CN114482767A - Anti-pinch force detection method and system for ripple anti-pinch car window - Google Patents
Anti-pinch force detection method and system for ripple anti-pinch car window Download PDFInfo
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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
- E05F15/60—Power-operated mechanisms for wings using electrical actuators
- E05F15/603—Power-operated mechanisms for wings using electrical actuators using rotary electromotors
- E05F15/665—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for vertically-sliding wings
- E05F15/689—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for vertically-sliding wings specially adapted for vehicle windows
- E05F15/695—Control circuits therefor
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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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Abstract
The invention provides a method and a system for detecting anti-pinch force of ripple anti-pinch car windows, which relate to the technical field of car window anti-pinch and comprise the following steps: step S1, continuously capturing the ripple pulse period number of a corresponding window driving motor of a ripple anti-pinch window after receiving an external window closing instruction, and compensating a calibrated ripple period number to obtain a corresponding compensation period number; step S2, determining whether the ripple pulse period numbers captured at least twice consecutively are all greater than the corresponding compensation period numbers: if so, outputting an anti-pinch force detection signal to drive a vehicle window driving motor to control the ripple anti-pinch vehicle window to stop closing; if not, the process returns to step S1. The anti-pinch force detection device has the beneficial effects that the detection precision of the anti-pinch force of the car window is improved, and the influence of the motor on the detection of the anti-pinch force due to the reasons of working voltage, working temperature, sudden change of working load and the like is reduced; effectively avoid the ripple cycle interference that causes because of pressing from both sides factors such as hard thing, improve the integrality that prevents clamping force and detect.
Description
Technical Field
The invention relates to the technical field of car window anti-pinch, in particular to a method and a system for detecting anti-pinch force of ripple anti-pinch car windows.
Background
The ripple anti-pinch scheme of the electric vehicle window is relatively simple in structure and low in cost, so that the ripple anti-pinch scheme is more and more paid attention to and loved by the industry, but the anti-pinch precision and the anti-pinch reliability are always difficult problems, and the detection precision of the ripple anti-pinch force is the most critical anti-pinch index and is also the most important index of the safety evaluation whole system.
The realization of preventing pressing from both sides the function need carry out accurate detection to preventing pressing from both sides the power, and ripple prevents pressing from both sides the power detection in the past mainly judges whether the door window prevents pressing from both sides the action through gathering motor current and setting for the threshold value and carry out the method of comparison, nevertheless because in actual work, prevents that the operating current of pressing from both sides the motor can produce violent change along with operating temperature, operating voltage to prevent pressing from both sides the function is judged to traditional threshold value mode, can directly lead to preventing pressing from both sides the malfunction of system. In order to ensure that the anti-pinch system works normally and reliably, ensure the normal closing of the car window and avoid pinching, accurate calculation and compensation are required to be carried out on the anti-pinch force of the car window.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a method for detecting the anti-pinch force of a ripple anti-pinch car window, which comprises the following steps:
step S1, continuously capturing the ripple pulse period number of a corresponding window driving motor of a ripple anti-pinch window after receiving an external window closing instruction, and compensating a calibrated ripple period number in real time to obtain a corresponding compensation period number;
step S2, determining whether the ripple pulse period numbers captured at least twice consecutively are both greater than the corresponding compensation period numbers:
if so, outputting an anti-pinch force detection signal to drive the car window driving motor to control the ripple anti-pinch car window to stop closing;
if not, the process returns to the step S1.
Preferably, in step S1, the compensating for the calibration ripple cycle number includes:
acquiring the working temperature of the vehicle window driving motor when the ripple pulse period number is captured each time, processing according to the working temperature and a pre-acquired temperature compensation coefficient to obtain a temperature compensation value, and compensating the calibrated ripple pulse period number according to the temperature compensation value;
and/or
And acquiring the working voltage of the vehicle window driving motor when the ripple pulse period number is captured every time, processing according to the working voltage and a pre-acquired voltage compensation coefficient to obtain a voltage compensation value, and compensating the calibrated ripple period number according to the voltage compensation value.
