CN113722919B - External force judging method for recovery process of safety belt driven by direct current motor - Google Patents
External force judging method for recovery process of safety belt driven by direct current motor Download PDFInfo
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- 238000011084 recovery Methods 0.000 title claims abstract description 93
- 238000000034 method Methods 0.000 title claims abstract description 33
- 238000013507 mapping Methods 0.000 claims abstract description 14
- 238000012545 processing Methods 0.000 claims abstract description 11
- 230000002159 abnormal effect Effects 0.000 claims description 41
- 230000010354 integration Effects 0.000 claims description 14
- 238000002474 experimental method Methods 0.000 claims description 7
- 230000005856 abnormality Effects 0.000 claims description 6
- 238000004064 recycling Methods 0.000 claims description 5
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000001133 acceleration Effects 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
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- 238000007405 data analysis Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000012805 post-processing Methods 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
- G06F17/11—Complex mathematical operations for solving equations, e.g. nonlinear equations, general mathematical optimization problems
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
- G06F2119/14—Force analysis or force optimisation, e.g. static or dynamic forces
Abstract
The application discloses an external force judging method for a safety belt recovery process driven by a direct current motor, and mainly relates to the technical field of safety belt recovery. S1, acquiring a current value I when a direct current motor drives a safety belt to operate; s2, according to the mapping relation between the current value I and the moment RIn; s3, judging whether external force exists or not, and solving a logic i according to the integral of the moment objective function to time; s4, when the safety belt is recovered, the external force value judges whether the recovery processing needs to be continued or not. The application has the beneficial effects that: the external force judgment can be carried out in the whole safety belt recovery process, the whole recovery process is judged and processed, and the motor is prevented from running under the condition of locked rotation to generate danger.
Description
Technical Field
The application relates to the technical field of safety belt recovery, in particular to an external force judging method for a safety belt recovery process driven by a direct current motor, which is used for judging and processing under the condition that external force is encountered in the safety belt recovery process (foreign matters hung on the safety belt cannot be recovered), and preventing the motor from running under the condition of locked rotation and producing danger.
Background
Under normal conditions, the safety belt is recovered, when the safety belt is recovered to a designated position, the motor rotates still to generate locked rotation, at the moment, the controller is automatically switched into a constant current mode, a certain moment is maintained, and after the required time is maintained, the motor is reversed to trip. The recovery process ends.
In the recovery process of the safety belt, the safety belt is inevitably influenced by abnormal external force, for example, the safety belt is influenced by the back angle of a chair, clothes angle or articles in a car are scraped, the safety belt is not recovered, the motor rotates smoothly, external force judgment logic is needed to be added for judgment and treatment, and the motor is prevented from running under the condition of locked rotation to generate danger.
Disclosure of Invention
The application aims to provide an external force judging method for a safety belt recovery process driven by a direct current motor, which can judge external force in the whole safety belt recovery process, judge and process the whole recovery process and prevent the motor from running under the condition of locked rotation to generate danger.
The application aims to achieve the aim, and the aim is achieved by the following technical scheme:
an external force judging method for a safety belt recovery process driven by a direct current motor comprises the following steps:
s1, acquiring a current value I when a direct current motor drives a safety belt to operate;
s2, establishing a moment objective function according to the mapping relation between the current value I and the moment RIn to determine the moment;
the moment objective function is:
RIn＝K*I*I+b*I+c+F0
wherein K, b and c are all constant coefficients obtained through experiments; i is a current value; f0 is the error calibration offset;
s3, judging whether external force exists or not: two variables are introduced, namely moment RIn and time Tn, integral processing is carried out through lower integral 0 and upper integral Tn according to a moment objective function, convolution is carried out through an array form, and force impulse generated by current in the Tn time is obtained, wherein the force impulse is understood to be the total average force of the force in the period of time;
normally, the following is true:
according to the integral of the moment objective function to time, the logic i is solved, then convolution is carried out in an array form, and the force impulse meets the algorithm equation of the recovered bit:
s4, when the safety belt is recovered:
s40, when the recovery is just carried out:
the external force value judges whether recovery processing needs to be continued or not: the algorithm used first is an external force judgment algorithm:
