CN115538879A - Motor rotating speed value determining method, car window ripple wave anti-clamping method, vehicle and medium - Google Patents
Motor rotating speed value determining method, car window ripple wave anti-clamping method, vehicle and medium Download PDFInfo
- Publication number
- CN115538879A CN115538879A CN202110728866.4A CN202110728866A CN115538879A CN 115538879 A CN115538879 A CN 115538879A CN 202110728866 A CN202110728866 A CN 202110728866A CN 115538879 A CN115538879 A CN 115538879A
- Authority
- CN
- China
- Prior art keywords
- ripple
- value
- motor
- window
- pulse width
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 81
- 238000004590 computer program Methods 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 7
- 238000012360 testing method Methods 0.000 claims description 6
- 230000010355 oscillation Effects 0.000 abstract description 9
- 238000004364 calculation method Methods 0.000 abstract description 8
- 238000001914 filtration Methods 0.000 abstract description 8
- 238000010586 diagram Methods 0.000 description 13
- 239000005357 flat glass Substances 0.000 description 8
- 230000006870 function Effects 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 230000008859 change Effects 0.000 description 5
- 238000004891 communication Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 230000032683 aging Effects 0.000 description 2
- 230000000875 corresponding effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 241000251468 Actinopterygii Species 0.000 description 1
- 241000510097 Megalonaias nervosa Species 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 239000011449 brick Substances 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
Images
Classifications
-
- 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
-
- 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
-
- 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
- E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
- E05Y2400/10—Electronic control
- E05Y2400/36—Speed control, detection or monitoring
-
- 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
- E05Y2900/55—Windows
Landscapes
- Power-Operated Mechanisms For Wings (AREA)
- Window Of Vehicle (AREA)
Abstract
The application discloses a motor rotating speed value determining method, a vehicle window ripple anti-pinch method, a power vehicle and a storage medium, wherein the method comprises the following steps: acquiring the pulse width period of the ripple waves in real time; determining the average value of the pulse width periods of the ripples according to the pulse width periods of the ripples with the preset number; and determining the rotating speed value of the motor according to the average value of the ripple pulse width periods, wherein the preset number is an integral multiple of the number of ripples generated by the car window driving motor rotating for one circle. According to the scheme, the motor rotating speed value is obtained through pulse width period mean value filtering calculation of ripples, and motor rotating speed oscillation can be reduced. The motor rotating speed value obtained by the pulse width period mean value filtering calculation of the ripple waves is used for judging anti-pinch, and the error anti-pinch caused by the influence of factors such as the road surface condition and the like can be reduced.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a motor rotating speed value determining method, a vehicle window ripple wave anti-clamping method, a power vehicle and a storage medium.
Background
With the development of the automobile industry, the requirements of users on comfort, safety and intelligence of automobiles are gradually improved, and the window controller with the automatic window glass lifting function becomes the standard configuration of various mainstream automobile types. The position of the automobile window can be adjusted through a button arranged in the automobile, some automobile windows also have an automatic locking function, and when the automobile door is locked, the automobile windows are automatically closed. The device has high automation degree and safety, but also brings certain potential safety hazard. Once the window has an obstacle, the window can not be automatically stopped or automatically reversed, so that the phenomena that children are clamped by the power window and valuables are damaged by the power window often occur at present.
The existing ripple anti-pinch technology judges that pinch is prevented based on an absolute value of current, the specific principle is that load moment of a vehicle window and the current are in a linear curve relation, and when the acquired current of a motor is larger than a set anti-pinch current threshold value, pinch is judged.
However, the current of the car window motor is easily affected by factors such as motor voltage, ambient temperature, rubber strip aging and road surface conditions, and when the factors change, the set anti-pinch current threshold value may not be applicable, so that the anti-pinch force fluctuates greatly and even the anti-pinch is mistakenly generated.
Disclosure of Invention
In view of the above-mentioned drawbacks and deficiencies of the prior art, it is desirable to provide a motor speed value determination method, a window ripple anti-pinch method, a powered vehicle, and a storage medium.
In a first aspect, the present invention provides a method for determining a rotation speed value of a motor, the method comprising:
acquiring the pulse width period of the ripple waves in real time;
determining the average value of the pulse width periods of the ripples according to the pulse width periods of the ripples with the preset number;
and determining the rotating speed value of the motor according to the average value of the ripple pulse width cycles, wherein the preset number is an integral multiple of the number of ripples generated by one circle of the vehicle window driving motor.
In one embodiment, the method further comprises:
acquiring the transmission ratio of a turbine and a worm of a motor;
according to
Determining a motor rotating speed value;
wherein n is the rotating speed value of the motor, i is the transmission ratio of the worm and the worm of the motor, P is the number of ripples generated by one turn of the window driving motor, m is the preset number, t k The pulse width period of the kth ripple.
