CN113090151A - Anti-clamping method of electric glass lifter - Google Patents
Anti-clamping method of electric glass lifter Download PDFInfo
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- CN113090151A CN113090151A CN202110359475.XA CN202110359475A CN113090151A CN 113090151 A CN113090151 A CN 113090151A CN 202110359475 A CN202110359475 A CN 202110359475A CN 113090151 A CN113090151 A CN 113090151A
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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
- E05F15/41—Detection by monitoring transmitted force or torque; Safety couplings with activation dependent upon torque or force, e.g. slip couplings
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Abstract
The invention discloses an anti-pinch method of an electric glass lifter, which has strong adaptability to various working conditions such as environmental temperature change, part aging, bumpy road surfaces, voltage fluctuation and the like, and the reliability of the anti-pinch method can meet the requirements of a host factory. The method comprises the steps that through mobile window data processing, the influence of 2L point data before the current point on the anti-pinch force is considered (the 2L value can be adjusted according to the actual situation), on the basis of meeting the real-time performance, more historical data can be analyzed, and the phenomenon of mistaken anti-pinch is prevented; gaussian filtering is adopted for the moving window data, and interference data are removed; set for a plurality of can influence and prevent the anti-pinch condition of clamping-force size, through adjusting a plurality of threshold values of preventing the clamping condition, can satisfy the adaptability of preventing pressing from both sides the algorithm to different operating mode changes. The invention can avoid the phenomenon of mistaken anti-pinch and can meet the requirements of regulations or host factories on anti-pinch force.
Description
Technical Field
The invention belongs to the technical field of vehicle-mounted electronics, and particularly relates to an anti-pinch method of an electric glass lifter.
Background
With the progress of modern automobile electronic technology, the traditional parts and assemblies in the automobile are also developing towards mechatronics. Along with the popularization of electric windows, the automobile window glass also faces some problems when meeting the requirement of people on the comfort of the automobile, and the window glass easily causes the injury to passengers, particularly children in the lifting process. Therefore, for safety, it is necessary to develop an electric glass lifter with an anti-pinch function. The anti-pinch technology of the car window glass is characterized in that an anti-pinch function is added on the basis of automatic lifting control of the car window glass, namely, if an obstacle is detected in the lifting process of the car window glass, a signal is transmitted to a processor, an anti-pinch program is executed, and the car window glass stops or turns into an automatic descending mode. The detection method for the anti-pinch function mainly comprises mechanical contact type anti-pinch and contact type anti-pinch. The mechanical contact-free anti-pinch device is actually an optical control system, and is used for monitoring whether foreign matters exist in the moving range of the electric vehicle window, so that the glass is controlled to move, the foreign matters are not required to contact the glass, but the device of the detection method is complex in process and high in cost, and cannot be used by common passenger vehicles. The contact type anti-pinch finger is placed on the rising glass when a foreign body is placed on the rising glass, the resistance generated by contact is transmitted to a glass lifting control system, the control system can automatically start the car window to prevent the pinch function, but the contact type anti-pinch finger is easy to mistakenly prevent pinching under the complex working condition, and the environmental adaptability is poor.
Disclosure of Invention
Aiming at the defects or improvement requirements in the prior art, the invention provides the anti-clamping method of the electric glass lifter, which can ensure that the electric glass lifter still has a good anti-clamping effect in some complex environments.
