CN116176373B - Method for adjusting position and posture of vehicle seat and seat adjusting mechanism - Google Patents

Method for adjusting position and posture of vehicle seat and seat adjusting mechanism Download PDF

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Publication number
CN116176373B
CN116176373B CN202211694956.7A CN202211694956A CN116176373B CN 116176373 B CN116176373 B CN 116176373B CN 202211694956 A CN202211694956 A CN 202211694956A CN 116176373 B CN116176373 B CN 116176373B
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pose
seat back
seat
control
time
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CN116176373A (en
Inventor
贾智琪
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Jiangsu Hanrun Automobile Electronics Co ltd
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Jiangsu Hanrun Automobile Electronics Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
    • B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
    • B60N2/02—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles the seat or part thereof being movable, e.g. adjustable
    • B60N2/0224—Non-manual adjustments, e.g. with electrical operation
    • B60N2/0244—Non-manual adjustments, e.g. with electrical operation with logic circuits
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
    • B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
    • B60N2/02—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles the seat or part thereof being movable, e.g. adjustable
    • B60N2/22—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles the seat or part thereof being movable, e.g. adjustable the back-rest being adjustable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/037—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for occupant comfort, e.g. for automatic adjustment of appliances according to personal settings, e.g. seats, mirrors, steering wheel
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Transportation (AREA)
  • Seats For Vehicles (AREA)

Abstract

The application provides a method for adjusting the pose of a vehicle seat and a seat adjusting mechanism, wherein the method comprises the steps of calculating external moment according to the pose deviation of a seat back and preset environmental rigidity; combining a preset time-varying impedance control law, and calculating to obtain a pose correction amount by using the external moment and a preset expected moment; the time-varying impedance control law comprises a dynamics model of a four-bar mechanism and a time-varying dynamics system taking a seat backrest as a control object; the time-varying dynamics system has a time-varying stiffness and a time-varying impedance; the product of the time-varying rigidity and the pose correction amount is equal to the external moment; determining a control amount according to the pose correction amount and the expected pose; and adjusting the pose of the backrest according to the control quantity. The method and the device control the pose of the seat back by utilizing the time impedance control law that the product of the time-varying stiffness and the pose correction amount is equal to the external moment, so that the seat back presents the stiffness characteristic of the spring to the passenger during the running of the vehicle, and the comfort of the passenger during the running of the vehicle is improved.

Description

Method for adjusting position and posture of vehicle seat and seat adjusting mechanism
Technical Field
The invention relates to the technical field of vehicle seat adjustment, in particular to a vehicle seat pose adjustment method and a seat adjustment mechanism.
Background
Many current vehicles are equipped with an adjustable seat, the seat back of which can be retracted according to the needs of the occupant, thereby providing a more comfortable, safe driving space in the cabin.
The existing seat is generally adjusted in a manual operation and fixed mode, and dynamic and self-adaptive adjustment is difficult to achieve in the running process of the vehicle. The user comfort of the existing adjustable seats is low.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a vehicle seat pose adjusting method and a seat adjusting mechanism, so as to provide a scheme for downloading and caching GIS data in a specified small range according to user requirements.
The first aspect of the application provides a method for adjusting the pose of a vehicle seat, which is applied to a seat adjusting mechanism, wherein the seat adjusting mechanism comprises a four-bar mechanism, an adjusting motor and a controller; the four-bar mechanism comprises a seat backrest, a fixed seat base, a first connecting rod and a second connecting rod which are connected in sequence; the adjusting motor drives the first connecting rod according to the control of the controller so as to drive the seat back;
the method comprises the following steps:
acquiring the pose deviation of the backrest in real time; the position deviation of the seat back is the deviation between the actual position of the seat back and a preset expected position, and the actual position of the seat back is the angle of an included angle between the seat back and the seat base;
calculating external moment based on the pose deviation of the seat back and preset environmental rigidity; wherein the external torque is a torque generated when an occupant leans against the seat back;
combining a preset time-varying impedance control law, and calculating to obtain a pose correction amount by using the external moment and a preset expected moment; wherein the time-varying impedance control law has a time-varying stiffness and a time-varying impedance; the time-varying rigidity meets the condition that the product of the time-varying rigidity and the pose correction amount is equal to the external moment;
determining a control amount of the adjusting motor according to the pose correction amount and the expected pose;
and controlling the adjusting motor according to the control quantity so as to adjust the pose of the seat backrest.
Optionally, the acquiring the pose deviation of the seat back in real time includes:
acquiring the actual pose of the first connecting rod in real time; the actual pose of the first connecting rod is the angle of an included angle between the first connecting rod and the seat base;
calculating the actual pose of the seat back according to the actual pose of the first connecting rod and a preset kinematic model; wherein the kinematic model characterizes a correlation of the pose of the first link and the pose of the seat back;
and calculating the pose deviation of the seat back according to the actual pose of the seat back and a preset expected pose.
