, wings or fittings thereof
- E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
- E05Y2900/53—Type of wing
- E05Y2900/548—Trunk lids
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Abstract
The invention discloses an anti-pinch method for an electric tail gate based on motor current, which is simple and efficient, has low calculation amount and does not need calibration in early development. According to the invention, the obtained sampling curve and the fitting curve are subjected to matching analysis, and the fitting curve is mainly fitted for the sampling curve in a non-anti-pinch state, so that when the sampling curve enters the anti-pinch state, the sampling curve is not matched with the fitting curve, and whether the sampling curve is in the anti-pinch state or not can be obtained by identifying whether the sampling curve is matched with the fitting curve or not.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to an anti-pinch method for an electric tail gate based on motor current.
Background
With the technical progress in the field of automobiles and in order to improve the quality of life of human beings, a tail gate of an automobile is changed into an electric state, human beings send commands to the tail gate of the automobile through a remote control switch, and the tail gate of the automobile receives the commands and automatically opens or closes the tail gate of the automobile through a program control motor.
The state of the tail gate of the automobile is divided into three states, opening, closing and stopping. The process of opening or closing the tail gate of the automobile is an electric process, if the opening or closing of the tail gate is blocked due to human factors or other reasons in the electric process of opening or closing the tail gate, the tail gate does not stop due to the blocking, but continues to be opened or closed according to the original command, so that the situations of human injuries or article damages and the like which block the opening or closing of the tail gate can be caused.
General electronic tail-gate all possesses prevents pressing from both sides the function: the barrier can be judged and the anti-pinch or locked rotor can be judged at the in-process of closing the door and closing the door, the main difference of preventing the pinch and locked rotor is whether the barrier is rigid, the rigid barrier tail gate motor can not rotate, the current rises sharply when the Hall pulse of the strut motor is not output, the non-rigid barrier tail gate motor still can move, and the Hall pulse of the strut motor has output and the current rises slowly. The common method in the market at present is a method for calibrating multiple sections of currents based on a motion stroke, and the method is complex and complicated, has large computation amount and large calibration workload of early development.
In view of the above situation, how to provide a simple and efficient anti-pinch judgment method with low computation and without calibration in the early development becomes a problem to be solved.
Disclosure of Invention
The invention aims to solve the technical problem of providing an anti-pinch method for an electric tail gate based on motor current, which is simple and efficient, has low calculation amount and does not need calibration in early development.
The technical scheme adopted by the invention is that,
sampling the motor current in Step1 and T time periods to obtain a sampling curve;
step 2, obtaining a fitting curve fitting the sampling curve in the T time period, wherein the fitting curve is fitted aiming at the sampling curve in the non-anti-pinch state;
step 3, a certain time period T within the T time period 0 Identifying the sampling curve and the fitting curve, and if the sampling curve and the fitting curve are not matched, judging that anti-pinch occurs; if the two are matched, the anti-pinch does not occur.
The invention has the beneficial effects that: because the fitting curve mainly carries out the fitting to the sampling curve of non-anti-pinch state, when the sampling curve got into anti-pinch state, will mismatch with the fitting curve so, adopt the curve to match with the fitting curve through the discernment and can obtain whether being in anti-pinch state.
Preferably, the specific obtaining method of the sampling curve in Step1 and the fitting curve in Step 2 includes the following steps:
a1, order t 1 Is the starting time of the T period, T 3 At the end of the T period, T 2 Let T be the middle time of T time interval 2 To t 3 Is a period of time T 0 ；
A2, setting a sampling interval time from t 1 From moment to moment, sampling the motor current every time a sampling interval elapses within a T period to obtain a sampling point, thereby obtaining a sampling curve;
a3, from t 2 At the beginning, at time T 0 And in the time period, fitting the sampling points by using a fitting algorithm to obtain fitting points, thereby obtaining a fitting curve.
By adopting the method, the construction of the sampling curve and the fitting curve is realized in the form of the sampling point, and the method is convenient and quick, so that the sampling curve and the fitting curve can be identified conveniently and subsequently. By only applying T in the T period 0 And the time period is fitted, so that the calculation amount is reduced, and the efficiency is improved.
Preferably, the fitting algorithm in step A3 specifically includes the following steps:
b1, setting the current value of the motor at the sampling point at the current moment in the sampling process as S1, setting the fitting value of the fitting point at the current moment as S2, and setting the moment t as 2 S of1＝S2；
B2, in the sampling process, if S2 is larger than or equal to S1, making S2= S1; otherwise S2= S2+ a is performed, a being a fitting auxiliary parameter that is adjustable before sampling and is constant during sampling.
By adopting the fitting algorithm, the sampling curve is tracked in a simple mode, the calculation amount is low, and early calibration is not needed.