In order to achieve the aim, the invention provides an anti-pinch method of an electric glass lifter, which comprises the following steps:
(1) respectively converting the current pulse width value and the pulse width value at the same position obtained in the self-learning process into the force borne by the glass lifter according to the motor characteristics, and solving the absolute value of the difference between the two obtained forces to obtain a force difference value;
(2) filtering the force difference values of the m pulses by using a first moving window to obtain a filtered second moving window, wherein the size of the second moving window is 2L;
(3) the first-stage anti-pinch condition is as follows: entering next-stage anti-pinch judgment only if forward of the current point is larger than backward, counting if forward of the current point is smaller than or equal to backward, initializing relevant variables when a counting value reaches a first preset counting judgment threshold value, and exiting anti-pinch judgment at the same time, wherein the forward value is equal to the sum of L filtered data from the current position to L pulse numbers in a second filtered moving window, and the backward is the sum of L filtered data from the beginning to the L pulse numbers in the second moving window;
(4) second-stage anti-pinch conditions: entering next-stage anti-pinch judgment only if the step of the current point is greater than a preset step judgment threshold, counting if the step of the current point is less than or equal to the preset step judgment threshold and the step reaches the preset step judgment threshold, initializing relevant variables when the count value reaches a second preset counting judgment threshold, and exiting anti-pinch judgment at the same time, wherein the step value is equal to the difference between forward and backward in the step (3);
(5) third-stage anti-pinch conditions: when the step at the current point is greater than the preset step judgment threshold, the third-level anti-pinch condition judgment is started: when the second-stage anti-pinch condition is met for the first time, recording the pulse number at the moment as pulse _ start, and recording the sum of L pieces of filtered data from the beginning to L pulse numbers in a second moving window under the pulse number as base; the sum value is equal to the difference between the sum of L filtered data from the current position to L pulse numbers in the filtered second moving window and the base; counting if sum is less than or equal to a preset sum judgment threshold; when the count value reaches a third preset count judgment threshold value, initializing related variables and quitting anti-pinch judgment;
(6) fourth stage anti-pinch condition: when sum is larger than a preset sum judgment threshold value, fourth-stage anti-pinch condition judgment is started: counting if the slope is less than or equal to a preset slope judgment threshold; when the count value reaches a fourth preset count judgment threshold value, initializing related variables, and quitting anti-pinch judgment at the same time, wherein the slope value is equal to sum value divided by sum _ counter, and the sum _ counter is the pulse _ start minus the current pulse number plus one;
(7) and if the step of the current point is greater than a preset step judgment threshold, sum is greater than a preset sum judgment threshold, slope is greater than a preset slope judgment threshold, and sum _ counter is greater than a set threshold sum _ counter _ level, triggering anti-pinch.
In some alternative embodiments, step (1) comprises:
and converting the current pulse width value measured by the Hall sensor and the pulse width value at the same position obtained in the self-learning process into the actual stress condition of the glass lifter according to the characteristic curve of the motor.
In some alternative embodiments, the composition is prepared by
And determining a conversion relation between the pulse width ave _ width and the force F borne by the glass lifter, wherein PoleNum is a magnetic pole pair number, ReductionRatio is a speed reduction ratio, a and b are coefficients in a relation curve between the torque and the rotating speed of the motor, and Radius is a rotating Radius.
In some alternative embodiments, step (2) comprises:
if the force difference is less than 0, setting the difference value as 0, writing the difference value into an array data [ m ], and ensuring that at least m force difference values are stored;
and performing Gaussian filtering summation on the force difference values of the previous m pulses in the data [ m ], and storing the data after filtering processing into an array with the length of 2L.
In some optional embodiments, the method further comprises:
and when the slope is greater than the preset slope judgment threshold, starting to count the meetnum, and simultaneously setting the count value to be zero when the slope is less than or equal to the preset slope judgment threshold.
In some optional embodiments, the method further comprises:
if the step of the current point is larger than a preset step judgment threshold, sum is larger than a preset sum judgment threshold, slope is larger than a preset slope judgment threshold, meetnum exceeds a set threshold meetnum _ level, and sum _ counter is larger than a set threshold sum _ counter _ level, anti-pinch is triggered to the global broadcast.
In general, compared with the prior art, the above technical solution contemplated by the present invention can achieve the following beneficial effects:
the force difference data are processed through Gaussian filtering, the proportion of the current force difference is improved by adopting moving window data processing, so that the current force difference is closer to the real condition, the influence of 2L point data before the current point on the anti-pinch force is considered (the 2L value can be adjusted according to the actual condition), on the basis of meeting the real-time performance, more historical data can be analyzed, and the anti-pinch error is prevented; set for a plurality of can influence and prevent the anti-pinch condition of clamping-force size, through adjusting a plurality of threshold values of preventing the clamping condition, guaranteed to prevent pressing from both sides the condition that triggers, can satisfy the adaptability of preventing pressing from both sides the algorithm to different operating modes changes. Therefore, the anti-pinch module is more perfect, and the reliability and the robustness of the whole system are improved. The invention can avoid the phenomenon of mistaken anti-pinch and can meet the requirements of regulations or host factories on anti-pinch force.