Optionally, the determining the control amount of the adjusting motor according to the pose correction amount and the desired pose includes:
calculating to obtain a target pose of the seat back according to the pose correction amount and the expected pose;
according to the target pose, a preset kinematic model is combined to calculate and obtain the control pose of the first connecting rod; wherein the kinematic model characterizes a correlation of the pose of the first link and the pose of the seat back;
and determining the control quantity of the regulating motor according to the control pose.
Optionally, the control quantity of the adjusting motor comprises a rotation angle, a rotation speed and a rotation acceleration of the adjusting motor;
the determining the control quantity of the adjusting motor according to the control pose comprises the following steps:
calculating the control pose according to the transmission ratio between the adjusting motor and the first connecting rod to obtain the rotation angle of the adjusting motor;
and determining the rotation speed and the rotation acceleration of the regulating motor according to the rotation angle of the regulating motor.
Optionally, the method further comprises:
and obtaining an adjustment instruction, and adjusting the expected pose and/or the expected moment according to the adjustment instruction.
A second aspect of the present application provides a seat adjustment mechanism comprising a four bar mechanism, an adjustment motor and a controller; the four-bar mechanism comprises a seat backrest, a fixed seat base, a first connecting rod and a second connecting rod which are connected in sequence; the adjusting motor drives the first connecting rod according to the control of the controller so as to drive the seat back;
the controller includes:
the acquisition unit is used for acquiring the pose deviation of the backrest in real time; the position deviation of the seat back is the deviation between the actual position of the seat back and a preset expected position, and the actual position of the seat back is the angle of an included angle between the seat back and the seat base;
the first calculation unit is used for calculating external moment based on the pose deviation of the backrest and preset environmental rigidity; wherein the external torque is a torque generated when an occupant leans against the seat back;
the second calculation unit is used for calculating the pose correction amount by utilizing the external moment and the preset expected moment in combination with a preset time-varying impedance control law; wherein the time-varying impedance control law has a time-varying stiffness and a time-varying impedance; the time-varying rigidity meets the condition that the product of the time-varying rigidity and the pose correction amount is equal to the external moment;
a determining unit configured to determine a control amount of the adjustment motor according to the pose correction amount and the desired pose;
and the control unit is used for controlling the adjusting motor according to the control quantity so as to adjust the pose of the seat backrest.
Optionally, the acquiring unit is specifically configured to, when acquiring the pose deviation of the seat back in real time:
acquiring the actual pose of the first connecting rod in real time; the actual pose of the first connecting rod is the angle of an included angle between the first connecting rod and the seat base;
calculating the actual pose of the seat back according to the actual pose of the first connecting rod and a preset kinematic model; wherein the kinematic model characterizes a correlation of the pose of the first link and the pose of the seat back;
and calculating the pose deviation of the seat back according to the actual pose of the seat back and a preset expected pose.
Optionally, when the determining unit determines the control amount of the adjusting motor according to the pose correction amount and the desired pose, the determining unit is specifically configured to:
calculating to obtain a target pose of the seat back according to the pose correction amount and the expected pose;
according to the target pose, a preset kinematic model is combined to calculate and obtain the control pose of the first connecting rod; wherein the kinematic model characterizes a correlation of the pose of the first link and the pose of the seat back;
and determining the control quantity of the regulating motor according to the control pose.
Optionally, the control quantity of the adjusting motor comprises a rotation angle, a rotation speed and a rotation acceleration of the adjusting motor;
the determining unit is specifically configured to, when determining the control amount of the adjusting motor according to the control pose:
calculating the control pose according to the transmission ratio between the adjusting motor and the first connecting rod to obtain the rotation angle of the adjusting motor;
and determining the rotation speed and the rotation acceleration of the regulating motor according to the rotation angle of the regulating motor.
Optionally, the controller further comprises an adjusting unit for:
and obtaining an adjustment instruction, and adjusting the expected pose and/or the expected moment according to the adjustment instruction.
The application provides a method for adjusting the pose of a vehicle seat and a seat adjusting mechanism, wherein the method comprises the steps of calculating external moment according to the pose deviation of a seat back and preset environmental rigidity; combining a preset time-varying impedance control law, and calculating to obtain a pose correction amount by using the external moment and a preset expected moment; the time-varying impedance control law comprises a dynamics model of a four-bar mechanism and a time-varying dynamics system taking a seat backrest as a control object; the time-varying dynamics system has a time-varying stiffness and a time-varying impedance; the product of the time-varying rigidity and the pose correction amount is equal to the external moment; determining a control amount according to the pose correction amount and the expected pose; and adjusting the pose of the backrest according to the control quantity. The method and the device control the pose of the seat back by utilizing the time impedance control law that the product of the time-varying stiffness and the pose correction amount is equal to the external moment, so that the seat back presents the stiffness characteristic of the spring to the passenger during the running of the vehicle, and the comfort of the passenger during the running of the vehicle is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural view of a seat adjusting mechanism according to an embodiment of the present disclosure;
fig. 2 is a flowchart of a method for adjusting a vehicle seat pose according to an embodiment of the present application;
FIG. 3 is a schematic diagram of control logic for adjusting the position and the posture of a vehicle seat according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a controller of a seat adjusting mechanism according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Fig. 1 is a schematic structural diagram of a seat adjusting mechanism according to an embodiment of the present application.