In a second aspect, the invention provides a vehicle window ripple wave anti-pinch method, which is applied to a vehicle, wherein the vehicle comprises a vehicle window driving motor, and the method comprises the following steps:
collecting current data of a vehicle window driving motor;
acquiring a pulse width period of a ripple wave based on the current data;
determining an actual rotational speed difference of the window drive motor based on the pulse width period of the ripple and according to the method of the first aspect;
and comparing the actual rotating speed difference value with the motor rotating speed differential threshold value, and generating an anti-pinch control instruction when the actual rotating speed difference value is greater than the motor rotating speed differential threshold value.
In one embodiment, determining the actual rotational speed difference of the window driving motor based on the pulse width period of the ripple comprises:
acquiring a pulse width cycle of a first ripple wave when a vehicle window driving motor is in steady-state operation;
acquiring a pulse width cycle of a second ripple when the anti-pinch force of the vehicle window driving motor reaches an anti-pinch force threshold;
the first rotational speed is determined based on the pulse width period of the first ripple and according to the method of the first aspect, and the second rotational speed is determined based on the pulse width period of the second ripple and according to the method of the first aspect, the actual rotational speed difference being the difference between the first rotational speed and the second rotational speed.
In one embodiment, the method further comprises:
presetting an anti-pinch force threshold value of a car window;
and acquiring voltage data of the window driving motor, and determining a motor rotating speed difference threshold according to the anti-clamping force threshold and the voltage data of the window driving motor.
In one embodiment, determining the motor speed differential threshold based on the anti-pinching force threshold and the voltage data of the window driving motor comprises:
when the vehicle window driving motor is in steady-state operation, acquiring a first voltage value;
when the anti-pinch force of the car window driving motor reaches the anti-pinch force threshold value, acquiring a second voltage value;
and acquiring a motor rotating speed difference threshold according to the first voltage value and the second voltage value.
In one embodiment, the motor speed differential threshold is K 1 ′(U R -U O )+K 2 ′F O R，
Wherein K 1 ' is a voltage influencing factor; k 2 ' is a torque-influencing factor, U R Is a first voltage value, U O Is a second voltage value, F O And R is the radius of the hoisting wheel for preventing the clamping force threshold value.
In one embodiment, determining the actual rotational speed difference of the window drive motor comprises:
and acquiring a judgment window value, and determining the difference value of the primary actual rotating speed when the number of ripples generated by the rotation of the vehicle window driving motor reaches the judgment window value.
In one embodiment, the judgment window value is determined according to preset anti-pinch force, elastic rigidity of anti-pinch force testing equipment and advance distance of the car window when the car window driving motor rotates and generates 1 ripple wave every time.
In a third aspect, the present invention provides a powered vehicle, including a memory, a controller and a computer program stored in the memory and operable on the controller, wherein the controller executes the computer program to implement the method for determining a rotational speed value of a motor according to the first aspect and the method for preventing window ripple from being clamped according to the second aspect.
In a fourth aspect, the present invention provides a readable storage medium, on which a computer program is stored, the program, when executed by a controller, implementing the motor speed value determination method according to the first aspect and the window ripple anti-pinch method according to the second aspect.
The embodiment of the application provides a motor rotating speed value determining method, door window ripple prevents pressing from both sides the method, power vehicle and storage medium, this scheme passes through the motor rotating speed value of ripple pulse width cycle mean value calculation and confirms the actual rotational speed difference, actual rotational speed difference compares with motor rotational speed difference threshold, when actual rotational speed difference is greater than motor rotational speed difference threshold, judge to prevent pressing from both sides and take place, in the calculating method of this rotational speed will predetermine the number and set up the integral multiple of the ripple number that the door window driving motor produced into round of turning, carry out the filtering to the pulse width cycle of ripple, thereby obtain comparatively stable actual rotational speed difference, reduce the oscillation of rotational speed difference, can reduce the mistake that factor influences such as road surface situation lead to and prevent pressing from both sides.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the detailed description of non-limiting embodiments made with reference to the following drawings:
FIG. 1 is a diagram of the relationship between the turning moment and the anti-pinching force in a vehicle window anti-pinching force computer;
fig. 2 is a schematic flow chart of a method for determining a rotational speed value of a motor according to an embodiment of the present disclosure;
fig. 3 is a pulse width cycle data graph of a vehicle window ripple provided by an embodiment of the present application;
FIG. 4 is a schematic flowchart of a method for preventing vehicle window ripples from being pinched according to an embodiment of the present disclosure;
fig. 5 is a schematic diagram illustrating a relationship between an actual rotation speed difference value and the number of different ripple pulse width periods provided in the embodiment of the present application;
FIG. 6 is a schematic structural diagram of a powered vehicle provided by an embodiment of the present application;
fig. 7 is a diagram of an equivalent control circuit of a window driving motor according to an embodiment of the present application.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.
In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present application and in the drawings described above, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described are capable of operation in sequences other than those illustrated or otherwise described herein.