Drawings
FIG. 1 is a schematic flow chart of a method provided by an embodiment of the present invention;
FIG. 2 is a graph of various parameters as a function of pulse number provided by an embodiment of the present invention;
FIG. 3 is a graph illustrating the variation of force difference between different clamping forces for a window regulator according to an embodiment of the present invention;
fig. 4 is a relationship curve between the torque M and the rotation speed n' of the motor according to the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
In the present examples, "first", "second", etc. are used for distinguishing different objects, and are not used for describing a specific order or sequence.
Fig. 1 is a schematic flow chart of a method provided in an embodiment of the present invention, which includes the following steps:
step 1: the Hall signal generated when the glass lifter motor operates is obtained by the Hall sensor and is used as the current pulse width value, and the force borne by the glass lifter can be obtained by utilizing the current pulse width value and the motor parameter, so that the adaptability of the method is improved. The method for converting the pulse width ave _ width and the force F borne by the glass lifter comprises the following steps:
calculating the time T (us) taken by the motor to rotate for one circle according to the pulse width ave _ width and the magnetic pole pair number PoleNum:
T＝ave_width*2*PoleNum
calculating the rotation speed n (r/s):
n＝1*10^6/T
when the reduction ratio is ReductionRatio, the rotation speed n' (r/min) after reduction by the reduction mechanism:
n’＝n×60/ReductionRatio
the relationship between the torque M (nm) and the rotation speed n 'can be known from the fitted formula, and fig. 4 shows a relationship curve between the torque M and the rotation speed n' of the motor, wherein the coefficients a and b are determined according to actual motor parameters:
n’＝a*M+b
wherein a is the slope of the characteristic curve, and b is the ordinate value of the intersection point of the characteristic curve and the y-axis.
Force F (N) can be calculated from the torque and radius of rotation radius (mm):
F＝M*1000/Radius
in conclusion:
the self-learning force and the current force can be determined from the above equations.
Wherein, through according to motor characteristic curve, the pulse width value that surveys hall sensor converts the actual atress situation of glass-frame riser ware into to can be more accurate judge the anti-pinch condition.
Step 2: converting the pulse width value of the same position obtained in the self-learning process into the force borne by the glass lifter according to the motor characteristics, then calculating a force difference value, namely solving the absolute value of the difference value between the current force value and the self-learning force value of the same position as the force difference value, writing the absolute value of the difference value into an array, such as a data [ m ] array shown in figure 2, and ensuring that the next operation is carried out after at least storing the absolute value of the difference values of m (m can be adjusted according to the actual condition);
fig. 3 is a graph showing a variation of force difference between different clamping forces of a window regulator according to an embodiment of the present invention.
Wherein the value of the self-learning force can be obtained by the following steps:
firstly, the whole ascending stroke of the glass lifter when the glass lifter is not triggered to prevent clamping is measured, the measured pulse width value is used as a self-learning pulse width value, and the force, namely a self-learning force value, which is borne by the glass lifter in the whole ascending stroke when the glass lifter is not triggered to prevent clamping is obtained according to the conversion relation between the pulse width and the force borne by the glass lifter in the step 1 through a motor characteristic curve.
And step 3: the calculation of the filtering value is to perform Gaussian filtering summation on the force difference values of the previous m pulses and perform filtering processing on the written m values; if when m is 5; adopting Gaussian filtering; datafilter [2L ] +0.2 data [2L-1] +0.4 data [2L-2] +0.2 data [2L-3] +0.1 data [2L-4 ]; 2L represents the current number of pulses; 2L > -5; storing the filtered data into an array, such as a datafilter [2L ] array shown in fig. 2, wherein the length of the array is 2L (the 2L value can be adjusted according to actual conditions);
the data are processed through filtering, so that the influence of abnormal data is reduced, meanwhile, the weight of the current force difference value is increased, and the authenticity of the current data is guaranteed.