g(Ln)＝1/5Ln,f(Ln)＝-1/5Ln
ln is a constant, g (Ln) and f (Ln) are functions, and no specific mapping relation exists;
when g (Ln) =1/5 Ln, ln is obtained and then calculated
When f (Ln) = -1/5Ln, ln is obtained, and then calculated
Then comparing with the calculated logic i;
if the comparison formula is satisfied, the safety belt is continuously recovered, and the step S41 is performed;
if the comparison formula is not satisfied, recovering the abnormality and receiving external force;
s41, in the recycling process,
in the recovery process, integration is continuously carried out, the upper integrated value is smaller than Tn, the lower integrated value is 0, and the external force judgment algorithm is as follows:
g(Ln)＝4/5Ln,f(Ln)＝6/5Ln
ln is a constant, g (Ln) and f (Ln) are functions, and no specific mapping relation exists;
when g (Ln) =4/5 Ln, ln is obtained and then calculated
When f (Ln) =6/5 Ln, ln is obtained and then calculated
Then comparing with the calculated logic i;
if the comparison formula is met, the safety belt is continuously recycled until recycling is finished;
if the comparison formula is not satisfied, recovering the abnormality and receiving external force;
s42, if the safety belt reaches a certain point in the recovery process, the integral value in the whole process meets an abnormal algorithm equation:
indicating that the integrated current value is abnormal in the recovery integrated domain for a very small period of time, and continuing to recover the seat belt regardless of whether the abnormal formula is satisfied, proceeding to step S43;
s43, after the step S42, whether the abnormal algorithm equation is satisfied is further checked:
the equation shows that in the recovery integral domain, the integral current value is abnormal, and the abnormal equation is satisfied, so that the locked rotation is already generated in the recovery time of the safety belt, and the safety belt is proved to be reversed and tripped immediately when encountering external force in the recovery process.
If the abnormal algorithm equation of S42 is satisfied and the abnormal algorithm equation of S43 is not satisfied, the safety belt is proved to have errors due to the external influence in the recovery process within the recovery time calculated in S42, and the safety belt is proved to not have external force in the recovery process.
Compared with the prior art, the application has the beneficial effects that:
the method is characterized by judging based on a current value when the direct current motor drives the safety belt to run, and a moment objective function is established according to a mapping relation experiment between the current value and moment. And carrying out integration processing through a lower integration 0 and an upper integration Tn according to the moment objective function, and carrying out convolution in an array form to obtain force impulse generated by current in the Tn time, and solving the logic i. Then the safety belt recovery process is divided into three sections: a. just when the recovery is carried out; b. in the recovery process; c. when the safety belt reaches a certain point in the recovery process and meets an abnormal formula. When the safety belt is just recovered, the current is large in the starting instant acceleration process, the constant current is small in the recovery process, and the judgment formula is different from that in the recovery process when the safety belt is just recovered; the safety belt can be blocked when reaching a certain point in the recovery process and meeting an abnormal formula, and two situations exist: when the S42 abnormal algorithm equation is satisfied and the S43 abnormal algorithm equation is not satisfied, the safety belt is proved to have errors due to the external influence in the recovery process within the recovery time calculated in the S42, and the safety belt is proved to not encounter external force in the recovery process; when the S42 abnormal algorithm equation is met and the S43 abnormal algorithm equation is also met, the condition that the safety belt is blocked in recovery time is demonstrated, and the safety belt is proved to be reversed and tripped immediately when external force is met in the recovery process. The S42 anomaly algorithm equation is an error cancellation equation.
In summary, the method can judge the external force in the whole safety belt recovery process, judge and process the whole recovery process, and prevent the motor from running under the condition of locked rotation to generate danger.
Drawings
FIG. 1 is a schematic illustration of the normal recovery of the seat belt of the present application.
FIG. 2 is a schematic illustration of the application in the case of abnormal belt recovery.
Fig. 3 is a flow chart of the algorithm of the present application.
FIG. 4 is a table of data for two sets of experiments in accordance with the present application.
Detailed Description
The application will be further illustrated with reference to specific examples. It is to be understood that these examples are illustrative of the present application and are not intended to limit the scope of the present application. Further, it will be understood that various changes and modifications may be made by those skilled in the art after reading the teachings of the application, and equivalents thereof fall within the scope of the application as defined by the claims.
The application discloses an external force judging method for a safety belt recovery process driven by a direct current motor, which comprises the following steps of:
s1, obtaining a current value I when the direct current motor drives the safety belt to operate.