Moreover, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or modules is not necessarily limited to those steps or modules explicitly listed, but may include other steps or modules not expressly listed or inherent to such process, method, article, or apparatus.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
The upward pushing force of the window glass of the electric vehicle in the lifting process is large, the strongest force can reach more than 50 kilograms, and the weakest force can also reach more than 15 kilograms. During the automatic lifting process of the window glass, if an obstacle, such as a hand or even a neck of a child, is encountered between the window glass and the frame, the window glass can be injured and even be life-threatening. Therefore, new national standards stipulate that vehicle models with automatic lifting window glass are put on the market and should be equipped with an anti-pinch function, so that when the glass touches an obstacle in the lifting process, the window glass can stop lifting and immediately reversely rotate to descend, and the risk of injury is reduced to the minimum. The anti-pinch system adopted at present mainly comprises a Hall anti-pinch system and a ripple anti-pinch system.
The technical principle that the ripple wave of the car window is prevented from being clamped is that the current of a motor is collected through a sampling resistor of a designed sampling circuit, the position of the car window and the clamping force are obtained through processing the collected current through algorithms such as filtering, and whether the clamping force reaches a set threshold value or not is judged to prevent clamping.
The calculation mechanism of the anti-pinch force of the car window is that an electrified direct current motor coil rotates in a permanent magnetic field to generate a rotating torque, the rotating torque and the anti-pinch force are in a direct proportion relation, as shown in figure 1, when the car window bears load change, the rotating torque changes, the current is directly increased and the rotating speed is directly reduced, and the anti-pinch force of the car window can be indirectly calculated through a relation curve of the rotating torque, the motor current and the rotating speed.
In the correlation technique, judge based on the electric current absolute value and prevent pressing from both sides, satisfy the motor current of gathering and be greater than the anti-pinch current threshold value of settlement, then judge to prevent pressing from both sides. However, the current of the car window motor is easily affected by factors such as motor voltage, ambient temperature, rubber strip aging and road surface conditions, and when the factors change, the set anti-pinch current threshold value may not be applicable, so that the anti-pinch force fluctuates greatly and even the anti-pinch is mistakenly generated.
Based on the defects, the application provides a motor rotating speed value determining method and a vehicle window ripple anti-pinch method, whether anti-pinch occurs or not is judged through the change of the motor rotating speed determined by the ripple pulse width period mean value, and the mistaken anti-pinch caused by the influence of factors such as the road surface condition can be greatly reduced.
Referring to fig. 2, a flow chart diagram of a motor speed value determination method suitable for the application is shown.
As shown in fig. 2, a method for determining a rotational speed value of a motor may include:
s210, acquiring a pulse width cycle of a ripple wave in real time;
s220, determining the average value of the pulse width periods of the ripples according to the pulse width periods of the ripples with preset number;
and S230, determining the rotating speed value of the motor according to the average value of the ripple pulse width cycles, wherein the preset number is an integral multiple of the number of ripples generated by the car window driving motor in one rotation.
Specifically, the ripple signal of the vehicle window driving motor is extracted in real time through a hardware filter, and is converted into a square wave, so that the pulse width period of the ripple is obtained, and as shown in fig. 3, the pulse width period data diagram of the vehicle window ripple is shown. And the hardware filter sends the obtained pulse width period of the ripple to the controller in real time, namely the pulse width period of the ripple can be obtained by the controller in real time.
The preset number m may be set according to actual requirements, for example, 1, 5, 8, and the like.
Selecting pulse width periods of m continuous ripples from pulse width periods of a plurality of ripples obtained in real time, wherein the pulse width period of the kth ripple is t k And k = 1-m, calculating the average value of the pulse width periods of m ripples to obtain the average value t of the pulse width periods of the ripples as follows:
and substituting the obtained average value t of the ripple pulse width period into a motor rotating speed formula to determine the motor rotating speed value.
The preset number m is an integral multiple of the number P of ripples generated by one rotation of the vehicle window driving motor. For example, when P =8, the preset number m may be selected to be 8, 16, 24, and the like. The ripple number m selected by the ripple pulse width period mean value calculation is the integral multiple of the ripple number P generated by the rotation of the car window driving motor by one circle, so that the oscillation of the actual rotating speed difference value can be reduced, and the error anti-pinch can be reduced to a great extent in anti-pinch control.
In this embodiment, the motor rotation speed value is obtained by filtering the pulse width period average value of the ripple. According to the periodic variation rule of the ripple pulse width generated by the rotation of the vehicle window driving motor, the motor rotating speed value is obtained through the pulse width period mean value filtering calculation of the ripple, and the motor rotating speed oscillation can be reduced.
Optionally, the method for determining the rotation speed value of the motor may further include:
acquiring the transmission ratio of a turbine and a worm of a motor;
according to
Determining a motor rotating speed value;
wherein n is the rotating speed value of the motor, i is the transmission ratio of the worm and the worm of the motor, P is the number of ripples generated by one turn of the window driving motor, m is the preset number, t k The pulse width period of the kth ripple.