Preferably, the calculation formula of the compensation period number is as follows:
Tperiod of compensation＝TCalibration of ripple period+TTemperature compensation
Or
TPeriod of compensation＝TCalibration of ripple period+TVoltage compensation
Or
TPeriod of compensation＝TCalibration of ripple period+TTemperature compensation+TVoltage compensation
Wherein,
Ttemperature compensation＝Tt*Kt，TVoltage compensation＝V*Kv
Wherein, TPeriod of compensationRepresenting the number of said compensation periods, TCalibration of ripple periodRepresenting the number of said nominal ripple periods, TTemperature compensationRepresents the temperature compensation value, TVoltage compensationRepresenting said voltage compensation value, TtDenotes the operating temperature, KtRepresents the temperature compensation coefficient, V represents the operating voltage, KvRepresenting the voltage compensation factor.
Preferably, in step S2, after determining that the ripple pulse period numbers captured at least twice consecutively are greater than the corresponding compensation period numbers, the method further includes:
step A1, acquiring a sampling current of the vehicle window driving motor at the current moment, and processing the sampling current and a pre-acquired calibration current to obtain a current safety threshold;
step a2, determining whether the current safety threshold is greater than a set threshold:
if so, outputting the anti-clamping force detection signal to drive the vehicle window driving motor to control the ripple anti-clamping vehicle window to stop closing;
if not, the process returns to the step S1.
Preferably, the current safety threshold is calculated according to the following formula:
wherein S represents the current safety threshold, I represents the sampled current, I represents the currentCalibrationRepresenting the calibration current.
The invention also provides an anti-pinch force detection system of the ripple anti-pinch car window, which applies the anti-pinch force detection method, and the anti-pinch force detection system comprises:
the period compensation module is used for continuously capturing the ripple pulse period number of a window driving motor of a corresponding ripple anti-pinch window after receiving an external window closing instruction, and compensating a calibrated ripple period number in real time to obtain a corresponding compensation period number;
the anti-pinch judging module is connected with the period compensating module and used for outputting an anti-pinch force detecting signal to drive the car window driving motor to control the ripple anti-pinch car window to stop closing when the ripple pulse period number is larger than the compensating period number, wherein the ripple pulse period number is continuously captured twice at least.
Preferably, the period compensation module includes:
the first compensation unit is used for acquiring the working temperature of the vehicle window driving motor when the ripple pulse period number is captured each time, processing according to the working temperature and a pre-acquired temperature compensation coefficient to obtain a temperature compensation value, and compensating the calibrated ripple pulse period number according to the temperature compensation value;
and/or
And the second compensation unit is used for acquiring the working voltage of the vehicle window driving motor when the ripple pulse period number is captured each time, processing according to the working voltage and a pre-acquired voltage compensation coefficient to obtain a voltage compensation value, and compensating the calibrated ripple period number according to the voltage compensation value.
Preferably, the calculation formula of the compensation cycle number is as follows:
Tperiod of compensation＝TCalibration of ripple period+TTemperature compensation
Or
TPeriod of compensation＝TCalibration of ripple period+TVoltage compensation
Or
TPeriod of compensation＝TCalibration of ripple period+TTemperature compensation+TVoltage compensation
Wherein,
Ttemperature compensation＝Tt*Kt，TVoltage compensation＝V*Kv
Wherein, TPeriod of compensationRepresenting the number of said compensation periods, TCalibration of ripple periodRepresenting the number of said nominal ripple periods, TTemperature compensationRepresents the temperature compensation value, TVoltage compensationRepresenting said voltage compensation value, TtDenotes the operating temperature, KtRepresents the temperature compensation coefficient, V represents the operating voltage, KvRepresenting the voltage compensation factor.
Preferably, prevent pressing from both sides the judgement module and include:
the first judging unit is used for outputting an anti-pinch signal when judging that the ripple pulse period number captured at least twice continuously is larger than the calibrated ripple period number;
the second judgment unit is connected with the first judgment unit and used for acquiring the current sampling current of the window driving motor at the current moment according to the sampling current and a calibration current acquired in advance, and outputting the anti-pinch force detection signal when the current safety threshold is greater than a set threshold, so as to drive the window driving motor to control the ripple wave anti-pinch window to stop closing.
Preferably, the current safety threshold is calculated according to the following formula:
wherein S represents the current safety threshold, I represents the sampled current, I represents the currentCalibrationRepresenting the calibration current.
The technical scheme has the following advantages or beneficial effects:
1) by compensating the calibrated ripple cycle number, the detection precision of the anti-pinch force of the car window is improved, and the influence of the motor on the detection of the anti-pinch force due to the reasons of working voltage, working temperature, sudden change of working load and the like is reduced;
2) when the ripple pulse cycle number of catching twice at least in succession all is greater than the demarcation ripple cycle number after the compensation, whether further judge to open based on window driving motor's electric current safety threshold and prevent pressing from both sides the function of pressing from both sides, effectively avoid pressing from both sides the ripple cycle interference that causes because of pressing from both sides factors such as hard thing, and then the inaccurate problem of anti-pinch force detection that causes improves the integrality that prevents the pinch force and detect.
Drawings
FIG. 1 is a schematic flow chart illustrating a method for detecting anti-pinch force of a ripple anti-pinch vehicle window according to a preferred embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating a process of determining whether to activate an anti-pinch function based on a current safety threshold of a window driving motor according to a preferred embodiment of the present invention;
fig. 3 is a schematic structural diagram of an anti-pinch force detection system for a ripple anti-pinch vehicle window in a preferred embodiment of the invention.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. The present invention is not limited to the embodiment, and other embodiments may be included in the scope of the present invention as long as the gist of the present invention is satisfied.
In a preferred embodiment of the present invention, based on the above problems in the prior art, a method for detecting an anti-pinch force of a ripple anti-pinch vehicle window is provided, as shown in fig. 1, including:
step S1, continuously capturing the ripple pulse period number of a corresponding one of the window driving motors of the ripple anti-pinch window after receiving an external window closing instruction, and compensating a calibrated ripple period number to obtain a corresponding compensation period number;
step S2, determining whether the ripple pulse period numbers captured at least twice consecutively are all greater than the corresponding compensation period numbers:
if so, outputting an anti-pinch force detection signal to drive a vehicle window driving motor to control the ripple anti-pinch vehicle window to stop closing;
if not, the process returns to step S1.
Specifically, when an external window closing instruction is received, the window driving motor can respond to the window closing instruction to start closing the corresponding ripple anti-pinch window. In the closing process of the car window, when the car window driving motor works normally, the change of the corresponding ripple pulse period number is gentle, and at the moment, if the ripple pulse period number is suddenly increased, the possible reason is that an obstacle is encountered in the closing process of the car window or the periodic signal capture is in problem. For avoiding periodic signal to catch the anti-pinch function mistake that causes such as problem emergence and start, can judge the cycle when the ripple pulse cycle number is all great twice at least and prevent that the pinch condition is established, at this moment, can trigger and prevent that the pinch function opens to the window stop closing is prevented to drive window driving motor control ripple, as preferred, window driving motor control ripple prevents that the window stops closing the back, moves back 150mm, so that the barrier removes.
Further, since the operating characteristics of the window drive motor fluctuate with the operating temperature and the operating voltage, the ripple period is significantly shortened when the operating temperature increases as the voltage increases. In order to detect the anti-pinch force for preventing pinching of the car window more reasonably, in the technical scheme, before judging whether the ripple pulse period number is greater than the calibrated ripple period number, the method further comprises the step of dynamically compensating the calibrated ripple period number according to the working temperature and the working voltage of the car window driving motor, so that the problem of inaccurate anti-pinch force caused by the change of the working environment of the ripple motor can be avoided, and the accuracy of detecting the anti-pinch force is provided.
The obtaining process of the calibration ripple cycle number is as follows:
according to the relevant regulation requirements of European 74/60/EEC and US FMVSSll8, 70N resistance is set as an anti-pinch threshold value, namely a ripple motor pulse period value corresponding to 70N is calibrated through load: the driving window driving motor works under the load conditions of 25 ℃, 12V and 70N, a plurality of motor pulse period numbers are recorded in sequence in a section of normal operation position of the window driving motor, and the calibration ripple period numbers are obtained by filtering data of the motor pulse period numbers. Wherein, the filtering process includes: and counting and recording n motor pulse period numbers, and taking the average value of the remaining n-2 motor pulse period numbers as the calibration ripple period number after removing the maximum value and the minimum value.
More specifically, in step S1, the compensating for the calibrated ripple cycle number includes:
acquiring the working temperature of the vehicle window driving motor when the ripple pulse period number is captured each time, processing according to the working temperature and a pre-acquired temperature compensation coefficient to obtain a temperature compensation value, and compensating the calibrated ripple pulse period number according to the temperature compensation value;
and/or
And when the ripple pulse period number is captured each time, acquiring the working voltage of the vehicle window driving motor, processing according to the working voltage and a pre-acquired voltage compensation coefficient to obtain a voltage compensation value, and compensating the calibrated ripple period number according to the voltage compensation value.
Specifically, in this embodiment, it is preferable to count the ripple motor pulse period numbers at different working temperatures under the 70N load and the 12V voltage, for example, count the ripple motor pulse period numbers at the working temperatures of-5 ℃, 0 ℃, 10 ℃, 20 ℃, 30 ℃, 40 ℃ and 50 ℃ respectively, further analyze and obtain a linear relationship between the ripple motor pulse period numbers and the working temperature of the motor, and express the linear relationship by a temperature compensation coefficient, that is, obtain the temperature compensation coefficient. It is understood that the different operating temperatures may be other temperature values, and are not limited herein. Preferably, the working temperature of the vehicle window driving motor may be acquired through a temperature sensor, specifically, a voltage signal output by the temperature sensor is acquired, and the working temperature corresponding to the voltage signal output by the temperature sensor is matched in a manner of querying a pre-configured voltage-temperature table containing a correspondence between the voltage signal and the working temperature, so as to be used as the working temperature of the vehicle window driving motor.
Similarly, it is preferable to count the number of pulse periods of the ripple motor at different operating voltages under the load of 70N and the operating temperature of 25 ℃, for example, count the number of pulse periods of the ripple motor at the operating voltages of 9V, 10V, 11V, 12V, 13V, and 14V, further analyze and obtain a linear relationship between the number of pulse periods of the ripple motor and the operating voltage of the motor, and obtain a voltage compensation coefficient by representing the linear relationship by a voltage compensation coefficient.
In a preferred embodiment of the present invention, only temperature compensation may be performed on the calibration ripple cycle number according to a requirement, or only voltage compensation may be performed on the calibration ripple cycle number, or both temperature compensation and voltage compensation may be performed on the calibration ripple cycle number, and a calculation formula of the corresponding compensation cycle number is as follows:
Tperiod of compensation＝TCalibration of ripple period+TTemperature compensation
Or
TPeriod of compensation＝TCalibration of ripple period+TVoltage compensation
Or
TPeriod of compensation＝TCalibration of ripple period+TTemperature compensation+TVoltage compensation
Wherein,
Ttemperature compensation＝Tt*Kt，TVoltage compensation＝V*Kv
Wherein, TPeriod of compensationRepresenting the number of compensation cycles, TCalibration of ripple periodIndicating the number of nominal ripple cycles, TTemperature compensationRepresenting the temperature compensation value, TVoltage compensationRepresenting the voltage compensation value, TtDenotes the operating temperature, KtDenotes the temperature compensation coefficient, V denotes the operating voltage, KvRepresenting the voltage compensation factor.
In a preferred embodiment of the present invention, although the ripple pulse period number may reflect the detected anti-pinch force to a certain extent, if a hard object is pinched, two consecutive ripple anti-pinch pulses may not occur, which may affect the normal turning on of the anti-pinch function, based on this, in step S2, after determining that the ripple pulse period numbers captured at least two consecutive times are all greater than the corresponding compensation period number, as shown in fig. 2, the method further includes:
step A1, obtaining a sampling current of the vehicle window driving motor at the current moment, and processing the sampling current and a pre-obtained calibration current to obtain a current safety threshold;
step a2, determining whether the current safety threshold is greater than a set threshold:
if so, outputting an anti-pinch force detection signal to drive a vehicle window driving motor to control the ripple anti-pinch vehicle window to stop closing;
if not, the process returns to step S1.
Specifically, in this embodiment, on the basis that the number of ripple pulse cycles captured twice at least is greater than the corresponding number of compensation cycles, the anti-pinch pulse is compensated to a certain extent according to the dynamically collected sampling current, so that the problem of inaccurate anti-pinch detection caused by the interference of the ripple cycles can be avoided, and the integrity of the anti-pinch detection is improved.
In the preferred embodiment of the present invention, the current safety threshold is calculated as follows:
wherein S represents a current safety threshold, I represents a sampling current, ICalibrationIndicating the calibration current.
The invention also provides an anti-pinch force detection system of the ripple anti-pinch car window, which applies the anti-pinch force detection method, and as shown in figure 3, the anti-pinch force detection system comprises:
the period compensation module 1 is used for continuously capturing the ripple pulse period number of a window driving motor of a corresponding ripple anti-pinch window after receiving an external window closing instruction, and compensating a calibrated ripple period number in real time to obtain a corresponding compensation period number;
the anti-pinch judging module 2 is connected with the period compensating module 1 and used for outputting an anti-pinch force detecting signal when the ripple pulse period number captured twice at least continuously is judged to be larger than the compensating period number so as to drive the car window driving motor to control the ripple anti-pinch car window to stop closing.
In a preferred embodiment of the present invention, the period compensation module 1 comprises:
the first compensation unit 11 is configured to acquire a working temperature of the vehicle window driving motor when capturing the ripple pulse cycle number each time, process the working temperature and a pre-acquired temperature compensation coefficient to obtain a temperature compensation value, and compensate the calibrated ripple cycle number according to the temperature compensation value;
and/or
The second compensation unit 12 is configured to obtain a working voltage of the vehicle window driving motor when capturing the ripple pulse cycle number each time, process the working voltage and a pre-obtained voltage compensation coefficient to obtain a voltage compensation value, and compensate the calibrated ripple cycle number according to the voltage compensation value.
In the preferred embodiment of the present invention, the calculation formula of the compensation period number is as follows:
Tperiod of compensation＝TCalibration of ripple period+TTemperature compensation
Or
TPeriod of compensation＝TCalibration of ripple period+TVoltage compensation
Or
TPeriod of compensation＝TCalibration of ripple period+TTemperature compensation+TVoltage compensation
Wherein,
Ttemperature compensation＝Tt*Kt，TVoltage compensation＝V*Kv
Wherein, TPeriod of compensationRepresenting the number of compensation cycles, TCalibration of ripple periodIndicating the number of nominal ripple periods, TTemperature compensationRepresenting the temperature compensation value, TVoltage compensationWhich represents the value of the voltage compensation, is,Ttdenotes the operating temperature, KtDenotes the temperature compensation coefficient, V denotes the operating voltage, KvRepresenting the voltage compensation factor.
In a preferred embodiment of the present invention, the anti-pinch determination module 2 comprises:
the first judging unit 21 is configured to output an anti-pinch signal when it is judged that the number of ripple pulse cycles captured at least twice consecutively is greater than the number of compensation cycles;
the second judging unit 22 is connected to the first judging unit 21, and is configured to obtain a sampling current of the window driving motor at the current time according to the anti-pinch signal, process the sampling current and a pre-obtained calibration current to obtain a current safety threshold, and output an anti-pinch force detection signal when the current safety threshold is judged to be greater than a set threshold, so as to drive the window driving motor to control the ripple anti-pinch window to stop closing.
In the preferred embodiment of the present invention, the current safety threshold is calculated as follows:
wherein S represents a current safety threshold, I represents a sampling current, ICalibrationIndicating the nominal current.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.
Claims (10)
1. The utility model provides a method for detecting anti-pinch force of ripple anti-pinch car window, which is characterized by comprising the following steps:
step S1, continuously capturing the ripple pulse period number of a corresponding window driving motor of a ripple anti-pinch window after receiving an external window closing instruction, and compensating a calibrated ripple period number in real time to obtain a corresponding compensation period number;
step S2, determining whether the ripple pulse period numbers captured at least twice consecutively are both greater than the corresponding compensation period numbers:
if so, outputting an anti-pinch force detection signal to drive the car window driving motor to control the ripple anti-pinch car window to stop closing;
if not, the process returns to the step S1.
2. The anti-pinch force detection method of claim 1, wherein the step S1 of compensating for the calibrated ripple cycle number comprises:
acquiring the working temperature of the vehicle window driving motor when the ripple pulse period number is captured each time, processing according to the working temperature and a pre-acquired temperature compensation coefficient to obtain a temperature compensation value, and compensating the calibrated ripple pulse period number according to the temperature compensation value;
and/or
And acquiring the working voltage of the vehicle window driving motor when the ripple pulse period number is captured every time, processing according to the working voltage and a pre-acquired voltage compensation coefficient to obtain a voltage compensation value, and compensating the calibrated ripple period number according to the voltage compensation value.
3. The anti-pinch force detection method of claim 2, wherein the number of compensation cycles is calculated as follows:
Tperiod of compensation＝TCalibration of ripple period+TTemperature compensation
Or
TPeriod of compensation＝TCalibration of ripple period+TVoltage compensation
Or
TPeriod of compensation＝TCalibration of ripple period+TTemperature compensation+TVoltage compensation
Wherein,
Ttemperature compensation＝Tt*Kt，TVoltage ofCompensation＝V*Kv
Wherein, TPeriod of compensationRepresenting the number of said compensation periods, TCalibration of ripple periodRepresenting the number of said nominal ripple periods, TTemperature compensationRepresents the temperature compensation value, TVoltage compensationRepresenting the voltage compensation value, TtDenotes the operating temperature, KtRepresents the temperature compensation coefficient, V represents the operating voltage, KvRepresenting the voltage compensation factor.
4. The method of claim 1, wherein in the step S2, after determining that the ripple pulse period number captured at least two consecutive times is greater than the corresponding compensation period number, the method further comprises:
step A1, acquiring a sampling current of the vehicle window driving motor at the current moment, and processing the sampling current and a pre-acquired calibration current to obtain a current safety threshold;
step a2, determining whether the current safety threshold is greater than a set threshold:
if so, outputting the anti-clamping force detection signal to drive the vehicle window driving motor to control the ripple anti-clamping vehicle window to stop closing;
if not, the process returns to the step S1.
5. The anti-pinch force detection method according to claim 4, wherein the current safety threshold is calculated as follows:
wherein S represents the current safety threshold, I represents the sampled current, I represents the currentCalibrationRepresenting the calibration current.
6. An anti-pinch force detection system of a ripple anti-pinch car window is characterized in that the anti-pinch force detection method is applied to any one of claims 1 to 5, and the anti-pinch force detection system comprises:
the period compensation module is used for continuously capturing the ripple pulse period number of a window driving motor of a corresponding ripple anti-pinch window after receiving an external window closing instruction, and compensating a calibrated ripple period number in real time to obtain a corresponding compensation period number;
the anti-pinch judging module is connected with the period compensating module and used for outputting an anti-pinch force detecting signal to drive the car window driving motor to control the ripple anti-pinch car window to stop closing when the ripple pulse period number is larger than the compensating period number, wherein the ripple pulse period number is continuously captured twice at least.
7. The anti-pinch force detection system of claim 6, wherein the period compensation module comprises:
the first compensation unit is used for acquiring the working temperature of the vehicle window driving motor when the ripple pulse period number is captured each time, processing according to the working temperature and a pre-acquired temperature compensation coefficient to obtain a temperature compensation value, and compensating the calibrated ripple pulse period number according to the temperature compensation value;
and/or
And the second compensation unit is used for acquiring the working voltage of the vehicle window driving motor when the ripple pulse period number is captured each time, processing according to the working voltage and a pre-acquired voltage compensation coefficient to obtain a voltage compensation value, and compensating the calibrated ripple period number according to the voltage compensation value.
8. The anti-pinch force detection system of claim 7, wherein the number of compensation cycles is calculated as follows:
Tperiod of compensation＝TCalibration of ripple period+TTemperature compensation
Or
TPeriod of compensation＝TCalibration of ripple period+TVoltage compensation
Or
TPeriod of compensation＝TCalibration of ripple period+TTemperature compensation+TVoltage compensation
Wherein,
Ttemperature compensation＝Tt*Kt，TVoltage compensation＝V*Kv
Wherein, TPeriod of compensationRepresenting the number of said compensation periods, TCalibration of ripple periodRepresenting the number of said nominal ripple periods, TTemperature compensationRepresents the temperature compensation value, TVoltage compensationRepresenting said voltage compensation value, TtDenotes the operating temperature, KtRepresents the temperature compensation coefficient, V represents the operating voltage, KvRepresenting the voltage compensation factor.
9. The anti-pinch force detection system according to claim 6, wherein the anti-pinch judgment module comprises:
the first judging unit is used for outputting an anti-pinch signal when the ripple pulse period number captured at least twice continuously is judged to be larger than the compensation period number;
the second judgment unit is connected with the first judgment unit and used for acquiring the current sampling current of the window driving motor at the current moment according to the sampling current and a calibration current acquired in advance, and outputting the anti-pinch force detection signal when the current safety threshold is greater than a set threshold, so as to drive the window driving motor to control the ripple wave anti-pinch window to stop closing.
10. The anti-pinch force detection system of claim 9, wherein the current safety threshold is calculated as follows:
wherein S representsThe current safety threshold, I represents the sampling current, ICalibrationRepresenting the calibration current.
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