And 4, step 4: monitoring the accumulated resistance at a fixed distance, monitoring the filtered data, wherein the monitoring length is 2L pulse numbers, the pulse numbers are spaced at intervals of L pulses, the change of the sum of the filtered data of the current L pulses and the sum of the filtered data of the latest historical L pulses is monitored, and the difference between the two is calculated; when the difference value of the two is less than 0, counting is carried out, and the difference value is marked as 0; when the count value forwarddlow _ num reaches a first preset count judgment threshold value, setting the count value forwarddlow _ num and the difference step to be 0, and simultaneously quitting the anti-pinch judgment; if the L is 10, the sum of the filtered data of the current L pulses is marked as forward, and the sum of the filtered data of the recent historical data of the L pulses is marked as backward; step-forward, that is, 2L data are taken for distance-dependent cumulative resistance monitoring, wherein the sum of the filtered data of the first L pulses is forward; taking the sum of the filtered data of L pulses in the recent historical data as backward;
and 5: setting a fixed distance accumulated resistance threshold, and when the fixed distance accumulated resistance step is greater than a preset step judgment threshold step _ level, saving the current pulse number as pulse _ start and back ward corresponding to the pulse number as a basic reference point base; namely base is backward, and pulse _ start is the current pulse number; if step is less than or equal to the preset step judgment threshold and step reaches the preset step judgment threshold, counting step _ num; when the count value steplow _ num reaches a second preset count judgment threshold value, initializing the base value, the sum value and the count value thereof, and exiting the anti-pinch judgment;
step 6: when the step of the accumulated resistance at the fixed distance is larger than the preset step judgment threshold, starting to calculate the difference value between the forward and the base corresponding to the current pulse; that is, when step > step _ level, sum is forward-base;
and 7: when sum obtained in step 6 is greater than a preset sum judgment threshold sum _ level, starting to calculate slope, and noting that the pulse number pulsenum _ start when step first reaches the threshold in step 5 is subtracted from the current pulse number pul _ num and added by one to be sum _ counter, namely: sum _ counter is pulse _ start-pulse _ num +1, and the slope value is sum obtained in step 6 divided by sum _ counter, that is, the slope value is sum/sum _ counter; if sum is less than or equal to a set threshold sum _ level, counting; when the count value sum _ num reaches a third preset count judgment threshold value, initializing the base value, the sum value and the count value sum _ num thereof, and exiting the anti-pinch judgment;
and 8: when the slope calculated in the step 7 is larger than the preset slope judgment threshold slope _ level, starting to count the meetnum, and simultaneously setting the slope _ num to be zero; the slope _ num is that when the slope is less than or equal to a preset slope judgment threshold slope _ level, the slope is accumulated and counted; when the slope _ num is accumulated to a fourth preset counting judgment threshold value, initializing slope, meet _ num and slope _ num, and quitting the anti-pinch judgment;
and step 9: when the meetnum obtained in the step 8 exceeds a set threshold meetnum _ level and the sum _ counter also exceeds a set range sum _ counter _ level, triggering anti-pinch to the global broadcast, and initializing a base value, a sum value, a slope value, a sum _ counter and the meetnum; and if the meetnum or sum _ counter does not reach the respective set threshold value, quitting the anti-pinch judgment.
The five threshold values are adjusted according to different working conditions, so that the adaptability of the anti-pinch algorithm of the electric glass lifter is improved.
In the embodiment of the present invention, the initialization value of each variable may be determined according to actual needs.
The invention provides a novel anti-pinch method of an electric glass lifter. The change of the pulse width is converted into the change of the force, so that the anti-pinch judgment is more convenient and timely. Meanwhile, a filtering algorithm and multiple conditions are added, so that the timeliness and the accuracy of triggering anti-pinch are guaranteed, an anti-pinch module is more perfect, and the overall reliability and the robustness of the system are improved.