Preferably, the Step of identifying the sampling curve and the fitting curve in Step 3 specifically includes the following steps:
c1, respectively calculating to obtain the slope k of S1 1 And slope k of S2 2 ；
C2, in the time period T 1 Inner comparison slope k 1 And slope k 2 Is a size of (c), if k 1 Continuously greater than k 2 If not, the anti-pinch is judged not to occur.
By adopting the method, whether the hairpin happens or not can be well identified, when the hairpin happens, the current value is gradually increased, the slope of the sampling curve is gradually increased, and under the limitation of the fitting algorithm, the slope of the fitting curve cannot be increased along with the increase of the slope of the sampling curve, so that the time period T is set 1 And tracking is continuously carried out in the time period, and the anti-pinch phenomenon can be judged by adopting the curve slopes which are all larger than the fitted curve slope, so that the calculation amount is low, and the method is simple and efficient.
Preferably, the time t2 is set in a time period in which the motor current value tends to be gentle after the motor is started.
By adopting the method, the interference of a larger current value generated in the starting stage of the motor on anti-clamping identification can be avoided.
Drawings
FIG. 1 is a schematic view of a sample fitting curve according to the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings in combination with specific embodiments so that those skilled in the art can practice the invention with reference to the description, and the scope of the invention is not limited to the specific embodiments.
It will be understood by those skilled in the art that in the present disclosure, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for ease of description and simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus, the above terms should not be construed as limiting the present invention.
The invention discloses an anti-pinch method for an electric tail gate based on motor current, which is simple and efficient, has low calculation amount and does not need calibration in early development.
The technical scheme adopted by the invention is that,
sampling the motor current in Step1 and T time periods to obtain a sampling curve;
step 2, obtaining a fitting curve fitting the sampling curve in the T time period, wherein the fitting curve is fitted aiming at the sampling curve in the non-anti-pinch state;
step 3, a certain time period T within the T time period 0 Identifying the sampling curve and the fitting curve, and if the sampling curve and the fitting curve are not matched, judging that anti-pinch occurs; if the two are matched, the anti-pinch does not occur.
The invention has the beneficial effects that: because the fitting curve mainly carries out the fitting to the sampling curve of non-anti-pinch state, when the sampling curve got into anti-pinch state, will mismatch with the fitting curve so, adopt the curve to match with the fitting curve through the discernment and can obtain whether being in anti-pinch state.
In one embodiment, the specific obtaining method of the sampling curve in step S1 and the fitting curve in step S2 includes the following steps:
a1, order t 1 Is the starting time of the T period, T 3 At the end of the T period, T 2 At a time in the middle of the T period, let T 2 To t 3 Is a period of time T 0 ；
A2, setting a sampling interval time from t 1 From moment to moment, sampling the motor current every time a sampling interval elapses within a T period to obtain a sampling point, thereby obtaining a sampling curve;
a3, from t 2 At the beginning, at time T 0 And in the time period, fitting the sampling points by using a fitting algorithm to obtain fitting points, thereby obtaining a fitting curve.
By adopting the method, the construction of the sampling curve and the fitting curve is realized in the form of the sampling point, and the method is convenient and quick, so that the sampling curve and the fitting curve can be identified in the follow-up process. By only applying T in the T period 0 And the time period is fitted, so that the calculation amount is reduced, and the efficiency is improved. Said t is 1 To t 2 May be 500ms in length.
In one embodiment, the fitting algorithm in step A3 specifically includes the following steps:
b1, setting the current value of the motor at the sampling point at the current moment in the sampling process as S1, setting the fitting value of the fitting point at the current moment as S2, and setting the moment t as 2 S1= S2;
b2, in the sampling process, if S2 is larger than or equal to S1, making S2= S1; otherwise S2= S2+ a is performed, a being a fitting auxiliary parameter that is adjustable before sampling and is constant during sampling.
By adopting the fitting algorithm, the sampling curve is tracked in a simple mode, the calculation amount is low, and early calibration is not needed.
In one embodiment, the Step of identifying the sampling curve and the fitting curve in Step 3 specifically includes the following steps:
c1, respectively calculating to obtain the slope k of S1 1 And slope k of S2 2 ；
C2, in the time period T 1 Inner comparison slope k 1 And slope k 2 Is a size of (c), if k 1 Continuously greater than k 2 If not, the anti-pinch is judged not to occur.
By adopting the method, whether the hairpin happens or not can be well identified, when the hairpin happens, the current value is gradually increased, the slope of the sampling curve is gradually increased, and the fitting algorithm is carried outWith the limitation that the slope of the fitted curve does not increase as the slope of the adopted curve increases, therefore by setting the time period T 1 The tracking is continued in the time period, the slope of the curve is larger than that of the fitting curve, the anti-pinch can be judged, the calculation amount is low, simplicity and high efficiency are achieved, and the T is 1 The time length may be 700ms, t 2 To t 3 May be taken as the time period T 1 。
In one embodiment, the time t2 is set in a time period in which the motor current value tends to be gentle after the motor is started.