The seat adjusting mechanism comprises a seat back 101, a fixed seat base 102, a first connecting rod 103 and a second connecting rod 104, wherein the seat back 101, the fixed seat base 102, the first connecting rod 103 and the second connecting rod 104 are sequentially connected to form a four-bar mechanism, the seat back 101 and the seat base 102, the seat base 102 and the first connecting rod 103, the first connecting rod 103 and the second connecting rod 104 are connected in a rotating way, namely any two mutually connected components can rotate relatively.
The seat adjusting mechanism further comprises an adjusting motor 105 and a controller 106, wherein the controller 106 can be a control unit (MicrocontrollerUnit, MCU) or other modules which can control the adjusting motor according to a specific program.
The adjusting motor 105 is connected with the first connecting rod 103 through a transmission mechanism, the controller 106 is connected with the adjusting motor 105, and the controller can send a control instruction to the adjusting motor so as to control the adjusting motor 105 to rotate, the first connecting rod 103 is driven to rotate through the transmission mechanism when the adjusting motor 105 rotates, and the seat backrest is driven to rotate through the second connecting rod when the first connecting rod 103 rotates.
In summary, the controller 106 can adjust the pose of the seat back 101 by controlling the rotation of the adjustment motor 105.
The transmission mechanism between the adjusting motor 105 and the first link 103 may be a worm gear mechanism, or may be another mechanism capable of realizing a transmission function, and is not limited.
Taking a worm and gear mechanism as an example, the connection mode between the adjusting motor 105 and the first connecting rod 103 may be that an output shaft of the adjusting motor 105 is used as a worm wheel shaft, an axis at one end of the first connecting rod 103 connected with the seat base 102 is used as an extending shaft of a worm, the adjusting motor 105 drives a worm wheel to rotate when rotating, the worm wheel drives the worm engaged with the worm wheel to rotate, and the worm drives the first connecting rod 103 to rotate relative to the seat base 102 through the extending shaft, so that the adjusting motor 105 is driven to the first connecting rod 103.
In the present embodiment, the pose of the seat back 101 refers to the angle between the seat back and the seat base, and hereinafter the angle a refers to the angle between the seat back and the seat base, which is divided into an angle A1 and an angle A2 by the line between O1 and O2 in fig. 1, where O1 represents the connecting shaft connecting the seat back and the seat base, and O2 represents the connecting shaft connecting the first link and the second link.
The O1 axis is difficult to mount a sensor due to the mechanical structure of a common vehicle seat, so the pose of the seat back is detected in this embodiment in the following manner:
and a sensor is arranged at the joint of the first connecting rod and the seat base, the sensor is used for detecting the pose of the first connecting rod, and the pose of the seat back is calculated by combining the pose of the first connecting rod and a kinematic model of the four-bar mechanism. Wherein, the pose of the first link refers to the included angle between the first link and the seat base, i.e. the angle B in fig. 1.
The kinematic model in this embodiment is used to characterize the correlation of the pose of the first link and the pose of the seatback. The kinematic model may be derived as follows:
first, as can be seen from fig. 1, the quadrilateral outline enclosed by the four-bar mechanism is divided into two triangles by the connection line of O1 and O2, and according to the relationship between the corners and the edges in the triangles, the following formula (1) and formula (2) can be determined.
In the above formula (1) and formula (2), L 1 ，L 2 And L 3 The lengths of the first connecting rod, the second connecting rod and the seat back are sequentially represented, L 0 Indicating the distance between the junction of the seat back and the seat base and the junction of the first link and the seat back. W represents the linear distance between the O1 axis and the O2 axis, i.e., the length of the dashed line connecting the O1 axis and the O2 axis in FIG. 1.
As can be seen from fig. 1, in this four-bar mechanism, the pose of the seat back is equal to the sum of angles A1 and A2, and the change in W with the change in angle B, that is, W is a function of angle B, two functions about W are defined as shown in the following formulas (3) and (4).
Based on the combination of formulas (1) to (4), the relation (5) between the angular velocities A1 'and B of A1 and the relation (6) between the angular velocities A2' and B of A2 can be derived.
Obviously, if a is equal to the sum of A1 and A2, then the angular velocity a ' of a is also equal to the sum of the angular velocities A1' and A2', and therefore, by adding (5) and (6), the following relational expression (7) between the angular velocity a ' (corresponding to the change speed of the posture of the seatback) and the angular velocity B ' (corresponding to the change speed of the posture of the first link) of B can be obtained.
The relationship between W and angle B can be expressed by the following formula (8).
The mathematical model formed by the formulas (1) to (8) is a kinematic model of the four-bar mechanism to which the seat back belongs in the embodiment, and the change speed of the seat back pose is calculated by using the kinematic model and detecting the pose (namely the angle of B) of the first connecting bar through the sensor and then calculating the pose of the seat back at the moment, namely the angle of a, and also detecting the change speed of the pose of the first connecting bar through the sensor. As an example, after the pose of the first link is detected, the pose of the seat back can be obtained by substituting the pose into the formula (8) to calculate the value of W, substituting W into the formulas (1) and (2) to calculate the angles of A1 and A2, and adding A1 and A2.
The method for detecting the position and the posture of the seat back has the advantages that the sensor can be directly arranged on a common vehicle seat without greatly changing the original mechanical structure of the vehicle seat, so that the cost of applying the method of the embodiment to the existing vehicle can be reduced.
According to the seat adjusting mechanism shown in fig. 1, an embodiment of the present application provides a method for adjusting a seat pose of a vehicle, and referring to fig. 2, a flowchart of the method may include the following steps.
The steps in this embodiment may be specifically performed by the controller shown in fig. 1.
S201, the pose deviation of the backrest is obtained in real time.
The position deviation of the seat back is the deviation between the actual position of the seat back and a preset expected position, and the actual position of the seat back is the angle of an included angle between the seat back and the seat base.
Optionally, acquiring the pose deviation of the seat back in real time includes:
s11, acquiring the actual pose of the first connecting rod in real time; the actual pose of the first connecting rod is the angle of an included angle between the first connecting rod and the seat base;
s12, calculating to obtain the actual pose of the seat back according to the actual pose of the first connecting rod and a preset kinematic model; wherein the kinematic model characterizes the correlation of the pose of the first link and the pose of the seat back;
s13, calculating to obtain the pose deviation of the seat back according to the actual pose of the seat back and the preset expected pose.
In step S11, the actual pose of the first link refers to the angle of the angle B in fig. 1, and as described above, an angle sensor may be installed at the connection between the first link and the seat base, and the actual pose of the first link may be detected in real time by the sensor.
In step S12, the kinematic model is the formulas (1) to (8), and the specific calculation process can be referred to the foregoing and will not be repeated.
In step S13, the desired pose is the position of the vehicle before the vehicle starts to runThe user-set value, in this embodiment, the desired pose is denoted as A d 。
The desired position may be set by rotating a seat adjustment handle provided on one side of the seat (or other positions, not limited thereto) when the occupant sits on the seat, adjusting the seat back to tilt forward or backward to a specific position, and after the occupant has adjusted, detecting the position of the seat back at this time in the manner of step S11, and determining the detected result as the desired position.
Another way to set the desired pose may be for the occupant to input a desired angle of the seatback through a control panel of the vehicle, and the occupant-input angle may be referred to as the desired pose.
The position deviation of the backrest of the chair is marked as A e The calculation formula of the pose deviation is shown in the following formula (9).
A e ＝A d -A (9)
S202, calculating external moment based on the pose deviation of the seat back and preset environmental rigidity.
The external moment is the moment generated by the passenger leaning against the backrest.
The environmental stiffness is a preset parameter. In the present embodiment, the environmental rigidity may be set according to the physical condition of the occupant, which may include age, sex, height, weight, and the like, that is, the environmental rigidity may be set according to at least one of age, sex, height, and weight of the occupant.
As an example, the controller is preconfigured with the environmental rigidities corresponding to the passengers of different ages, in practical application, the passenger can input own ages, and then the controller matches the corresponding environmental rigidities according to the ages.
In addition to the above manner, the environmental rigidity may be set according to other physical conditions, and the specific setting basis of the environmental rigidity in this embodiment is not limited.
In the present embodiment, the external torque T e The external torque can be calculated according to the following formula (10).
K e ×A e ＝T e (10)
K in equation (10) e The aforementioned environmental stiffness.
In the present embodiment, the external torque T e It can be regarded as a moment acting on the seat back during running of the vehicle, which is affected by acceleration, deceleration or pitching of the vehicle.
S203, calculating the pose correction amount by using the external moment and the preset expected moment by combining the preset time-varying impedance control law.
Wherein the time-varying impedance control law has a time-varying stiffness and a time-varying impedance; the time-varying rigidity satisfies the condition that the product of the time-varying rigidity and the position correction amount is equal to the external moment.
The following first describes the design process of the time-varying impedance control law of the present embodiment:
first, to simplify the calculation process, the following assumptions are made in connection with the actual situation:
the mass and moment of inertia of the first and second links in the four-bar mechanism are ignored assuming that the mass and moment of inertia of the seat back are substantially greater than the mass and moment of inertia of the first and second links. The moment of inertia of the seat back rotating around the O1 axis is denoted as M, the mass is denoted as M, the friction damping coefficient between any two components in the four-bar mechanism is denoted as C, the effective gravity moment of the seat back about the O1 axis is denoted as N (Beta), wherein Beta is the pitch angle of the vehicle seat during installation.
M, C and N (Beta) can be obtained by detecting the vehicle seat in advance when the vehicle leaves the factory, and the detection results can be stored in the controller.
Based on the above assumption, a kinetic model of the four-bar mechanism as shown in the formula (11) can be obtained.
MA”+CA’+NBeta＝T e +T d (11)
In the formula (11), A' represents the angular acceleration of the angle A, that is, the changing acceleration of the posture of the seat back, T d Representing the equivalent drive torque acting at the O1 axis.
T d Is a preset desired moment. The controller can set according to the adjustment instruction input by the passenger before the vehicle startsOr adjust the desired torque. In general, if the occupant desires the seat back to be stiff, i.e., not prone to tilting rearward when the seat back is reclined, a larger desired torque may be set, and if the occupant desires the seat back to be soft, i.e., more prone to tilting rearward when the seat back is reclined, a smaller desired torque may be set.
Further, taking the seat back in the four-bar mechanism as a subject, a time-varying dynamics system of the seat back expected in practical use can be given as shown in the following formula (12).
HA s ”+DtA s ’+KtA s ＝T e (12)
Equation (12) reflects the dynamics of the seat back when subjected to an external torque, i.e., the dynamics of the seat back when subjected to an occupant, where H is a preset desired inertia, D (t) is a time-varying impedance, K (t) is a time-varying stiffness, A s ”、A s ' and A s The acceleration of the position correction amount, the speed of the position correction amount, and the position correction amount are sequentially expressed.
The pose correction amount is the difference between the expected pose and the target pose, namely A s ＝A d -A t Target pose A t Refers to the desired position of the back rest of the seat adjusted by the method of the present embodiment.
It has been found that when the seat back exhibits a dynamic characteristic to the occupant that approximates the dynamic characteristic of the spring, the occupant comfort is high, and the dynamic characteristic of the spring is that the spring is subjected to an external force equal to the product between the stiffness and the deformation of the spring. By analogy with the springs and the seat backs, it can be seen that the stiffness of the springs corresponds to the time-varying stiffness of the seat backs in (12), the deformation of the springs corresponds to the correction of the positions of the seat backs in (12), and the external force exerted on the springs corresponds to the external force moment T in (12) e 。
In summary, in order to exhibit a dynamic characteristic close to that of a spring when the seat back is leaned against by an occupant during running, the dynamic system shown in the formula (12) should satisfy the condition shown in the following formula (13), that is, the condition that the product of the time-varying rigidity and the posture correction amount is equal to the external moment.
K(t)A s ＝T e →K(t)＝T e /A s ＝J T T d /A s (13)
In formula (13), J T Representing moment of inertia.
Combining equations (11) and (12) and using the target pose A t By substituting a of equation (11), a time-varying impedance control law as shown in equation (14) below can be obtained.
T d ＝MA d ”+CA d ”+N(Beta)-(H+M)A s ”-(D(t)+C)A s ’-K(t)A s (14)
A in formula (15) d "acceleration indicating desired pose, A d ' represents the speed of the desired pose, and since the desired pose is a preset constant, the values of both terms are 0.
In step S203, formula (13) is substituted into the time-varying impedance control law of formula (14), and into the desired torque T d And external moment T e The pose correction A can be obtained by solving s 。
S204, determining the control quantity of the adjusting motor according to the pose correction quantity and the expected pose.
Optionally, determining the control amount of the adjusting motor according to the pose correction amount and the desired pose includes:
s41, calculating to obtain the target pose of the seat back according to the pose correction amount and the expected pose;
s42, calculating a control pose of the first connecting rod according to the target pose and combining a preset kinematic model; wherein the kinematic model characterizes the correlation of the pose of the first link and the pose of the seat back;
s43, determining the control quantity of the adjusting motor according to the control pose.
In step S41, referring to the definition of the aforementioned pose correction amount, the target pose of the seatback may be obtained by subtracting the pose correction amount from the desired pose.
In step S42, the kinematic model shown in formulas (1) to (8) may be substituted according to the target pose of the seatback, thereby calculating the control pose of the first link. The meaning of the control position of the first link is understood to be the position that the first link should reach when the seatback reaches the target position.
Optionally, the control amount of the adjusting motor includes a rotation angle, a rotation speed and a rotation acceleration of the adjusting motor;
step S43, determining a control amount of the adjusting motor according to the control pose may include:
s431, calculating the control pose according to the transmission ratio between the adjusting motor and the first connecting rod to obtain the rotation angle of the adjusting motor;
s432, determining the rotation speed and the rotation acceleration of the adjusting motor according to the rotation angle of the adjusting motor.
The transmission ratio between the adjusting motor and the first link may be pre-calculated and stored in the controller according to design parameters of the transmission mechanism therebetween.
In step S431, the actual pose of the first link detected in step S201 may be subtracted from the control pose of the first link to obtain a pose deviation of the first link. The pose deviation of the first connecting rod can be understood as the angle through which the first connecting rod rotates from the current actual pose to the control pose.
And then calculating according to the pose deviation and the transmission ratio of the first connecting rod to obtain the rotation angle of the adjusting motor. The rotation angle of the adjusting motor can be understood as the angle required by the adjusting motor to rotate from the current actual pose to the control pose.
In S432, the rotation speed may be calculated according to a preset rotation time and rotation angle, and then the rotation acceleration may be calculated according to the rotation time and rotation speed, and the rotation time may be set according to the actual situation, for example, the rotation time is set to be 1 second only when the adjusting motor rotates each time, and then the rotation time is set to be 1 second.
S205, controlling an adjusting motor according to the control quantity, so as to adjust the pose of the backrest of the seat.
In some alternative embodiments, step S205 may take the form of closed loop adjustment, namely:
and (3) controlling the rotation of the regulating motor according to the rotation speed and the rotation acceleration, detecting the actual rotation angle of the regulating motor in real time in the rotation process, comparing the actual rotation angle with the rotation angle calculated in the step (S43), and updating the rotation speed and/or the rotation acceleration of the regulating motor in real time according to the difference of the actual rotation angle and the rotation angle calculated in the step (S43) until the actual rotation angle of the regulating motor is consistent with the rotation angle calculated in the step (S43).
Optionally, the method provided in this embodiment further includes:
and obtaining an adjustment instruction, and adjusting the expected pose and/or the expected moment according to the adjustment instruction.
Fig. 3 is a schematic control logic diagram of a method for adjusting a vehicle seat pose according to an embodiment of the present application.
As shown in fig. 3, after setting the desired pose, the actual pose of the first link may be detected, then the actual pose of the seat back may be calculated through a positive kinematic operation, and then the pose deviation of the seat back may be calculated from the actual pose and the desired pose of the seat back. This process corresponds to step S201 of fig. 2.
The positive kinematic motion refers to the operation process that the pose of the first connecting rod is known, and the pose of the first connecting rod is substituted into the kinematic model to calculate the corresponding pose of the seat back.
And after the pose deviation is obtained, calculating to obtain the external moment born by the seat back according to the pose deviation and the environmental rigidity. This process corresponds to step S202 of fig. 2.
And substituting the external moment and the expected moment into a time-varying impedance control law, and calculating to obtain the pose correction. This process corresponds to step S203 of fig. 2.
Then, according to the expected pose and the pose correction amount, calculating to obtain the target pose of the seat back, performing inverse kinematics operation on the target pose of the seat back to obtain the control pose of the first connecting rod, and according to the control pose of the first connecting rod, calculating to obtain the control amount of the adjusting motor. This process corresponds to step S204 of fig. 2.
The inverse kinematics operation refers to an operation process of knowing the pose of the backrest and substituting the pose of the backrest into a kinematics model to calculate the pose of the corresponding first connecting rod.
And controlling the adjusting motor according to the control quantity of the adjusting motor and in a closed-loop control mode, so as to adjust the pose of the seat back. This process corresponds to step S205 shown in fig. 2.
The application provides a method for adjusting the pose of a vehicle seat, which comprises the steps of calculating external moment according to the pose deviation of a seat back and preset environmental rigidity; combining a preset time-varying impedance control law, and calculating to obtain a pose correction amount by using the external moment and a preset expected moment; the time-varying impedance control law comprises a dynamics model of a four-bar mechanism and a time-varying dynamics system taking a seat backrest as a control object; the time-varying dynamics system has a time-varying stiffness and a time-varying impedance; the product of the time-varying rigidity and the pose correction amount is equal to the external moment; determining a control amount according to the pose correction amount and the expected pose; and adjusting the pose of the backrest according to the control quantity. The method and the device control the pose of the seat back by utilizing the time impedance control law that the product of the time-varying stiffness and the pose correction amount is equal to the external moment, so that the seat back presents the stiffness characteristic of the spring to the passenger during the running of the vehicle, and the comfort of the passenger during the running of the vehicle is improved.
Referring to fig. 4, a schematic structural diagram of a controller in a seat adjusting mechanism according to an embodiment of the present application is provided, where the controller may be a unit, and the following units may be regarded as computer program modules in the controller.
An acquisition unit 401 for acquiring the pose deviation of the seat back in real time; the position deviation of the seat back is the deviation between the actual position of the seat back and a preset expected position, and the actual position of the seat back is the angle of an included angle between the seat back and the seat base;
a first calculation unit 402, configured to calculate an external moment based on a pose deviation of a seat back and a preset environmental stiffness; wherein the external moment is a moment generated when an occupant leans against the backrest;
a second calculating unit 403, configured to calculate a pose correction amount by using the external torque and a preset desired torque in combination with a preset time-varying impedance control law; the time-varying impedance control law comprises a dynamics model of a four-bar mechanism and a time-varying dynamics system taking a seat backrest as a control object; the time-varying dynamics system has a time-varying stiffness and a time-varying impedance; the time-varying rigidity meets the condition that the product of the time-varying rigidity and the pose correction quantity is equal to the external moment;
a determining unit 404 for determining a control amount of the adjustment motor according to the pose correction amount and the desired pose;
and a control unit 405 for controlling the adjusting motor according to the control amount, thereby adjusting the pose of the seat back.
Optionally, when the acquiring unit 401 acquires the pose deviation of the seat back in real time, the acquiring unit is specifically configured to:
acquiring the actual pose of the first connecting rod in real time; the actual pose of the first connecting rod is the angle of an included angle between the first connecting rod and the seat base;
calculating to obtain the actual pose of the seat back according to the actual pose of the first connecting rod and a preset kinematic model; wherein the kinematic model characterizes the correlation of the pose of the first link and the pose of the seat back;
and calculating to obtain the pose deviation of the seat back according to the actual pose of the seat back and the preset expected pose.
Alternatively, when the determining unit 404 determines the control amount of the adjusting motor according to the pose correction amount and the desired pose, it is specifically configured to:
calculating to obtain the target pose of the seat back according to the pose correction amount and the expected pose;
according to the target pose, a preset kinematic model is combined to calculate and obtain the control pose of the first connecting rod; wherein the kinematic model characterizes the correlation of the pose of the first link and the pose of the seat back;
and determining the control quantity of the regulating motor according to the control pose.
Optionally, the control amount of the adjusting motor includes a rotation angle, a rotation speed and a rotation acceleration of the adjusting motor;
the determining unit 404 is specifically configured to, when determining the control amount of the adjustment motor according to the control pose:
calculating the control pose according to the transmission ratio between the adjusting motor and the first connecting rod to obtain the rotation angle of the adjusting motor;
and determining the rotation speed and the rotation acceleration of the regulating motor according to the rotation angle of the regulating motor.
Optionally, the controller further comprises an adjustment unit 406 for:
and obtaining an adjustment instruction, and adjusting the expected pose and/or the expected moment according to the adjustment instruction.
The working principle of the controller can be referred to the corresponding steps in the method for adjusting the pose of the vehicle seat provided in the foregoing embodiment, and will not be repeated.
Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
It should be noted that the terms "first," "second," and the like herein are merely used for distinguishing between different devices, modules, or units and not for limiting the order or interdependence of the functions performed by such devices, modules, or units.
Those skilled in the art can make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. The method for adjusting the position and the posture of the vehicle seat is characterized by being applied to a seat adjusting mechanism, wherein the seat adjusting mechanism comprises a four-bar mechanism, an adjusting motor and a controller; the four-bar mechanism comprises a seat backrest, a fixed seat base, a first connecting rod and a second connecting rod which are connected in sequence; the adjusting motor drives the first connecting rod according to the control of the controller so as to drive the seat back;
the method comprises the following steps:
acquiring the pose deviation of the backrest in real time; the position deviation of the seat back is the deviation between the actual position of the seat back and a preset expected position, and the actual position of the seat back is the angle of an included angle between the seat back and the seat base;
calculating external moment based on the pose deviation of the seat back and preset environmental rigidity; wherein the external torque is a torque generated when an occupant leans against the seat back; the environmental rigidity is determined according to at least one of age, sex, height and weight of the occupant;
combining a preset time-varying impedance control law, and calculating to obtain a pose correction amount by using the external moment and a preset expected moment; the time-varying impedance control law comprises a dynamics model of a four-bar mechanism and a time-varying dynamics system taking the seat backrest as a control object; the time-varying dynamics system has a time-varying stiffness and a time-varying impedance; the time-varying rigidity meets the condition that the product of the time-varying rigidity and the pose correction amount is equal to the external moment;
determining a control amount of the adjusting motor according to the pose correction amount and the expected pose;
and controlling the adjusting motor according to the control quantity so as to adjust the pose of the seat back.
