CN113338743B - Anti-pinch control system of electric tail gate - Google Patents
Anti-pinch control system of electric tail gate Download PDFInfo
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- CN113338743B CN113338743B CN202110593368.3A CN202110593368A CN113338743B CN 113338743 B CN113338743 B CN 113338743B CN 202110593368 A CN202110593368 A CN 202110593368A CN 113338743 B CN113338743 B CN 113338743B
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- 238000004364 calculation method Methods 0.000 claims description 3
- 230000007547 defect Effects 0.000 abstract description 3
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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
- 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
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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
- E05Y2900/531—Doors
- E05Y2900/532—Back doors or end doors
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- Power-Operated Mechanisms For Wings (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The utility model provides an electronic tail-gate prevents pressing from both sides control system, includes central processing unit, signal acquisition module, drive module, tail-gate vaulting pole device, and central processing unit's signal input part is connected with signal acquisition module's signal output part, and central processing unit's signal output part is connected with drive module's signal input part, drive module and tail-gate vaulting pole device electric connection, are provided with the vaulting pole motor in the tail-gate vaulting pole device. The central processing unit internally comprises an anti-pinch detection algorithm, the anti-pinch detection algorithm carries out anti-pinch judgment according to a motor current signal and a Hall signal, and sends a corresponding control signal to the driving module after triggering an anti-pinch function. The invention overcomes the defects of the prior art, adopts the combination of the motor current and the speed signal as the anti-pinch judgment basis, and detects and eliminates the abnormal working condition in real time to avoid the anti-pinch misjudgment. The current integral value is used as the main basis for judging the magnitude of the anti-pinch force, so that the small anti-pinch force can be obtained, and the anti-pinch force is stable in change.
Description
Technical Field
The invention relates to the technical field of electric tail gate anti-pinch, in particular to an electric tail gate anti-pinch control system.
Background
The traditional automobile tail gate needs to be manually lifted and closed, cannot hover midway, and does not have an anti-pinch function. The electric tail gate can be automatically opened and closed under the trigger of a key and stopped at a proper height. Above all, electronic tail-gate possesses prevents pressing from both sides the function, can the bring injury to personnel in the time of the barrier is touchd to the tail-gate. Because electronic tail-gate promotes in recent years, its research of preventing pressing from both sides the technique relates to less, improves based on the door window is prevented pressing from both sides the technique mostly. The strip is prevented pressing from both sides all can be installed to general electronic tail-gate, when preventing pressing from both sides the strip and receiving the extrusion, can trigger and prevent pressing from both sides the function, and the tail-gate can stop and reverse. However, the anti-pinch strip cannot completely solve the anti-pinch safety problem of the tail gate, so that other methods are needed to further ensure the anti-pinch function and solve the anti-pinch safety problem.
According to the characteristics of the motor, when the motor load torque increases, the current thereof increases and the speed decreases. When the tail-gate meets the barrier, the load torque of motor must increase, consequently, can carry out anti-pinch detection according to the current change and the speed change of motor. In order to reduce the injury to personnel or the damage to the tailgate when clamping occurs, the clamping prevention force is ensured to be smaller than a certain value. Can be according to setting for a threshold value, when the increase of electric current or speed decrement exceeded certain threshold value, the anti-pinch force that records through actual calibration is less than and requires anti-pinch force, can regard as anti-pinch function to accord with safety standard.