By adopting the method, the interference of a larger current value generated in the starting stage of the motor on anti-clamping identification can be avoided.
The algorithm logic is as follows:
the motor is not protected within a period of time after being started: due to the characteristics of the brush motor, the current sharply increases at the time of cold start and the output torque is small. When the tail gate is in a closed state, the gravity moment of the tail gate is at the maximum, and the motor needs a great current for starting
Based on the above two points, the anti-pinch judgment algorithm is not set during the starting period of the motor.
As shown in FIG. 1, an actual operation curve is S1, a fitting curve is S2, and at any sampling point, the time value:
if S2> = S1, then S2= S1; otherwise S2= S2+ a; parameter a is a settable value, which here may be set to 0.005.
The fitting curve is obtained through the algorithm according to the sampling value of the actual motor, and the anti-pinch condition is judged to be that the sampling value curve S1 exceeds the fitting curve S2 for a period of time A.
The anti-pinch occurs in the rising state of the current curve, and the rising slope is maintained to exceed A to judge the anti-pinch.
MCU begins the timing after beginning the starter motor, and 1ms (adjustable) calls this algorithm once, and Counter sets up to 500 here, judges promptly that the emergence of preventing pressing from both sides sets up to 500, and this parameter can be adjustable according to the in-service use requirement, can change with parameter a cooperation and prevent that the clamping power size and triggering time.
Claims (2)
1. An anti-pinch method of an electric tail gate based on motor current is characterized by comprising the following steps:
sampling the motor current in Step1 and T time periods to obtain a sampling curve;
step 2, obtaining a fitting curve fitting the sampling curve in the T time period, wherein the fitting curve is fitted aiming at the sampling curve in the non-anti-pinch state;
the specific obtaining method of the sampling curve in the Step1 and the fitting curve in the Step 2 comprises the following steps:
a1, order t 1 Is the starting time of the T period, T 3 At the end of the T period, T 2 At a time in the middle of the T period, let T 2 To t 3 Is a period of time T 0 ；
A2, setting a sampling interval time from t 1 From moment to moment, sampling the motor current every time a sampling interval elapses within a T period to obtain a sampling point, thereby obtaining a sampling curve;
a3, from t 2 At the beginning, at time T 0 In a time period, fitting the sampling points by using a fitting algorithm to obtain fitting points so as to obtain a fitting curve;
the fitting algorithm in the step A3 specifically includes the following steps:
b1, setting the current value of the motor at the sampling point at the current moment in the sampling process as S1, setting the fitting value of the fitting point at the current moment as S2, and setting the moment t as 2 S1= S2;
b2, in the sampling process, if S2 is larger than or equal to S1, making S2= S1; otherwise, executing S2= S2+ a, wherein a is a fitting auxiliary parameter which is adjustable before sampling and is constant and unchangeable in the sampling process;
step 3, a certain time period T within the T time period 0 Identifying the sampling curve and the fitting curve, and if the sampling curve and the fitting curve are not matched, judging that anti-pinch occurs; if so, judging that no anti-pinch occurs; the method specifically comprises the following steps of:
c1, respectively calculating to obtain the slope k of S1 1 And slope k of S2 2 ；
C2, in the time period T 1 Inner comparison slope k 1 And slope k 2 Is a size of (c), if k 1 Continuously greater than k 2 If not, the anti-pinch is judged not to occur.
2. The electric tailgate anti-pinch method based on motor current as claimed in claim 1, characterized in that said time t2 is set in the time period when the motor current value is gradually reduced after the motor is started.
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| CN202110286112.8A CN113006626B (en) | 2021-03-17 | 2021-03-17 | Motor current-based electric tail gate anti-pinch method |
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| CN202110286112.8A CN113006626B (en) | 2021-03-17 | 2021-03-17 | Motor current-based electric tail gate anti-pinch method |
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| CN113006626B true CN113006626B (en) | 2022-11-29 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE4208426B4 (en) * | 1992-03-17 | 2005-10-06 | Deltron Elektronische Systeme Gmbh | Method for controlling door drives and device therefor |
| CN104948056B (en) * | 2015-06-17 | 2016-08-24 | 温州天球电器有限公司 | A kind of based on the automotive window self adaptation anti-clip control method gathering current of electric |
| CN106884595B (en) * | 2017-03-27 | 2019-04-02 | 深圳市赛格车圣科技有限公司 | Electric tail gate control method and device |
| CN109240182B (en) * | 2018-11-14 | 2020-08-21 | 刘盛荣 | Electric curve-based anti-pinch method for electric sofa |
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