Specifically, the transmission ratio i of the worm and the worm of the motor is a fixed performance parameter of the motor, and the controller can be directly obtained from the window driving motor. When the model of the window driving motor is determined, the number P of ripples generated by one rotation of the window driving motor is also a certain value, for example, P =6, 8, and the like, and the controller can also be directly obtained from the window driving motor.
Referring to fig. 4, a schematic flow chart of a vehicle window ripple anti-pinch method suitable for the application is shown. It is understood that the window may include a power window on a door of the vehicle, and if the vehicle has a sunroof, the window may also include a sunroof, but this is not a limitation. The window ripple anti-pinch method may be executed by a controller in a vehicle. The vehicle can be any vehicle including an automatic opening and closing window, such as a sedan,
As shown in fig. 4, the method for preventing vehicle window ripple from being clamped may include:
s410, collecting current data of the vehicle window driving motor;
s420, acquiring a pulse width period of a ripple wave based on the current data;
s430, determining an actual rotation speed difference value of the vehicle window driving motor based on the pulse width period of the ripple wave and according to the method of the embodiment;
s440, comparing the actual rotating speed difference value with the motor rotating speed difference threshold value, and generating an anti-pinch control instruction when the actual rotating speed difference value is larger than the motor rotating speed difference threshold value.
Specifically, when the window is controlled to be closed through a button in the automobile or when the automobile door is locked, the window is automatically closed or is controlled to be closed through electronic equipment (such as a mobile phone, a tablet personal computer and the like), a window closing instruction is sent to the controller.
After the controller receives a car window closing instruction, current data of the car window driving motor are collected, wherein ripple components exist in the current data, ripples are extracted through a hardware filter, and the pulse width period of the ripples is obtained.
The actual rotational speed difference value may be determined according to the motor rotational speed value determined in the above embodiment.
And when the actual rotating speed difference value is greater than the motor rotating speed difference threshold value, generating a corresponding anti-pinch control instruction to control the corresponding action of the car window driving motor so as to realize the anti-pinch of the car window. It will be appreciated that the window drive motor may be stopped for a first predetermined time (e.g., 100 milliseconds) and then reversed for a first predetermined time (e.g., 125 milliseconds) based on the anti-pinch control command, and then stopped and awaited for manual processing. Or the car window driving motor rotates reversely according to the anti-pinch control instruction to control the car window glass to be opened.
In this embodiment, the actual rotational speed difference value that the motor rotational speed value confirmed through ripple pulse width cycle mean value confirms compares with motor rotational speed difference threshold, when actual rotational speed difference value is greater than motor rotational speed difference threshold, judges to prevent pressing from both sides and takes place, can reduce the mistake that factors such as road surface situation influence leads to and prevent pressing from both sides.
Fig. 5 shows a diagram of the relationship between the actual speed difference and the number of the ripple pulse width periods. In fig. 5, the rotation speed value curve of the motor is obtained by calculating a single ripple pulse width period (i.e., m = 1), the number of ripples generated by one rotation of the window driving motor is P =8, and the rotation speed value of the motor periodically changes according to the rule of every 8 ripples, so that the ripple pulse width period generated by the rotation of the window driving motor is P =8 ripple pulse width periods. In the figure, the actual rotating speed difference curve is respectively used for calculating the motor rotating speed value by adopting 1 ripple pulse width period mean value to determine the actual rotating speed difference value, calculating the motor rotating speed value by adopting 5 ripple pulse width period mean value to determine the actual rotating speed difference value and calculating the motor rotating speed value by 8 ripple pulse width period mean value to determine the actual rotating speed difference value, when determining the motor rotating speed value by adopting 1 ripple pulse width period mean value to determine the motor rotating speed value and 5 ripple pulse width period mean value to determine the motor rotating speed value, the motor rotating speed difference value can generate very large oscillation, the anti-pinch error is easy to generate on the anti-pinch control, the actual rotating speed difference value is more stable when calculating the motor rotating speed value by adopting 8 ripple pulse width period mean value, and the anti-pinch error can be reduced on the anti-pinch control. Therefore, when the actual rotation speed difference value is adopted to carry out the ripple anti-pinch judgment, the rotation speed value of the motor is calculated by the ripple pulse width period mean value filtering method, when the number m of the ripples selected for the ripple pulse width period mean value calculation is an integral multiple of P, the oscillation of the actual rotation speed difference value can be reduced, the error anti-pinch can be reduced to a great extent in the anti-pinch control, and the robustness of the anti-pinch method is improved.