The common anti-pinch algorithm adopts a current change value or a speed change value to carry out anti-pinch judgment and determine the magnitude of anti-pinch force, but the scheme is easily influenced by signal fluctuation, so that anti-pinch misjudgment is caused, and the stability of the anti-pinch force cannot be ensured; the integral method can avoid the anti-pinch misjudgment caused by signal mutation, and the stability of the anti-pinch force can be ensured by using the current integral value or the speed integral value as the anti-pinch force judgment basis. The integration time is too short, the integration value is difficult to reach the integration threshold value, the anti-pinch function cannot be triggered, and the integration time is too long, so that the anti-pinch misjudgment is easily caused. The method is difficult to calibrate the anti-pinch force, and anti-pinch misjudgment is easy to occur when the set anti-pinch force is smaller.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the anti-pinch control system of the electric tail gate, which overcomes the defects of the prior art, has reasonable design, improves the reliability and the stability of inter-pinch prevention detection, adopts the combination of the current of the motor and a speed signal as an anti-pinch judgment basis, detects and eliminates abnormal working conditions in real time, and avoids the anti-pinch misjudgment. The current integral value is used as a main basis for judging the magnitude of the anti-pinch force, so that the small anti-pinch force can be obtained, and the anti-pinch force is stable in change.
In order to achieve the purpose, the invention is realized by the following technical scheme:
the utility model provides an electronic tail-gate prevents pressing from both sides control system, includes central processing unit, signal acquisition module, drive module, tail-gate vaulting pole device, central processing unit's signal input part is connected with signal acquisition module's signal output part, central processing unit's signal output part is connected with drive module's signal input part, drive module's signal output part outlet is connected with tail-gate vaulting pole device's signal input part, be provided with the vaulting pole motor in the tail-gate vaulting pole device, signal acquisition module's signal input part and drive module electric connection.
Preferably, the signal acquisition module comprises a current acquisition circuit and a hall sensor, the current acquisition circuit is used for acquiring a current signal of the motor, and the hall sensor is used for acquiring a hall signal.
Preferably, prevent pressing from both sides detection algorithm including in the central processing unit, prevent pressing from both sides detection algorithm and judge according to motor current signal and hall signal, trigger and send corresponding control signal to drive module behind the function of preventing pressing from both sides.
Preferably, the algorithm flow of the anti-pinch detection algorithm includes the following steps:
step S1: updating a motor current signal and a Hall signal every fixed T1 time, and calculating the rotating speed of the motor to obtain a rotating speed signal;
step S2: judging the position of the tail gate according to the Hall signal of the motor, setting an anti-pinch detection range H according to the Hall position of the tail gate, entering the step S3 when the signal is in the H range or otherwise returning to the step S1;
and step S3: setting an anti-pinch mark F, and when F =0, entering step S4, otherwise, entering step S6;
and step S4: performing anti-pinch prejudgment, setting a current change threshold I1 and a speed change threshold N1, when the current is increased, the change exceeds the threshold I1, the speed is reduced, and the change exceeds the threshold N1, enabling an anti-pinch mark F =1, selecting the current value before the signal change as a current reference value Iref, selecting the speed value before the signal change as a speed reference value Nref, entering the step S5, otherwise, returning to the step S1;
step S5: carrying out anti-pinch force detection, if the anti-pinch detection is established, entering the step S7, and if not, returning to the step S1;
step S6: an abnormal signal identification process, wherein a current change threshold I3 and a speed change threshold N3 are set, when the current is reduced, the change exceeds the threshold I3, the speed is increased, and the change exceeds the threshold N3, the anti-pinch pre-judgment is considered to be caused by an abnormal signal, an anti-pinch mark F =0 is set, a calculated value in the anti-pinch force detection in the step S5 is cleared, the step S1 is returned, and otherwise, the step S5 is carried out;
and S7, triggering an anti-pinch function, and sending a signal to enable the motor to drive the tail gate to stop and rotate reversely for a certain distance.
Preferably, the step S5 of detecting the anti-pinch force specifically includes the following steps:
step S51: performing current integration to obtain IS on the basis of the current reference value Iref, and performing difference calculation NS on the basis of the speed reference value Nref;
step S52: setting a current integral threshold I2 and a speed difference threshold N2, when the current integral value IS IS greater than the integral threshold I2 and the speed difference NS IS greater than the speed difference threshold N2, the anti-pinch detection IS true, entering the step S7, otherwise, returning to the step S1.
The invention provides an anti-pinch control system of an electric tail gate. The method has the following beneficial effects: the current and the speed signal are combined to carry out anti-pinch judgment, and a current integral value is used as a judgment basis for the magnitude of anti-pinch force; abnormal signals are detected in real time in the anti-pinch detection process, so that anti-pinch misjudgment is avoided; the anti-pinch force detection is combined with current integral change and speed change, even if continuous integral exists, the speed change does not meet the requirement and cannot trigger the anti-pinch function, so that integral time does not need to be regulated, and the current integral reaches a threshold value and the speed change can judge that anti-pinch occurs when meeting the requirement. The algorithm can obtain stable anti-clamping force, the calibration range of the anti-clamping force is wide, and the anti-clamping misjudgment can be avoided under the condition of setting smaller anti-clamping force.
Drawings
In order to more clearly illustrate the present invention or the prior art solutions, the drawings that are needed in the description of the prior art will be briefly described below.
FIG. 1 is a block diagram of the control system of the present invention;
FIG. 2 is a flow chart of an anti-pinch detection algorithm of the present invention;
the reference numbers in the figures illustrate:
1. a central processing unit; 2. a signal acquisition module; 3. a drive module; 4. a tailgate stay device; 5. a strut motor; 6. and (4) an anti-pinch detection algorithm.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings.
In the first embodiment, as shown in fig. 1, an anti-pinch control system for an electric tailgate comprises a central processing unit 1, a signal acquisition module 2, a driving module 3, a tailgate brace device 4, a signal input end of the central processing unit 1 is connected with a signal output end of the signal acquisition module 2, a signal output end of the central processing unit 1 is connected with a signal input end of the driving module 3, an output end of a signal output end of the driving module 3 is connected with a signal input end of the tailgate brace device 4, a brace motor 5 is arranged in the tailgate brace device 4, and a signal input end of the signal acquisition module 2 is electrically connected with the driving module 3.
In this embodiment, including preventing pressing from both sides detection algorithm 6 in the central processing unit 1, prevent pressing from both sides detection algorithm 6 and judge according to motor current signal and hall signal prevent pressing from both sides, trigger and prevent sending corresponding control signal to drive module 3 behind the clamp function.
The working principle is as follows:
receive signal acquisition module 2's signal through central processing unit 1 to carry out and prevent pressing from both sides detection algorithm 6, in this embodiment, signal acquisition module 2 includes current acquisition circuit and hall sensor, and current acquisition circuit is used for gathering motor current signal, and hall sensor is used for gathering hall signal. The anti-pinch detection algorithm 6 sends a corresponding control signal to the driving module 3 after triggering the anti-pinch function, the driving module 3 controls the stay bar motor 5 to execute electric operation, and when the anti-pinch function is triggered, the stay bar motor 5 stops and rotates reversely for a certain time; the assembly of vaulting pole motor 5 is in tail-gate vaulting pole device 4 is middle, and vaulting pole motor 5 rotates and can control the vaulting pole flexible, and the vaulting pole is flexible can control electronic tail-gate switching to when triggering and prevent pressing from both sides the function, the tail-gate can stop and the certain distance of reversal.
In a second embodiment, as shown in fig. 2, as a further scheme of the first embodiment, the algorithm flow of the anti-pinch detection algorithm 6 includes the following steps:
step S1: updating a motor current signal and a Hall signal every fixed T1 time, and calculating the rotating speed of the motor to obtain a rotating speed signal;
step S2: judging the position of the tail gate according to the Hall signal of the motor, setting an anti-pinch detection range H according to the Hall position of the tail gate, entering the step S3 when the signal is in the H range or otherwise returning to the step S1;
and step S3: setting an anti-pinch mark F, and when F =0, entering step S4, otherwise, entering step S6;
and step S4: performing anti-pinch prejudgment, setting a current change threshold I1 and a speed change threshold N1, when the current is increased, the change exceeds the threshold I1, the speed is reduced, and the change exceeds the threshold N1, enabling an anti-pinch mark F =1, selecting the current value before the signal change as a current reference value Iref, selecting the speed value before the signal change as a speed reference value Nref, entering the step S5, otherwise, returning to the step S1;
step S5: detecting anti-pinch force, if the anti-pinch detection is established, entering the step S7, and if not, returning to the step S1;
step S6: in the abnormal signal identification process, a current change threshold value I3 and a speed change threshold value N3 are set, when the current is reduced, the change exceeds the threshold value I3, the speed is increased, and when the change exceeds the threshold value N3, the anti-pinch pre-judgment is considered to be caused by an abnormal signal, an anti-pinch mark F =0 is set, a calculated value in the anti-pinch force detection in the step S5 is eliminated, the step S1 is returned, otherwise, the step S5 is carried out;
and S7, triggering an anti-pinch function, sending a signal, and enabling the motor to drive the tail gate to stop and rotate reversely for a certain distance.
The step S5 of detecting the clamping prevention force specifically comprises the following steps:
step S51: performing current integration on the basis of the current reference value Iref to obtain IS, and performing difference calculation NS on the basis of the speed reference value Nref;
step S52: setting a current integral threshold I2 and a speed difference threshold N2, when the current integral value IS IS greater than the integral threshold I2 and the speed difference NS IS greater than the speed difference threshold N2, the anti-pinch detection IS established, entering the step S7, otherwise, returning to the step S1.
The anti-pinch device performs anti-pinch judgment by combining current and speed signals, and takes a current integral value as a judgment basis for the magnitude of anti-pinch force; the anti-pinch detection process detects abnormal signals in real time, so that anti-pinch misjudgment is avoided, normal working conditions cannot enter the anti-pinch force detection process and the abnormal signal identification process, current integration is only performed in the anti-pinch force detection process, and the overall operation efficiency of the controller is improved; the anti-pinch force detection combines the current integral change and the speed change, and even if continuous integral exists, the speed change does not meet the requirement and can not trigger the anti-pinch function, so that integral time does not need to be specified, and the current integral reaches a threshold value and can be judged to be anti-pinch when the speed change meets the requirement. The algorithm can obtain stable anti-clamping force, the calibration range of the anti-clamping force is wide, and the anti-clamping misjudgment can be avoided under the condition of setting smaller anti-clamping force.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (4)
1. The utility model provides an electronic tail-gate prevents pressing from both sides control system which characterized in that: the signal acquisition device comprises a central processing unit (1), a signal acquisition module (2), a driving module (3) and a tail gate stay bar device (4), wherein a signal input end of the central processing unit (1) is connected with a signal output end of the signal acquisition module (2), a signal output end of the central processing unit (1) is connected with a signal input end of the driving module (3), an output end of a signal output end of the driving module (3) is connected with a signal input end of the tail gate stay bar device (4), a stay bar motor (5) is arranged in the tail gate stay bar device (4), and a signal input end of the signal acquisition module (2) is electrically connected with the driving module (3);
the algorithm flow of the anti-pinch detection algorithm (6) comprises the following steps:
step S1: updating a motor current signal and a Hall signal every fixed T1 time, and calculating the rotating speed of the motor to obtain a rotating speed signal;
step S2: judging the position of the tail gate according to the Hall signal of the motor, setting an anti-pinch detection range H according to the Hall position of the tail gate, entering the step S3 when the Hall signal is in the range H, and returning to the step S1 if the Hall signal is not in the range H;
and step S3: setting an anti-pinch mark F, and entering a step S4 when F =0, or entering a step S6;
and step S4: performing anti-pinch prejudgment, setting a current change threshold I1 and a speed change threshold N1, when the current is increased, the change exceeds the threshold I1, the speed is reduced, and the change exceeds the threshold N1, enabling an anti-pinch mark F =1, selecting the current value before the signal change as a current reference value Iref, selecting the speed value before the signal change as a speed reference value Nref, entering the step S5, otherwise, returning to the step S1;
step S5: carrying out anti-pinch force detection, if the anti-pinch detection is established, entering the step S7, and if not, returning to the step S1;
step S6: an abnormal signal identification process, wherein a current change threshold I3 and a speed change threshold N3 are set, when the current is reduced, the change exceeds the threshold I3, the speed is increased, and the change exceeds the threshold N3, the anti-pinch pre-judgment is considered to be caused by an abnormal signal, an anti-pinch mark F =0 is set, a calculated value in the anti-pinch force detection in the step S5 is cleared, the step S1 is returned, and otherwise, the step S5 is carried out;
and S7, triggering an anti-pinch function, and sending a signal to enable the motor to drive the tail gate to stop and rotate reversely for a certain distance.