S2, establishing a moment objective function according to the mapping relation between the current value I and the moment RIn to determine the moment;
the moment objective function is:
RIn＝K*I*I+b*I+c+F0
wherein K, b and c are all constant coefficients obtained through experiments; i is a current value; f0 is the error calibration offset.
Note that: the torque cannot be directly used as a basis for the state of belt recovery, since the current value here is a pulsed current, since the motor is controlled by PWM. The pulse current is highly discrete, and is characterized by being discontinuous and incoherent, belongs to high frequency and is composed of a large number of multiple harmonics. The pulse current data here is a unit acquisition: 2a,0a,1.5a,0a … … belong to a discrete number array, and the data is very chaotic, so it is not practical to directly use pulse current data. The effect of the pulse current is that it is not a true physical signal and requires post-processing. Correspondingly, the moment is also acquired in real time, the force is at a certain time, certain clutter and transient interference exist in the signal transmission, and the data analysis is required to be carried out through a series of analog filtering or digital processing technologies in the later stage, so that the signal is required to be processed in an integral and convolution mode.
S3, judging whether external force exists or not: two variables are introduced, namely moment RIn and time Tn, integral processing is carried out through lower integral 0 and upper integral Tn according to a moment objective function, convolution is carried out through an array form, and force impulse generated by current in the Tn time is obtained, wherein the force impulse is understood to be the total average force of the force in the period of time; ( Analysis: in physics, the value of the integral is defined according to the actual need on the definition that is produced last. The most primitive definition of integration is the accumulation on a physical quantity, such as: the integral of speed versus time is the mileage, the integral of force versus time is called impulse, and the integral of force versus distance is called work. The force is used here as an integral over time, and the impulse is used to measure the operating state of the seat belt. The impulse is called the total average force within this scene. )
Under normal conditions, as shown in figure 1 of the specification, the safety belt is recovered from the point B to the point A, and the passing time is Tn:
according to the integral of the moment objective function to time, the logic i is solved, then convolution is carried out in an array form, and the force impulse meets the algorithm equation of the recovered bit:
s4, when the safety belt is recovered:
s40, when the recovery is just performed (i.e. point B in fig. 1 or 2 of the drawings of the specification):
the external force value judges whether recovery processing needs to be continued or not: the algorithm used first is an external force judgment algorithm:
g(Ln)＝1/5Ln,f(Ln)＝-1/5Ln
ln is a constant, g (Ln) and f (Ln) are functions, and no specific mapping relation exists;
when g (Ln) =1/5 Ln, ln is obtained and then calculated
When f (Ln) = -1/5Ln, ln is obtained, and then calculated
Then comparing with the calculated logic i;
if the comparison formula is satisfied, the safety belt is continuously recovered, and the step S41 is performed;
if the comparison formula is not satisfied, recovering the abnormality and receiving external force;
s41, in the recovery process (namely, the point B-A in the figure 1 of the specification and the point B-M in the figure 2),
in the recovery process, integration is continuously carried out, the upper integrated value is smaller than Tn, the lower integrated value is 0, and the external force judgment algorithm is as follows:
g(Ln)＝4/5Ln,f(Ln)＝6/5Ln
ln is a constant, g (Ln) and f (Ln) are functions, and no specific mapping relation exists;
when g (Ln) =4/5 Ln, ln is obtained and then calculated
When f (Ln) =6/5 Ln, ln is obtained and then calculated
Then comparing with the calculated logic i;
if the comparison formula is met, the safety belt is continuously recycled until recycling is finished;
if the comparison formula is not satisfied, recovering the abnormality and receiving external force;
note that: g (Ln) and f (Ln) are a function called convex functions. The force is collected in real time through time, the force is good from beginning to end no matter the force meets external force, the force is recovered in place, the final result force is necessarily larger than the initial force, and the time is also necessarily larger and larger. The two mappings do not have a specific mapping relationship, because the two convex function results in a constant value. The setting of different scenes is performed by the previous coefficients such as 4/5,6/5, etc., the collected current is compared with the two convex functions, and the result is output.
S42, if the safety belt reaches a certain point (namely, point M in the figure 2 of the specification) in the recovery process, the integral value in the whole process meets an abnormal algorithm equation:
the integration section 0 to (-1/5 Tn) is a very small integration section, if the equation is satisfied, the integrated current value is abnormal in the recovery integration area for a very small period of time, if the equation is not satisfied, the integrated current value is normal in the recovery integration area for a very small period of time, the safety belt is recovered continuously no matter whether the abnormal equation is satisfied, and step S43 is performed;
s43, after the step S42, whether the abnormal algorithm equation is satisfied is further checked:
in step S43, the equation shows that in the recovery integral domain, the integral current value is abnormal, and the abnormal equation is satisfied, which indicates that the belt has locked in the recovery time, and proves that the belt is reversed and tripped immediately when encountering external force in the recovery process.
If the abnormal algorithm equation of S42 is satisfied and the abnormal algorithm equation of S43 is not satisfied, the safety belt is proved to have errors due to the external influence in the recovery process within the recovery time calculated in S42, and the safety belt is proved to not have external force in the recovery process.
Description of the drawings figure 3 is a flow chart of the present application
Step 1: collecting motor current, starting a timer, and starting counting by count;
step 2: integrating a plurality of collected current values I through count, wherein the result is Id;
step 3: id is convolved;
step 4: an input- > digital/logic comparison function, which is compared with a threshold array;
step 5: and outputting and controlling the executing mechanism.
Fig. 4 is a graph of two sets of data from experiments of the present application, one set being normal recovery and the other set being recovery with external force applied. The output result number is arranged behind each group of data, when the number is more than 8, the data is abnormal and cannot be recovered, otherwise, the data belongs to the normal condition.
Under the condition that the left side is in a normal state, the output results of the right side are all smaller than 8, and the safety belt recovery is judged to be normal at the time; the right side part is in an abnormal state, the front recovery is normal, the output results of the rear part are all larger than 8 (the lower right corner is painted with dark color part in the figure 4 of the specification and the drawing, and the arrow C indicates), and the safety belt is judged to be recovered abnormally at the moment and meets the external force. The system stops working.
To sum up:
the method is characterized by judging based on a current value when the direct current motor drives the safety belt to run, and a moment objective function is established according to a mapping relation experiment between the current value and moment. And carrying out integration processing through a lower integration 0 and an upper integration Tn according to the moment objective function, and carrying out convolution in an array form to obtain force impulse generated by current in the Tn time, and solving the logic i. Then the safety belt recovery process is divided into three sections: a. just when the recovery is carried out; b. in the recovery process; c. when the safety belt reaches a certain point in the recovery process and meets an abnormal formula. When the safety belt is just recovered, the current is large in the starting instant acceleration process, the constant current is small in the recovery process, and the judgment formula is different from that in the recovery process when the safety belt is just recovered; the safety belt can be blocked when reaching a certain point in the recovery process and meeting an abnormal formula, and two situations exist: when the S42 abnormal algorithm equation is satisfied and the S43 abnormal algorithm equation is not satisfied, the safety belt is proved to have errors due to the external influence in the recovery process within the recovery time calculated in the S42, and the safety belt is proved to not encounter external force in the recovery process; when the S42 abnormal algorithm equation is met and the S43 abnormal algorithm equation is also met, the condition that the safety belt is blocked in recovery time is demonstrated, and the safety belt is proved to be reversed and tripped immediately when external force is met in the recovery process. The S42 anomaly algorithm equation is an error cancellation equation.
The method can judge the external force in the whole safety belt recovery process, judge and process the whole recovery process, and prevent the motor from running under the condition of locked rotation to generate danger.
Claims (4)
1. A method for judging external force in the process of recovering a safety belt driven by a direct current motor is characterized in that: the method comprises the following steps:
s1, acquiring a current value I when a direct current motor drives a safety belt to operate;
s2, establishing a moment objective function according to the mapping relation between the current value I and the moment RIn to determine the moment;
the moment objective function is:
RIn＝K*I*I+b*I+c+F0
wherein K, b and c are all constant coefficients obtained through experiments; i is a current value; f0 is the error calibration offset;
s3, judging whether external force exists or not: two variables are introduced, namely moment RIn and time Tn, integral processing is carried out through lower integral 0 and upper integral Tn according to a moment objective function, convolution is carried out through an array form, and force impulse generated by current in the Tn time is obtained, wherein the force impulse is understood to be the total average force of the force in the period of time;
normally, the following is true:
according to the integral of the moment objective function to time, the logic i is solved, then convolution is carried out in an array form, and the force impulse meets the algorithm equation of the recovered bit:
s4, when the safety belt is recovered:
s41, in the recycling process,
in the recovery process, integration is continuously carried out, the upper integrated value is smaller than Tn, the lower integrated value is 0, and the external force judgment algorithm is as follows:
g(Ln)＝4/5Ln,f(Ln)＝6/5Ln
ln is a constant, g (Ln) and f (Ln) are functions, and no specific mapping relation exists;
when g (Ln) =4/5 Ln, ln is obtained and then calculated
When f (Ln) =6/5 Ln, ln is obtained and then calculated
Then comparing with the calculated logic i;
if the comparison formula is met, the safety belt is continuously recycled until recycling is finished;
if the comparison formula is not satisfied, recovering the abnormality and receiving the external force.
2. The external force judging method for the recovery process of the safety belt driven by the direct current motor according to claim 1, wherein the external force judging method is characterized by comprising the following steps of: before the step S41 of the process of the present application,
further comprising S40, upon recovery:
the external force value judges whether recovery processing needs to be continued or not: the algorithm used first is an external force judgment algorithm:
g(Ln)＝1/5Ln,f(Ln)＝-1/5Ln
ln is a constant, g (Ln) and f (Ln) are functions, and no specific mapping relation exists;
when g (Ln) =1/5 Ln, ln is obtained and then calculated
When f (Ln) = -1/5Ln, ln is obtained, and then calculated
Then comparing with the calculated logic i;
if the comparison formula is satisfied, the safety belt is continuously recovered, and the step S41 is performed;
if the comparison formula is not satisfied, recovering the abnormality and receiving the external force.
3. The external force judgment method for the recovery process of the safety belt driven by the direct current motor according to claim 1 or 2, wherein the external force judgment method is characterized in that: and S43, if the safety belt reaches a certain point in the recovery process, the integral value in the whole process meets an abnormal algorithm equation:
the integral current value is abnormal in the recovery integral domain, the abnormal formula is satisfied, the phenomenon that the safety belt is blocked in recovery time is indicated, and the safety belt is proved to be reversed and tripped immediately when external force is applied in the recovery process.
4. The external force judging method for the recovery process of the safety belt driven by the direct current motor according to claim 3, wherein the external force judging method is characterized by comprising the following steps of: before the step S43 of the process of the present application,
and S42, if the safety belt reaches a certain point in the recovery process, the integral value in the whole process meets an abnormal algorithm equation:
indicating that the integrated current value is abnormal in the recovery integrated domain for a very short period of time, and continuing to recover the seat belt no matter whether the abnormal formula is satisfied or not, and performing step S43;
if the S43 abnormal algorithm equation is met, the condition that the locking rotation occurs in the safety belt recovery time is indicated, and the condition that the safety belt encounters external force in the recovery process is proved;
if the abnormal algorithm equation of S42 is satisfied and the abnormal algorithm equation of S43 is not satisfied, the safety belt is proved to have errors due to the external influence in the recovery process within the recovery time calculated in S42, and the safety belt is proved to not have external force in the recovery process.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR20090023968A (en) * | 2007-09-03 | 2009-03-06 | 주식회사 엘지씨엔에스 | Traffic perception apparatus and method using integral calculus |
| KR101615218B1 (en) * | 2014-12-24 | 2016-05-11 | 남양공업주식회사 | Apparatus and method for controling torque compensating of electronic power steering system |
| CN105991071A (en) * | 2015-02-12 | 2016-10-05 | 中山大洋电机股份有限公司 | Constant moment control method for ECM motor |
| CN110154976A (en) * | 2019-05-29 | 2019-08-23 | 浙江吉利控股集团有限公司 | Safety belt automatic recycling and control method, controller and control system |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20090023968A (en) * | 2007-09-03 | 2009-03-06 | 주식회사 엘지씨엔에스 | Traffic perception apparatus and method using integral calculus |
| KR101615218B1 (en) * | 2014-12-24 | 2016-05-11 | 남양공업주식회사 | Apparatus and method for controling torque compensating of electronic power steering system |
| CN105991071A (en) * | 2015-02-12 | 2016-10-05 | 中山大洋电机股份有限公司 | Constant moment control method for ECM motor |
| CN110154976A (en) * | 2019-05-29 | 2019-08-23 | 浙江吉利控股集团有限公司 | Safety belt automatic recycling and control method, controller and control system |
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