Optionally, determining the actual rotation speed difference of the window driving motor based on the pulse width period of the ripple includes:
acquiring a pulse width cycle of a first ripple wave when a vehicle window driving motor is in steady-state operation;
acquiring a pulse width cycle of a second ripple wave when the anti-pinch force of the vehicle window driving motor reaches an anti-pinch force threshold;
the first rotational speed is determined based on the pulse width period of the first ripple and according to the method of the above embodiment, and the second rotational speed is determined based on the pulse width period of the second ripple and according to the method of the above embodiment, the actual rotational speed difference being the difference between the first rotational speed and the second rotational speed.
Optionally, the vehicle window ripple anti-pinch method may further include:
presetting an anti-pinch threshold value of a car window;
and acquiring voltage data of the window driving motor, and determining a motor rotating speed difference threshold according to the anti-clamping force threshold and the voltage data of the window driving motor.
Optionally, determining a motor speed difference threshold according to the anti-clamping force threshold and the voltage data of the window driving motor may include:
when the vehicle window driving motor is in steady-state operation, acquiring a first voltage value;
when the anti-pinch force of the car window driving motor reaches the anti-pinch force threshold value, a second voltage value is obtained
And acquiring a motor rotating speed difference threshold according to the first voltage value and the second voltage value.
Optionally, the motor speed difference threshold is K 1 ′(U R -U O )+K 2 ′F O R，
Wherein K 1 ' is a voltage influencing factor; k 2 ' is a torque-influencing factor, U R Is a first voltage value, U O Is a second voltage value, F O And R is the radius of the hoisting wheel for preventing the clamping force threshold value.
Wherein, K T Is the mechanical linear induction constant of the magnetic circuit, B is the magnetic field intensity generated by the permanent magnet, R a Is the equivalent internal resistance of the loop, K e Is the linear induction constant of the magnetic circuit. The parameter is derived from the equivalent control circuit of the window driving motor in fig. 7, as shown in fig. 7, the equivalent control circuit of the window driving motor is composed of three parts, namely an inductor, a resistor and a motor armature, wherein the resistor is a steady-state part, and the inductor and the armature are transient parts.
In one embodiment, determining the actual rotational speed difference of the window drive motor may include:
and acquiring a judgment window value, and determining the difference value of the primary actual rotating speed when the number of ripples generated by the rotation of the vehicle window driving motor reaches the judgment window value.
Specifically, the judgment window value N is used for representing and determining the frequency of the actual rotation speed difference, that is, when the window driving motor rotates to generate N ripples, the actual rotation speed difference is determined once, that is, the anti-pinch judgment of the window ripples is performed once.
Optionally, the judgment window value can be determined according to preset anti-pinch force, elastic rigidity of anti-pinch force testing equipment and advance distance of the car window when the car window driving motor rotates and generates 1 ripple wave.
It will be appreciated that the decision window value N may be a quotient of the predetermined anti-pinching force F divided by the product of the elastic stiffness k of the anti-pinching force measuring device multiplied by the window advancing distance L for every 1 ripple generated during the rotation of the window drive motor, i.e. the decision window value N may be a quotient of the predetermined anti-pinching force F and the elastic stiffness k of the anti-pinching force measuring device multiplied by the value of the window advancing distance L for every 1 ripple generated during the rotation of the window drive motor
N＝F/(k*L)
The new national standard provides that the anti-pinch force is less than 10 kilograms (equivalent to 98 newtons (N)), and the preset anti-pinch force F is within the range specified by the national standard and can be set according to actual requirements, for example, F =80N.
The clamping-proof force testing device for the automobile windows (including the power windows and/or the skylights) is used for testing the clamping force of the power windows and/or the skylights when the power windows and/or the skylights are closed under rated elastic force and displacement. The elastic rigidity k of each anti-pinch force testing device has different specifications and can be set according to actual requirements, for example, k =10N/mm.
The distance that different window drive motors rotate 1 ripple window advance is not necessarily the same, and the value controller can derive from the window drive motor, for example, L =0.2mm.
For example, if F =80n, k =10n/mm, and L =0.2mm, then N = 80/(10 × 0.2) =40, that is, an actual rotational speed difference is determined every time 40 ripples are generated during the rotation of the window driving motor, that is, an anti-pinch determination is made.
According to the above, the rotation speed value of the window motor is obtained by calculating the ripple pulse width period collected by the hardware controller, and it can be known from fig. 3 that the rotation speed value of the window motor is periodically oscillated every P =8 ripples, so that if the ripple number value of the average value of the ripple pulse width period is calculated, the actual rotation speed difference value of the anti-pinch judgment can be caused to generate large oscillation.