2. The method of claim 1, wherein the acquiring the pose bias of the seat back in real time comprises:
acquiring the actual pose of the first connecting rod in real time; the actual pose of the first connecting rod is the angle of an included angle between the first connecting rod and the seat base;
calculating the actual pose of the seat back according to the actual pose of the first connecting rod and a preset kinematic model; wherein the kinematic model characterizes a correlation of the pose of the first link and the pose of the seat back;
and calculating the pose deviation of the seat back according to the actual pose of the seat back and a preset expected pose.
3. The method according to claim 1, wherein the determining the control amount of the adjustment motor according to the pose correction amount and the desired pose includes:
calculating to obtain a target pose of the seat back according to the pose correction amount and the expected pose;
according to the target pose, a preset kinematic model is combined to calculate and obtain the control pose of the first connecting rod; wherein the kinematic model characterizes a correlation of the pose of the first link and the pose of the seat back;
and determining the control quantity of the regulating motor according to the control pose.
4. A method according to claim 3, wherein the control amounts of the adjustment motor include a rotation angle, a rotation speed, and a rotation acceleration of the adjustment motor;
the determining the control quantity of the adjusting motor according to the control pose comprises the following steps:
calculating the control pose according to the transmission ratio between the adjusting motor and the first connecting rod to obtain the rotation angle of the adjusting motor;
and determining the rotation speed and the rotation acceleration of the regulating motor according to the rotation angle of the regulating motor.
5. The method as recited in claim 1, further comprising:
and obtaining an adjustment instruction, and adjusting the expected pose and/or the expected moment according to the adjustment instruction.
6. The seat adjusting mechanism is characterized by comprising a four-bar mechanism, an adjusting motor and a controller; the four-bar mechanism comprises a seat backrest, a fixed seat base, a first connecting rod and a second connecting rod which are connected in sequence; the adjusting motor drives the first connecting rod according to the control of the controller so as to drive the seat back;
the controller includes:
the acquisition unit is used for acquiring the pose deviation of the backrest in real time; the position deviation of the seat back is the deviation between the actual position of the seat back and a preset expected position, and the actual position of the seat back is the angle of an included angle between the seat back and the seat base;
the first calculation unit is used for calculating external moment based on the pose deviation of the backrest and preset environmental rigidity; wherein the external torque is a torque generated when an occupant leans against the seat back; the environmental rigidity is determined according to at least one of age, sex, height and weight of the occupant;
the second calculation unit is used for calculating the pose correction amount by utilizing the external moment and the preset expected moment in combination with a preset time-varying impedance control law; the time-varying impedance control law comprises a dynamics model of a four-bar mechanism and a time-varying dynamics system taking the seat backrest as a control object; the time-varying dynamics system has a time-varying stiffness and a time-varying impedance; the time-varying rigidity meets the condition that the product of the time-varying rigidity and the pose correction amount is equal to the external moment;
a determining unit configured to determine a control amount of the adjustment motor according to the pose correction amount and the desired pose;
and the control unit is used for controlling the adjusting motor according to the control quantity so as to adjust the pose of the seat backrest.
7. The mechanism of claim 6, wherein the acquisition unit is configured to, in real time, acquire the seat back pose deviation when:
acquiring the actual pose of the first connecting rod in real time; the actual pose of the first connecting rod is the angle of an included angle between the first connecting rod and the seat base;
calculating the actual pose of the seat back according to the actual pose of the first connecting rod and a preset kinematic model; wherein the kinematic model characterizes a correlation of the pose of the first link and the pose of the seat back;
and calculating the pose deviation of the seat back according to the actual pose of the seat back and a preset expected pose.
8. The mechanism according to claim 6, wherein the determining unit is configured, when determining the control amount of the adjustment motor based on the pose correction amount and the desired pose, to:
calculating to obtain a target pose of the seat back according to the pose correction amount and the expected pose;
according to the target pose, a preset kinematic model is combined to calculate and obtain the control pose of the first connecting rod; wherein the kinematic model characterizes a correlation of the pose of the first link and the pose of the seat back;
and determining the control quantity of the regulating motor according to the control pose.
9. The mechanism of claim 8, wherein the control amount of the adjustment motor includes a rotation angle, a rotation speed, and a rotation acceleration of the adjustment motor;
the determining unit is specifically configured to, when determining the control amount of the adjusting motor according to the control pose:
calculating the control pose according to the transmission ratio between the adjusting motor and the first connecting rod to obtain the rotation angle of the adjusting motor;
and determining the rotation speed and the rotation acceleration of the regulating motor according to the rotation angle of the regulating motor.
10. The mechanism of claim 6, wherein the controller further comprises an adjustment unit for:
and obtaining an adjustment instruction, and adjusting the expected pose and/or the expected moment according to the adjustment instruction.
CN202211694956.7A 2022-12-28 2022-12-28 Method for adjusting position and posture of vehicle seat and seat adjusting mechanism Active CN116176373B (en)

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