2. The anti-pinch control system of the electric tailgate according to claim 1, wherein: the signal acquisition module (2) comprises a current acquisition circuit and a Hall sensor, wherein the current acquisition circuit is used for acquiring current signals of the motor, and the Hall sensor is used for acquiring Hall signals.
3. The anti-pinch control system of the electric tailgate of claim 2, characterized in that: prevent pressing from both sides detection algorithm (6) including in central processing unit (1), prevent pressing from both sides detection algorithm (6) and carry out according to motor current signal and hall signal and prevent pressing from both sides the judgement, trigger to prevent sending corresponding control signal to drive module (3) behind the pressing from both sides the function.
4. The anti-pinch control system of the electric tailgate of claim 1, characterized in that: the step S5 of detecting the anti-pinch force specifically comprises the following steps:
step S51: with a current reference value I ref Integrating the current to obtain I S With the speed reference value N ref Base on difference calculation N S ；
Step S52: setting a current integration threshold I 2 And a speed difference threshold N 2 When the current integral value I S Greater than an integration threshold I 2 And the speed difference N S Greater than a speed difference threshold N 2 If so, anti-pinch detection is established, the step S7 is carried out, otherwise, the step S1 is returned to.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110593368.3A CN113338743B (en) | 2021-05-28 | 2021-05-28 | Anti-pinch control system of electric tail gate |
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| CN202110593368.3A CN113338743B (en) | 2021-05-28 | 2021-05-28 | Anti-pinch control system of electric tail gate |
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| CN113338743B true CN113338743B (en) | 2022-12-20 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114607225A (en) * | 2022-03-22 | 2022-06-10 | 翊天汽车智能科技(浙江)有限公司 | Logic algorithm for preventing clamping of electric tail gate |
| CN114607226A (en) * | 2022-03-22 | 2022-06-10 | 翊天汽车智能科技(浙江)有限公司 | Electric door and window anti-pinch method capable of realizing self-adaption to temperature change |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001029356A1 (en) * | 1999-10-22 | 2001-04-26 | Melchor Daumal Castellon | Improvements to automobile anti-pinching systems |
| CN106884595A (en) * | 2017-03-27 | 2017-06-23 | 深圳市金证卡尔电子有限公司 | Electric tail gate control method and device |
| CN111367205A (en) * | 2020-03-05 | 2020-07-03 | 南京美均电子科技有限公司 | Anti-pinch algorithm for electric tail gate control |
| CN111927232A (en) * | 2020-07-17 | 2020-11-13 | 北京新能源汽车股份有限公司 | Vehicle and tail door anti-pinch method, device and equipment thereof |
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2021
- 2021-05-28 CN CN202110593368.3A patent/CN113338743B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001029356A1 (en) * | 1999-10-22 | 2001-04-26 | Melchor Daumal Castellon | Improvements to automobile anti-pinching systems |
| CN106884595A (en) * | 2017-03-27 | 2017-06-23 | 深圳市金证卡尔电子有限公司 | Electric tail gate control method and device |
| CN111367205A (en) * | 2020-03-05 | 2020-07-03 | 南京美均电子科技有限公司 | Anti-pinch algorithm for electric tail gate control |
| CN111927232A (en) * | 2020-07-17 | 2020-11-13 | 北京新能源汽车股份有限公司 | Vehicle and tail door anti-pinch method, device and equipment thereof |
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