With continued reference to fig. 3, when 1 ripple pulse width cycle is selected to calculate the actual rotation speed difference, 40 motor rotation speed values { n } are calculated for each window anti-pinch decision window 1 ,n 2 ,n 3 ,…,n 40 Using the 1 st motor speed value n 1 (i.e. first speed) minus the 40 th motor speed value n 40 (namely the second rotating speed) obtaining an actual rotating speed difference value, wherein the maximum value of the actual rotating speed difference value reaches 10RPM; when 5 ripple pulse width periods are selected to calculate the actual rotating speed difference value, each window anti-pinch judgment window calculates 40/5=8 motor rotating speed values { n } 1 ,n 2 ,n 3 ,n 4 ,n 5 ,n 6 ,n 7 ,n 8 Using the 1 st motor speed value n 1 (i.e., the first speed) minus the 8 th motor speed value n 8 (i.e., the second rotation speed) to obtain the actual rotation speed difference valueThe maximum value of the actual rotating speed difference reaches 5RPM; when 8 ripple pulse width periods are selected to calculate the actual rotating speed difference, each window anti-pinch judgment window calculates 40/8=5 motor rotating speed values { n } 1 ,n 2 ,n 3 ,n 4 ,n 5 Using the 1 st motor speed value n 1 (i.e., the first speed) minus the 5 th motor speed value n 5 (i.e., the second speed) the actual speed difference is obtained, at which point the maximum value of the actual speed difference reaches 2RPM. Therefore, when the vehicle window is judged to be prevented from being clamped based on the change of the motor rotating speed (namely the actual rotating speed difference), the oscillation of the actual rotating speed difference can be reduced when the number of ripples (the preset number) selected by the ripple pulse width period mean value calculation for calculating the motor rotating speed value is the integral multiple of P =8, the stability of the anti-clamping control method is improved, and the probability of mistaken anti-clamping is reduced.
By adopting the vehicle window ripple anti-pinch method provided by the embodiment of the application, vehicle window rising data of different motor voltages (9V, 14V and 16V), ambient temperatures (-35 ℃, 23 ℃ and 85 ℃) and road surface conditions (washboard road, cobblestone road, expressway, twisted road, fish scale road, long slope road and brick road) are collected and analyzed, and the data result shows that the motor rotating speed filtering method in the vehicle window ripple anti-pinch method can effectively reduce motor rotating speed value oscillation under different motor voltages, ambient temperatures and road surface working conditions, so that the stability of the anti-pinch method is improved, and the probability of mistaken anti-pinch is reduced.
Fig. 6 is a schematic structural diagram of a powered vehicle according to an embodiment of the present invention. As shown in fig. 6, a schematic structural diagram of a powered vehicle 600 suitable for implementing an embodiment of the present application is shown.
As shown in fig. 6, the power vehicle 600 includes a Central Processing Unit (CPU) 601 that can execute various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM) 602 or a program loaded from a storage section 608 into a Random Access Memory (RAM) 603. In the RAM 603, various programs and data necessary for the operation of the apparatus 600 are also stored. The CPU 601, ROM 602, and RAM 603 are connected to each other via a bus 604. An input/output (I/O) interface 605 is also connected to bus 604.
The following components are connected to the I/O interface 605: an input portion 606 including a keyboard, a mouse, and the like; an output portion 607 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage section 608 including a hard disk and the like; and a communication section 609 including a network interface card such as a LAN card, a modem, or the like. The communication section 609 performs communication processing via a network such as the internet. The driver 610 is also connected to the I/O interface 605 as needed. A removable medium 611 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 610 as necessary, so that the computer program read out therefrom is mounted in the storage section 608 as necessary.
In particular, the process described above with reference to fig. 1 may be implemented as a computer software program, according to an embodiment of the present disclosure. For example, embodiments of the present disclosure include a computer program product comprising a computer program tangibly embodied on a machine-readable medium, the computer program comprising program code for performing the above-described motor speed value determination method and window ripple anti-pinch method. In such an embodiment, the computer program may be downloaded and installed from a network through the communication section 609 and/or installed from the removable medium 611.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units or modules described in the embodiments of the present application may be implemented by software or hardware. The described units or modules may also be provided in the controller. The names of these units or modules do not in some cases constitute a limitation on the units or modules themselves.
As another aspect, the present application also provides a storage medium, which may be the storage medium contained in the foregoing device in the above embodiment; or may be a storage medium that exists separately and is not assembled into the device. The storage medium stores one or more programs that are used by one or more controllers to implement the motor speed value determination methods and window ripple anti-pinch methods described herein.
The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by a person skilled in the art that the scope of the invention according to the present application is not limited to the specific combination of the above-mentioned features, but also covers other embodiments where any combination of the above-mentioned features or their equivalents is made without departing from the inventive concept. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.
Claims (11)
1. A method of determining a speed value of a motor, the method comprising:
acquiring the pulse width period of the ripple waves in real time;
determining the average value of the ripple pulse width periods according to the preset number of the ripple pulse width periods;
and determining the rotating speed value of the motor according to the average value of the ripple pulse width cycles, wherein the preset number is an integral multiple of the number of ripples generated by one rotation of the vehicle window driving motor.