It should be noted that, according to the implementation requirement, each step/component described in the present application can be divided into more steps/components, and two or more steps/components or partial operations of the steps/components can be combined into new steps/components to achieve the purpose of the present invention.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (6)
1. An anti-pinch method of an electric glass lifter is characterized by comprising the following steps:
(1) respectively converting the current pulse width value and the pulse width value at the same position obtained in the self-learning process into the force borne by the glass lifter according to the motor characteristics, and solving the absolute value of the difference between the two obtained forces to obtain a force difference value;
(2) filtering the force difference values of the m pulses by using a first moving window to obtain a filtered second moving window, wherein the size of the second moving window is 2L;
(3) the first-stage anti-pinch condition is as follows: entering next-stage anti-pinch judgment only if forward of the current point is larger than backward, counting if forward of the current point is smaller than or equal to backward, initializing relevant variables when a counting value reaches a first preset counting judgment threshold value, and exiting anti-pinch judgment at the same time, wherein the forward value is equal to the sum of L filtered data from the current position to L pulse numbers in a second filtered moving window, and the backward is the sum of L filtered data from the beginning to the L pulse numbers in the second moving window;
(4) second-stage anti-pinch conditions: entering next-stage anti-pinch judgment only if the step of the current point is greater than a preset step judgment threshold, counting if the step of the current point is less than or equal to the preset step judgment threshold and the step reaches the preset step judgment threshold, initializing relevant variables when the count value reaches a second preset counting judgment threshold, and exiting anti-pinch judgment at the same time, wherein the step value is equal to the difference between forward and backward in the step (3);
(5) third-stage anti-pinch conditions: when the step at the current point is greater than the preset step judgment threshold, the third-level anti-pinch condition judgment is started: when the second-stage anti-pinch condition is met for the first time, recording the pulse number at the moment as pulse _ start, and recording the sum of L pieces of filtered data from the beginning to L pulse numbers in a second moving window under the pulse number as base; the sum value is equal to the difference between the sum of L filtered data from the current position to L pulse numbers in the filtered second moving window and the base; counting if sum is less than or equal to a preset sum judgment threshold; when the count value reaches a third preset count judgment threshold value, initializing related variables and quitting anti-pinch judgment;
(6) fourth stage anti-pinch condition: when sum is larger than a preset sum judgment threshold value, fourth-stage anti-pinch condition judgment is started: counting if the slope is less than or equal to a preset slope judgment threshold; when the count value reaches a fourth preset count judgment threshold value, initializing related variables, and quitting anti-pinch judgment at the same time, wherein the slope value is equal to sum value divided by sum _ counter, and the sum _ counter is the pulse _ start minus the current pulse number plus one;
(7) and if the step of the current point is greater than a preset step judgment threshold, sum is greater than a preset sum judgment threshold, slope is greater than a preset slope judgment threshold, and sum _ counter is greater than a set threshold sum _ counter _ level, triggering anti-pinch.
2. The method of claim 1, wherein step (1) comprises:
and converting the current pulse width value measured by the Hall sensor and the pulse width value at the same position obtained in the self-learning process into the actual stress condition of the glass lifter according to the characteristic curve of the motor.
3. The method of claim 2, wherein the method is performed by
Determining the conversion relation between the pulse width ave _ width and the force F borne by the glass lifter, wherein PoleNum is the magnetic pole pair number, ReductionRatio is the reduction ratio,and a and b are coefficients in a relation curve between the torque and the rotating speed of the motor, and Radius is a rotating Radius.
4. The method of any one of claims 1 to 3, wherein step (2) comprises:
if the force difference is less than 0, setting the difference value as 0, writing the difference value into an array data [ m ], and ensuring that at least m force difference values are stored;
and performing Gaussian filtering summation on the force difference values of the previous m pulses in the data [ m ], and storing the data after filtering processing into an array with the length of 2L.
5. The method of claim 4, further comprising:
and when the slope is greater than the preset slope judgment threshold, starting to count the meetnum, and simultaneously setting the count value to be zero when the slope is less than or equal to the preset slope judgment threshold.
6. The method of claim 5, further comprising:
if the step of the current point is larger than a preset step judgment threshold, sum is larger than a preset sum judgment threshold, slope is larger than a preset slope judgment threshold, meetnum exceeds a set threshold meetnum _ level, and sum _ counter is larger than a set threshold sum _ counter _ level, anti-pinch is triggered to the global broadcast.
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