2. The method of claim 1, further comprising:
acquiring the transmission ratio of a turbine and a worm of a motor;
according to
Determining the motor rotating speed value;
wherein n is the rotating speed value of the motor, i is the transmission ratio of the worm and gear of the motor, P is the number of ripples generated by one circle of the window driving motor, m is a preset number, t k The pulse width period of the kth ripple.
3. A ripple wave anti-pinch method for a vehicle window is applied to a vehicle, the vehicle comprises a window driving motor, and the method comprises the following steps:
collecting current data of the vehicle window driving motor;
acquiring a pulse width period of a ripple based on the current data;
determining an actual difference in rotational speed of a window drive motor based on a pulse width period of the ripple and according to the method of any of claims 1-2;
and comparing the actual rotating speed difference value with a motor rotating speed differential threshold value, and generating an anti-pinch control instruction when the actual rotating speed difference value is greater than the motor rotating speed differential threshold value.
4. The vehicle window ripple anti-pinch method according to claim 3, wherein determining an actual rotational speed difference of a window drive motor based on a pulse width period of the ripple comprises:
acquiring a pulse width cycle of a first ripple wave when the vehicle window driving motor is in steady-state operation;
acquiring a pulse width cycle of a second ripple when the anti-pinch force of the vehicle window driving motor reaches the anti-pinch force threshold;
determining a first rotational speed based on a pulse width period of the first ripple and according to the method of any of claims 1-2, and determining a second rotational speed based on a pulse width period of the second ripple and according to the method of any of claims 1-2, the actual rotational speed difference being the difference between the first rotational speed and the second rotational speed.
5. The vehicle window ripple anti-pinch method of claim 3, further comprising:
presetting an anti-pinch threshold value of a car window;
and acquiring voltage data of the vehicle window driving motor, and determining the motor rotating speed difference threshold according to the anti-clamping force threshold and the voltage data of the vehicle window driving motor.
6. The vehicle window ripple anti-pinch method according to claim 5, wherein determining the motor speed differential threshold according to the anti-pinch force threshold and the voltage data of the vehicle window driving motor comprises:
when the vehicle window driving motor is in steady-state operation, acquiring a first voltage value;
when the anti-pinch force of the car window driving motor reaches the anti-pinch force threshold value, acquiring a second voltage value;
and acquiring a motor rotating speed differential threshold according to the first voltage value and the second voltage value.
7. The vehicle window ripple anti-pinch method according to claim 6, wherein the motor speed differential threshold is K' 1 (U R -U O )+K 2 ′F O R，
Wherein K' 1 Is a voltage influencing factor; k 2 ' is a torque-influencing factor, U R Is a first voltage value, U O Is a second voltage value, F O And R is the radius of the hoisting wheel for preventing the clamping force threshold value.
8. The method of any of claims 3 to 7, wherein determining the difference in actual rotational speed of the window drive motor comprises:
and acquiring a judgment window value, and determining the actual rotation speed difference value once when the number of ripples generated by the rotation of the vehicle window driving motor reaches the judgment window value.
9. The method of claim 8, wherein the decision window value is determined based on a predetermined anti-pinching force, an anti-pinching force test device spring rate, and a window advance distance for every 1 ripple generated by the window drive motor rotation.
10. A powered vehicle comprising a memory, a controller and a computer program stored on the memory and executable on the controller, wherein the controller executes the program to implement the method for determining a rotational speed value of a motor as claimed in any one of claims 1 to 2 and the method for preventing window ripple from being pinched as claimed in any one of claims 3 to 9.
11. A readable storage medium, on which a computer program is stored, which, when being executed by a controller, implements the motor speed value determination method according to any one of claims 1 to 2 and the window ripple anti-pinch method according to any one of claims 3 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110728866.4A CN115538879A (en) | 2021-06-29 | 2021-06-29 | Motor rotating speed value determining method, car window ripple wave anti-clamping method, vehicle and medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110728866.4A CN115538879A (en) | 2021-06-29 | 2021-06-29 | Motor rotating speed value determining method, car window ripple wave anti-clamping method, vehicle and medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115538879A true CN115538879A (en) | 2022-12-30 |
Family
ID=84705649
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110728866.4A Pending CN115538879A (en) | 2021-06-29 | 2021-06-29 | Motor rotating speed value determining method, car window ripple wave anti-clamping method, vehicle and medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115538879A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115929144A (en) * | 2023-01-03 | 2023-04-07 | 重庆长安汽车股份有限公司 | Anti-pinch control method, device, equipment and storage medium |
| CN115929144B (en) * | 2023-01-03 | 2024-05-24 | 重庆长安汽车股份有限公司 | Anti-pinch control method, device, equipment and storage medium |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20100063169A (en) * | 2008-12-03 | 2010-06-11 | 영화테크(주) | Window control device of automotive vehicles |
| CN202899882U (en) * | 2012-11-23 | 2013-04-24 | 同济大学 | Car window anti-pinch controller |
| CN107063712A (en) * | 2017-04-21 | 2017-08-18 | 上海实业交通电器有限公司 | A kind of car door window glass lifting device Performance Evaluation equipment and its operating method |
| CN108412363A (en) * | 2018-01-31 | 2018-08-17 | 东方久乐汽车电子（上海）股份有限公司 | A kind of vehicle window speed regulating method and its vehicle window alignment circuit based on current of electric ripple |
| CN111098808A (en) * | 2019-12-12 | 2020-05-05 | 北京经纬恒润科技有限公司 | Method and system for controlling vehicle body closed part based on direct current motor ripple |
| CN112227863A (en) * | 2020-09-25 | 2021-01-15 | 杭州电子科技大学 | Low-cost car window anti-pinch control system and method |
| CN112415920A (en) * | 2019-08-22 | 2021-02-26 | 上海科德汽车部件有限公司 | Vehicle electric skylight control method and system, vehicle and storage medium |
-
2021
- 2021-06-29 CN CN202110728866.4A patent/CN115538879A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20100063169A (en) * | 2008-12-03 | 2010-06-11 | 영화테크(주) | Window control device of automotive vehicles |
| CN202899882U (en) * | 2012-11-23 | 2013-04-24 | 同济大学 | Car window anti-pinch controller |
| CN107063712A (en) * | 2017-04-21 | 2017-08-18 | 上海实业交通电器有限公司 | A kind of car door window glass lifting device Performance Evaluation equipment and its operating method |
| CN108412363A (en) * | 2018-01-31 | 2018-08-17 | 东方久乐汽车电子（上海）股份有限公司 | A kind of vehicle window speed regulating method and its vehicle window alignment circuit based on current of electric ripple |
| CN112415920A (en) * | 2019-08-22 | 2021-02-26 | 上海科德汽车部件有限公司 | Vehicle electric skylight control method and system, vehicle and storage medium |
| CN111098808A (en) * | 2019-12-12 | 2020-05-05 | 北京经纬恒润科技有限公司 | Method and system for controlling vehicle body closed part based on direct current motor ripple |
| CN112227863A (en) * | 2020-09-25 | 2021-01-15 | 杭州电子科技大学 | Low-cost car window anti-pinch control system and method |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115929144A (en) * | 2023-01-03 | 2023-04-07 | 重庆长安汽车股份有限公司 | Anti-pinch control method, device, equipment and storage medium |
| CN115929144B (en) * | 2023-01-03 | 2024-05-24 | 重庆长安汽车股份有限公司 | Anti-pinch control method, device, equipment and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP3555180B2 (en) | Anti-trapping device in automatic window opening / closing mechanism | |
| EP2109211B1 (en) | System and method for determining position or speed of a commutaded DC motor with error correction | |
| JP4370609B2 (en) | Drive apparatus and method for adjusting vehicle parts | |
| CN102312634B (en) | Anti-pinching control method and control system for automotive electric window | |
| US8704476B2 (en) | Method and device for detecting an entrapment situation | |
| CN103696649A (en) | Anti-pinch protection device and method for electric vehicle window | |
| JP4352446B2 (en) | Drive apparatus and method for adjusting vehicle parts | |
| EP4001569A1 (en) | Pinch detection based on motor current increase | |
| US20190390500A1 (en) | Anti-pinch method for an apparatus for automatic movement of sliding windows in a motor vehicle, in particular a power-window apparatus, and corresponding device | |
| US20080119995A1 (en) | Control Apparatus And Method For Controlling An Adjusting Device In A Motor Vehicle | |
| Xu et al. | Electric window regulator based on intelligent control | |
| CN111409572B (en) | Control method and device for vehicle body closing system | |
| DE102009028914A1 (en) | Method for recognizing trapping case of closing device, involves determining variable of state, which indicates force for movement of closing element in closing direction | |
| CN115538879A (en) | Motor rotating speed value determining method, car window ripple wave anti-clamping method, vehicle and medium | |
| CN111706199B (en) | Vehicle window position judging method and device, vehicle, equipment and medium | |
| JP4063094B2 (en) | Opening and closing body pinching detection device | |
| WO2021004188A1 (en) | Anti-pinch detection method and system | |
| DE10149578B4 (en) | Device and method for monitoring an adjustment of a motor vehicle, in particular a window regulator | |
| JPH06327279A (en) | Electrically driven device | |
| CN114626421A (en) | Vehicle window anti-pinch self-learning method, device, equipment and storage medium | |
| JPS63165682A (en) | Switchgear for window glass | |
| CN115110866B (en) | Anti-pinch control method, system, equipment and storage medium for vehicle | |
| JP3480082B2 (en) | Window opening and closing control device | |
| CN114179665B (en) | Charging gun electronic lock control method, device, equipment and computer storage medium | |
| CN205663344U (en) | Automobile -usedly prevent pressing from both sides controller based on two hall sensor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |