Automobile part full-angle hovering control method and system and automobile

Abstract

The invention belongs to the field of automobile electronic control, and provides an automobile part full-angle hovering control method and system and an automobile. The control method comprises the steps that the opening position of an automobile part is obtained, and the automobile part is an automobile door or an engine hood; determining a target motor torque of a support rod internal motor of a support rod group of the automobile part according to the opening position of the automobile part; wherein the supporting rod group comprises more than one supporting rod, and no damper is arranged in the supporting rod; calculating a target torque current of the motor in the stay bar based on the target motor torque; and according to the target torque current, a current loop closed-loop control mode is adopted to control the output torque of a motor in the supporting rod, so that hovering of the automobile part at the opening position of the automobile part is achieved. The invention further discloses an automobile part full-angle hovering control device, an automobile part control system and an automobile. According to the invention, rapid and accurate torque control of the motor in the stay bar is realized, and all-angle hovering of components under electronic control is realized.

Description

Technical Field

[0001] The present invention relates to the field of automobile electronic control, and in particular to a full-angle hovering control method for automobile components, a control system, and an automobile. Background Art

[0002] Components with electric functions, such as electric vehicle doors and powered hoods, are already being used in vehicles. These components improve user convenience by enabling smooth, continuous opening and closing movements via electric struts controlled by the component controller.

[0003] Related art uses for car back doors, scissor-type car side doors, internal damper-free and hood support rod structures such as Figure 2 As shown, the support rod includes an internal motor, a screw, a nut, a pre-compressed spring, etc., and the length of the support rod is adjusted by rotating the internal motor of the support rod to drive the nut to move. In the full-angle travel of the car tailgate, scissor-type car side door and hood, it is expected to use the elastic force and friction of the pre-compressed spring to match the load to achieve full-angle hovering and maintenance of the car tailgate, scissor-type car side door and hood. However, the electric support rod design without a damper cannot independently achieve the hovering and maintenance of the tailgate, scissor-type car side door and hood. In particular, when dealing with heavier tailgates, scissor-type car side doors and hoods, the tailgate, scissor-type car side door and hood will fall down because the gravity is greater than the elastic force and friction of the support rod. In the related art, a damper structure is added inside the electric support rod to improve the electric support rod's ability to maintain the full-angle hovering of the car tailgate, scissor-type car side door and hood. A support rod with a damper has appeared, but this increases the design complexity of the support rod and the cost.

[0004] In the related art, for the hovering control of non-scissor-type automobile side doors, fixed dampers, electromagnetic brakes and other brakes are often used to adjust the side door hovering, which is relatively costly. Summary of the Invention

[0005] The present application aims to at least solve the technical problems existing in the prior art and provide a method for controlling the full-angle hovering of automobile components, a control system and an automobile.

[0006] In a first aspect, the present application provides a method for full-angle hovering control of an automobile component, the method comprising: obtaining an opening position of the automobile component, wherein the automobile component is a car door or hood; determining a target motor torque of a motor inside a strut group of the automobile component according to the opening position of the automobile component; wherein the strut group includes more than one strut, and there is no damper inside the strut; calculating a target torque current of the motor inside the strut based on the target motor torque; and controlling the output torque of the motor inside the strut using a current loop closed-loop control method according to the target torque current, so as to achieve hovering of the automobile component at the opening position of the automobile component.

[0007] Preferably, the method further comprises: obtaining a corresponding relationship model, wherein the relationship model corresponds the opening position of the automobile part to the target motor torque of the strut inner motor; and inputting the opening position of the automobile part into the corresponding relationship model to obtain the target motor torque of the strut inner motor.

[0008] Preferably, the method further comprises: obtaining current automobile working conditions and / or part information, wherein the automobile working conditions comprise at least one of a slope, an ambient temperature, and a whole vehicle voltage, and the part information comprises an automobile part model and / or a strut inner motor model; filtering a relationship model matched with the current automobile working conditions and / or part information from a pre-constructed relationship model library, and taking the filtered relationship model as the corresponding relationship model.

[0009] Preferably, the relationship model is a mapping table. When the automobile part is a back door or a scissor-type side door or an engine cover, the mapping table comprises back door gravity torque and total strut spring torque corresponding to different automobile part opening positions. The method further comprises: querying the part gravity torque and the total strut spring torque corresponding to the automobile part opening position from the mapping table; subtracting the total strut spring torque from the queried part gravity torque to obtain a target strut motor torque, and obtaining the target motor torque of the strut inner motor according to the target strut motor torque. Alternatively, when the automobile part is a non-scissor-type side door, the mapping table comprises side door gravity torque corresponding to different automobile part opening positions. The method further comprises: querying the side door gravity torque corresponding to the automobile part opening position from the mapping table; taking the queried side door gravity torque as a target strut motor torque, and obtaining the target motor torque of the strut inner motor according to the target strut motor torque.

[0010] Preferably, the method further comprises: dividing the target motor torque by a proportional coefficient to obtain the target current of the strut inner motor.

[0011] Preferably, after controlling the output torque of the motor inside the strut by adopting a current loop closed-loop control method according to the target torque current, the method further includes: Get the actual speed of the motor inside the strut; Determine the required torque current for the component to hover based on the actual speed of the motor inside the strut and the target hovering speed; The reverse demand voltage is calculated based on the required torque current and the actual driving current of the motor inside the strut, and the motor operation is controlled according to the reverse demand voltage.

[0012] Preferably, the step of determining the required torque current for the component to hover based on the actual speed of the motor inside the strut and the hovering target speed includes: The speed deviation is obtained by subtracting the actual speed of the motor inside the strut from the hovering target speed; The speed deviation is input into the PI controller to obtain the required torque and current for the component to hover.

[0013] In a second aspect, the present application provides a full-angle hovering control device for an automobile component, which is used to implement the full-angle hovering control method for an automobile component described in the first aspect, comprising: An input unit for acquiring an opening position of an automobile component, wherein the automobile component is a door or a hood of the automobile; A first calculation unit determines a target motor torque of a motor inside a strut of a strut assembly of the automobile component according to an opening position of the automobile component, wherein the strut assembly includes more than one strut and no damper is inside the strut; a second calculation unit, calculating a target torque current of a motor inside the strut based on the target motor torque; The control unit controls the output torque of the motor inside the support rod by adopting a current loop closed-loop control method according to the target torque current, so as to achieve the hovering of the automobile component at the open position of the automobile component.

[0014] In a third aspect, the present application provides an automotive component control system, comprising: A support rod assembly for supporting the opening and closing of automobile parts, wherein the support rod assembly includes one or more support rods, each of which has no damper inside and an internal motor inside the support rod; A component position detection unit, used to obtain the opening position of the automobile component; A current detection unit is used to obtain the actual driving current of the motor inside the strut; The electric component electronic control unit is connected to the component position detection unit, the current detection unit and the driver of the motor inside the strut, and executes the steps of the full-angle hovering control method of the automobile component described in the first aspect.

[0015] In a fourth aspect, the present application provides a car, on which is provided an automobile component control system as described in the third aspect.

[0016] Beneficial technical effects of the present invention: 1. To address the problem that an internal damperless strut for a car tailgate or scissor-type car side door or hood cannot independently achieve component hovering and maintenance, the present application is based on the principle that when the car tailgate or scissor-type car side door or hood is hovering and balanced, the gravity torque of the component is equal to the sum of the total spring torque of the strut group and the target motor torque of the strut group, the target motor torque of the motor inside the strut is determined based on the current opening position of the car component, and then the target torque current of the motor inside the strut is obtained according to the proportional correspondence between the target motor torque of the motor inside the strut and the motor current. Finally, based on the target torque current, the output torque of the motor inside the strut is controlled by a current loop closed-loop control method. The output torque of the motor inside the strut provides an additional force to prevent the car tailgate or scissor-type car side door or hood from falling, and this force offsets part of the gravity of the car tailgate or scissor-type car side door or hood, thereby achieving full-angle hovering control of the car tailgate or scissor-type car side door or hood, reducing the complexity of the electric component system structure and reducing design costs; In order to maintain the hovering of non-scissor-type automobile side doors, the present application utilizes the output torque of the motor inside the strut of the non-scissor-type automobile side door strut to achieve this. The non-scissor-type automobile side door strut has no damper or compression spring inside. When the non-scissor-type automobile side door is hovering and balanced, the target motor torque of the motor inside the strut is determined based on the equation that the side door gravity torque is equal to the target motor torque of the strut group based on the current opening position of the automobile components, and then the target torque current of the motor inside the strut is obtained according to the proportional correspondence between the target motor torque of the motor inside the strut and the motor current. Finally, based on the target torque current, the output torque of the motor inside the strut is controlled by a current loop closed-loop control method. The output torque of the motor inside the strut provides an additional force to prevent the non-scissor-type automobile side door from being unable to maintain hovering due to gravity, and this force offsets part of the side door gravity, thereby achieving full-angle hovering control of the non-scissor-type automobile side door and reducing design costs. 2. This application uses a current loop closed-loop control method to control the output torque of the motor inside the strut according to the target torque current, thereby achieving precise control of the output force of the motor inside the strut. This prevents the output force of the motor inside the strut from being too large, causing the tailgate or scissor-type car side door or hood to move directly in the opening direction. It also prevents the output force of the motor inside the strut from being too small, causing the tailgate or scissor-type car side door or hood to still fall, thereby ensuring that the tailgate or scissor-type car side door or hood hovers. It also prevents the output force of the motor inside the strut from being too large or too small, causing non-scissor-type car side doors to be unable to hover and balance. 3. In the process of obtaining the corresponding relationship model, the present application selects the corresponding relationship model based on the current vehicle operating conditions and / or component information, which helps to obtain the target motor torque and target torque current that are consistent with the actual vehicle operating conditions, thereby improving the accuracy of hovering control; 4. After controlling the output torque of the motor inside the strut using a current loop closed-loop control method according to the target torque current, this application also includes fine-tuning the control voltage of the motor inside the strut according to the speed difference of the motor inside the strut, thereby achieving fast and accurate torque control and precise control of the component's full-angle hovering. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a flow chart of a method for controlling full-angle hovering of a vehicle door component in a preferred embodiment of the present invention; Figure 2 It is an exploded structural diagram of a support rod of a car back door, a scissor-type car side door or a hood in the related art; Figure 3 The present invention is a schematic structural diagram of a full-angle hovering control device for automobile parts in a preferred embodiment; Figure 4 This is a hardware structure diagram of a vehicle back door component control system in a preferred embodiment; Figure 5 The figure is a schematic diagram of a car in a preferred embodiment. DETAILED DESCRIPTION

[0018] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0019] In the description of the present invention, it should be understood that the terms "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0020] In the description of the present invention, unless otherwise specified and limited, it should be noted that the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a mechanical connection or an electrical connection, or it can be the internal communication between two components. It can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to the specific circumstances.

[0021] The present invention provides a method for controlling the full-angle hovering of an automotive component. This method is not limited to being executed by an onboard electronic device or embedded control unit capable of controlling the opening and closing of the automotive component and communicating with the control unit of the component's strut assembly, such as an existing automotive electronic control unit for an electric component (also known as a component control unit, such as a door control unit or hood control unit). The method can also be executed by a device (such as a remote server or remote control) that wirelessly communicates with an onboard control unit or the electric component's electronic control unit. In this case, the executing device forwards control commands to the motor within the strut assembly's struts via the onboard control unit or the electric component's electronic control unit.

[0022] In a preferred embodiment, Figure 1 As shown, the method includes: Step S1, obtaining the opening position of an automobile component, where the automobile component is a door or a hood of the automobile.

[0023] In this embodiment, the opening position of the automobile component is not limited to the opening angle of the automobile component, that is, the angle θ between the automobile component and the vertical plane, such as Figure 5 To simplify the test method, the length of the struts of the struts of the automobile component, which has a linear relationship with the opening angle of the automobile component, is generally used to represent the opening position of the automobile component.

[0024] For example, a Hall effect sensor installed in the motor inside the strut can be used to detect the strut length. Specifically, the strut length is calculated by using the Hall effect sensor to measure the number of rotations of the magnetic ring. As the motor's magnetic ring rotates with the rotor, the Hall effect sensor generates a pulse signal due to the change in magnetic poles. By counting the pulses, the number of motor rotations or angles can be determined. Combined with the transmission parameters of the motor and strut (such as the lead screw pitch and reduction ratio), the number of magnetic ring rotations can be converted into the linear extension and contraction length of the strut (e.g., extension is positive, contraction is negative). The strut length is then calculated by adding the linear extension and contraction length to the initial length of the strut (when the vehicle component is fully closed).

[0025] For example, the telescopic part of the support rod (such as Figure 2 2) Install a grating displacement sensor on the sliding sleeve in the middle, use the grating displacement sensor to obtain the linear extension and contraction length of the strut (such as extension is positive and contraction is negative), and add the linear extension and contraction length to the initial length of the strut to obtain the strut length.

[0026] Step S2, determining a target motor torque of a strut internal motor of a strut assembly of the automobile component according to an opening position of the automobile component; wherein the strut assembly includes more than one strut, there is no damper inside the strut, and an internal strut motor is provided inside the strut.

[0027] Generally speaking, an automobile component is equipped with one or two symmetrically arranged struts to form a strut set. For example, see Figure 5 The illustrated car tailgate has two symmetrically positioned struts on its left and right sides. For tailgates, scissor-style side doors, or hoods, the struts include: 1-sliding ball head, 2-sliding sleeve, 3-nut, 4-screw, 5-spring, 6-spring guide, 7-sealing ring, 8-bearing, 9-stop sleeve, 10-cushion, 11-motor inside the strut, 12-sealing rubber sleeve, 13-fixed joint, 14-fixed sleeve, 15-motor protective housing, 16-waterproof protective cover, 17-sleeve, and 18-connector. The motor 11 inside the strut rotates, driving screw 4. This rotation causes linear movement of the meshed nut 3, which in turn drives linear movement of the sliding sleeve 2, thereby achieving extension and retraction of the strut length. Spring 5 is a pre-compressed spring. When the strut is in its initial position (when the tailgate, scissor-style side door, or hood is fully closed), it is already compressed. It provides an elastic force that props the tailgate, scissor-style side door, or hood up, preventing it from falling. As the strut length increases, the upward force of spring 5 gradually decreases. For non-scissor-style side doors, the strut does not include a spring or spring guide.

[0028] In this embodiment, when the automobile component is a car back door or a scissor-type car side door or a hood, a test calibration is performed in advance, and multiple automobile component opening positions are set. When the automobile component actually moves to each automobile component opening position, the component gravity torque at this time is calculated. and the total spring moment of the strut group The following equation is obtained based on the equilibrium relationship of the component when it is hovering: in, Indicates the Auto parts opening position The weight moment of the components, i.e. the weight moment of the car back door or scissor-type car side door or hood; Indicates the Auto parts opening position The total spring moment of the strut group; Indicates the Auto parts opening position The target motor torque of the strut group is (representing the total target motor torque of the motor inside the strut group, that is, the total target torque required for hovering). For example, when the strut group includes one strut, the target motor torque of the motor inside the strut of the strut is (That is, the target torque required for hovering). Figure 5 As shown, when the strut group includes two left-right symmetrical struts, the target motor torque of the motor inside each strut is .

[0029] Transforming the above equation, we can obtain Auto parts opening position The total target motor torque of the motor inside the strut is , and the target motor torque of the motor inside each strut. According to the above test calibration method, the total spring torque of the strut group, the component gravity torque, the total target motor torque, and the target motor torque of the motor inside each strut are obtained for N vehicle component opening positions. A relationship model is established, and based on the relationship model, the target motor torque of the motor inside the strut of the strut group of the vehicle component is determined according to the vehicle component opening position. N is a positive integer. 1≤ ≤N.

[0030] In this embodiment, when the automobile component is a non-scissor-type automobile side door, a test calibration is performed in advance, and multiple automobile component opening positions are set. When the automobile component actually moves to each automobile component opening position, the component gravity torque at this time is calculated. The following equation is obtained based on the equilibrium relationship of the component when it is hovering: in, Indicates the Auto parts opening position The gravity moment of the components, that is, the gravity moment of the non-scissor-type car side door; Indicates the Auto parts opening position The target motor torque of the strut group is (representing the total target motor torque of the motor inside the strut group, that is, the total target torque required for hovering). For example, when the strut group includes one strut, the target motor torque of the motor inside the strut of the strut is (i.e. the required target torque for hovering).

[0031] According to the above equation, we can get Auto parts opening position The total target motor torque of the motor inside the strut is , and the target motor torque of the motor inside each strut. According to the above test calibration method, the component gravity torque, total target motor torque, and target motor torque of the motor inside each strut corresponding to the N vehicle component opening positions are obtained, a relationship model is established, and based on the relationship model, the target motor torque of the motor inside the strut of the vehicle component strut group is determined according to the vehicle component opening position. N is a positive integer. 1≤ ≤N.

[0032] Step S3: Calculate the target torque current of the motor inside the strut based on the target motor torque.

[0033] In this embodiment, the output torque of the motor inside the strut and the motor drive current are in proportional correspondence. Therefore, the proportional correspondence between the output torque of the motor inside the strut and the motor drive current can be pre-established based on the motor characteristic curve of the motor inside the strut, and the target torque current of the motor inside the strut can be determined based on the target motor torque according to the proportional correspondence. A suitable motor inside the strut can be selected for the strut according to the weight, model and specifications of the automobile component. For example, it is not limited to selecting DC brushed motors of brands such as Dechang and Hengshuai. The peak working current of this type of motor is about 30A. When the automobile component is a car tailgate or a scissor-type car side door or engine hood, since the spring inside the strut generally provides a maximum of 0.4 The torque of the component's gravity torque minus the spring elastic torque needs to be provided by the motor inside the strut. The control method of this application makes the current generated by the motor inside the strut be around 2A according to the motor characteristic curve, so it can meet the design requirements.

[0034] Preferably, the output torque of the internal motor and motor drive current The corresponding proportion relationship is: . represents the proportionality coefficient, , The dimension of is: .

[0035] Preferably, calculating the target torque current of the motor inside the strut based on the target motor torque in step S3 includes: The target motor torque of the motor inside the strut is divided by the proportional coefficient to obtain the target torque current of the motor inside the strut.

[0036] In step S4, the output torque of the motor inside the strut is controlled using a current loop closed-loop control method according to the target torque current, thereby achieving hovering of the vehicle component at the vehicle component open position. Under the current loop closed-loop control method, the speed of the motor inside the strut is zero or relatively low, and the strut length remains unchanged or changes slightly.

[0037] In this embodiment, the current loop closed-loop control method is not limited to the Field-Oriented Control (FOC) algorithm. This method's current closed-loop can accurately control the winding current during stall, preventing overcurrent and overheating while maintaining stable static torque. The current loop closed-loop control method can also be a PID (Proportional-Integral-Derivative) control algorithm.

[0038] For example, the motor inside the strut is a brushed DC motor, and its control signal is a PWM signal. Adjusting the duty cycle of the PWM signal can adjust the driving current of the motor inside the strut, thereby achieving output torque control of the motor inside the strut. The actual driving current of the motor inside the strut is obtained using a current detection unit. The current detection unit is not limited to a sampling resistor combined with a differential amplifier circuit, or a Hall sensor, or a current transformer. In this example, the specific process based on the PID control algorithm in step S4 includes: Step S41, obtaining the actual driving current of the motor inside the strut collected by the current detection unit, and calculating the current difference between the actual driving current and the target torque current of the motor inside the strut; Step S42, inputting the calculated current difference into a PID controller to obtain an updated value of the PWM duty cycle of the motor inside the strut; In step S43, the duty cycle of the PWM signal output by the H-bridge circuit is set to the PWM duty cycle update value. The H-bridge circuit outputs the PWM signal to the driver control terminal of the motor inside the strut, thereby adjusting the driving current of the motor inside the strut and further controlling the output torque of the motor.

[0039] In this embodiment, when the automobile component is a tailgate, a scissor-type side door or a hood, the strut without a damper design cannot independently achieve the hovering and maintenance of the automobile component. Since the gravity of the automobile component is greater than the spring force and friction force in the strut, the automobile component will fall downward. At this time, an additional reverse force (i.e., a force in the opposite direction of the automobile component falling) is required to offset the excess downward force. The reverse force can be provided by controlling the motor inside the strut to output a torque in the opposite direction of the movement direction of the automobile component, so that the motor inside the strut provides a certain output force to maintain hovering. In order to accurately control the output torque of the motor inside the strut, avoid excessive voltage output to the motor, which causes the automobile component to run directly in the opening direction, and avoid excessive voltage output to the motor, which causes the automobile component to still fall, the positive proportional relationship between the component load and the motor drive current is applied, and a current loop closed-loop control method is adopted to achieve appropriate control of the motor output force and realize full-angle hovering of the automobile component.

[0040] In this embodiment, when the automobile component is a non-scissor-type automobile side door, there is no need to use fixed dampers and electromagnetic brakes to achieve side door hovering. In order to keep the side door hovering, the motor inside the support rod outputs a reverse force. The motor torque generated by the reverse force is used to offset the side door gravity torque to keep the side door hovering. In order to accurately control the output torque of the motor inside the support rod and avoid excessive or insufficient voltage output to the motor, the positive proportional relationship between the side door load and the motor drive current is applied, and a current loop closed-loop control method is adopted to achieve appropriate control of the motor output force and realize full-angle hovering of the automobile side door.

[0041] In a preferred embodiment, in order to obtain a more accurate target motor torque and achieve accurate hovering control of the automobile component, in step S2, the target motor torque of the motor inside the strut of the strut assembly of the automobile component is determined according to the opening position of the automobile component, including: Step S21 , obtaining a corresponding relationship model, wherein the relationship model corresponds the opening position of the automobile component to the target motor torque of the motor inside the strut.

[0042] Step S22 , inputting the opening position of the automobile component into the corresponding relationship model to obtain the target motor torque of the motor inside the strut.

[0043] In this embodiment, to achieve more precise control, an automobile component and its strut assembly are combined into a component drive unit. Component drive information includes the automobile component model and / or strut internal motor model. Different automobile component models and / or strut internal motor models constitute different component drive information. The component drive unit for each component drive information obtains the total strut assembly spring torque (no total strut assembly spring torque is available for non-scissor-type side doors), component gravity torque, total target motor torque, and target motor torque for each strut internal motor, corresponding to N automobile component opening positions under different vehicle operating conditions. Relationship models are then established for each component drive unit under different vehicle operating conditions, forming a relationship model library. Each relationship model in the relationship model library corresponds to a set of component drive information and a vehicle operating condition. Vehicle operating conditions include at least one of grade, ambient temperature, and vehicle voltage.

[0044] In this embodiment, to improve processing speed, the relational model is a mapping table. Each mapping table corresponds to a set of component drive information (i.e., different vehicle component models and / or strut internal motor models) and a vehicle operating condition. Each mapping table includes N vehicle component opening positions and the target motor torque of the strut internal motor corresponding to each vehicle component opening position, obtained through experimental calibration. The target motor torque of the strut internal motor is obtained through table lookup. If the same vehicle component opening position cannot be found in the mapping table through table lookup, the target motor torque of the strut internal motor is interpolated from the two vehicle component opening positions closest to the input vehicle component opening position.

[0045] In this embodiment, to improve accuracy, the relationship model is a piecewise polynomial fitting curve. Each set of component drive information, N component opening positions obtained through test calibration under each vehicle operating condition, and the target motor torques of the N strut internal motors corresponding to each of the N component opening positions are subjected to a piecewise polynomial fitting process, using the component opening position as the independent variable and the target motor torques of the strut internal motors as the dependent variable. A piecewise polynomial fitting curve is obtained. The corresponding piecewise polynomial fitting curve is selected based on the current component drive information and vehicle operating condition. The current component opening position is input into the polynomial fitting function of the corresponding segment of the piecewise polynomial fitting curve to obtain the target motor torques of the strut internal motors corresponding to the component opening position.

[0046] In this embodiment, preferably, in step S21, obtaining the corresponding relationship model includes: Step S211, obtaining current vehicle operating conditions and / or component information (i.e., current component driving information), wherein the vehicle operating conditions include at least one of slope, ambient temperature, and vehicle voltage, and the component information includes vehicle component models and / or strut internal motor models; Step S212 , filtering out a relational model that matches the current vehicle operating condition and / or component information from the pre-built relational model library, and using the filtered relational model as the corresponding relational model.

[0047] Exemplarily, when the relational model corresponds only to the vehicle operating condition one by one, the process of step S21 is: obtaining the current vehicle operating condition; screening out the relational model that matches the current vehicle operating condition from the pre-built relational model library, and using the screened out relational model as the corresponding relational model.

[0048] Exemplarily, when the relational model corresponds only to the component information one-to-one, the process of step S21 is: obtaining the current component information; filtering out the relational model that matches the current component information from the pre-built relational model library, and using the filtered relational model as the corresponding relational model.

[0049] Exemplarily, when the relational model corresponds to the vehicle operating condition and component information, the process of step S21 is: obtaining the current vehicle operating condition and component information; filtering out the relational model that matches the current vehicle operating condition and component information from the pre-built relational model library, and using the filtered relational model as the corresponding relational model.

[0050] In this embodiment, preferably, the relationship model is a mapping table. When the automobile component is a tailgate, a scissor-type side door, or an engine hood, the mapping table includes the component gravity torque and the total spring torque of the strut assembly corresponding to different opening positions of the automobile component. In step S22, the opening position of the automobile component is input into the corresponding relationship model to obtain the target motor torque of the motor inside the strut, including: Step S221, querying from a mapping table the component gravity moment and the total spring moment of the strut assembly corresponding to the open position of the automobile component; Step S222: Subtract the total spring torque of the strut group from the component gravity torque obtained by the query to obtain the target motor torque of the strut group. The target motor torque of the motor inside the strut is obtained based on the target motor torque of the strut group. When the strut group includes one strut, the target motor torque of the motor inside the strut is equal to the target motor torque of the strut group. When the strut group includes two symmetrical struts (such as Figure 5 (as shown), the target motor torque of the motor inside the strut is equal to half of the target motor torque of the strut group. This embodiment achieves more precise control and improves the user experience.

[0051] In this embodiment, preferably, the relationship model is a mapping table. When the automobile component is a non-scissor-type automobile side door, the mapping table includes the side door gravity torque corresponding to different automobile component opening positions. In step S22, the automobile component opening position is input into the corresponding relationship model to obtain the target motor torque of the motor inside the strut, including: Query the side door gravity torque corresponding to the opening position of the automobile component from the mapping table; The side door gravity torque obtained by query is used as the target motor torque of the strut group, and the target motor torque of the motor inside the strut is obtained according to the target motor torque of the strut group.

[0052] In actual use, the relationship model generated by calibration data may deviate due to environmental factors (such as high and low temperatures, voltage, and manufacturing tolerances), resulting in the inability to achieve adaptive hovering for various struts and environments. This requires additional adaptive adjustment capabilities to fine-tune the torque current to ensure component hovering. Therefore, in a preferred embodiment, after executing step S4, i.e., after controlling the output torque of the motor inside the strut using a current loop closed-loop control method according to the target torque current, the control method of the present invention further includes: Step S5: Acquire the actual speed of the motor inside the strut. The actual speed of the motor inside the strut is the motor shaft speed. This speed is not limited to measuring the pulse signal caused by the rotation of the motor shaft using a Hall effect sensor or a photoelectric encoder. The motor shaft speed, i.e., the actual speed, is obtained by calculating the frequency of the pulse signal.

[0053] Step S6, determining the required torque current for the component to hover based on the actual speed of the motor inside the strut and the hovering target speed. The hovering target speed is not limited to the motor speed being 0. Preferably, in order to accurately obtain the required torque current, the specific process of the speed loop includes: obtaining the speed deviation by subtracting the actual speed of the motor inside the strut from the hovering target speed, that is, the motor shaft speed that is opposite to the current motor shaft running direction or movement trend; inputting the speed deviation into the PI controller to obtain the required torque current for the component to hover. The PI controller takes the speed deviation as input and the required torque current for the component to hover as output. PI is the abbreviation of Proportional-Integral, which means proportional-integral control. The expression of the PI controller is: Required torque current = speed loop gain × speed deviation + speed loop integral gain.

[0054] In step S7, a reverse voltage requirement is calculated based on the required torque current and the actual drive current of the motor within the strut. The motor operation, or motor speed, is controlled according to the reverse voltage requirement. Specifically, the reverse voltage requirement is superimposed on the existing power supply to the motor driver within the strut to achieve a zero motor speed, thus ensuring stable hovering of the component.

[0055] In this embodiment, if an automotive component, such as a tailgate, scissor-style side door, or hood, falls without control, assuming the direction of fall is the reverse direction of the strut's internal motor (negative voltage requirement), to ensure the component remains in its original position, i.e., hovering, a forward voltage (negative voltage requirement) must be supplied to the strut's internal motor driver. This ensures hovering. This embodiment adaptively fine-tunes the torque current to ensure full-angle hovering of the component.

[0056] In this embodiment, when the vehicle component is a non-scissor-type side door, under uncontrolled conditions, when the vehicle is traveling uphill, the gravitational force component of the side door is in the closing direction, i.e., the gravitational torque of the side door causes the side door to move in the closing direction. Assuming the closing direction is the reverse direction of the motor within the strut (reverse voltage requirement), to ensure that the side door maintains its original position, i.e., hovers, a forward voltage (reverse voltage requirement) must be supplied to the driver of the motor within the strut to maintain hovering. When the vehicle is traveling downhill, the gravitational force component of the side door should be in the opening direction, i.e., the gravitational torque of the side door causes the side door to move in the opening direction. Assuming the opening direction is the reverse direction of the motor within the strut (reverse voltage requirement), to ensure that the side door maintains its original position, i.e., hovers, a forward voltage (reverse voltage requirement) must be supplied to the driver of the motor within the strut to maintain hovering.

[0057] The present invention also discloses a full-angle hovering control device for automobile parts, which is used to implement the above-mentioned full-angle hovering control method for automobile parts, such as Figure 3 As shown, the device includes: An input unit for obtaining an opening position of an automobile component, where the automobile component is a door or a hood of the automobile; A first calculation unit determines a target motor torque of a motor inside a strut of a strut assembly of the automobile component according to an opening position of the automobile component, wherein the strut assembly includes more than one strut and no damper is inside the strut; a second calculation unit, calculating a target torque current of a motor inside the strut based on the target motor torque; The control unit controls the output torque of the motor inside the strut by adopting a current loop closed-loop control method according to the target torque current, so as to achieve the hovering of the automobile component at the component opening position.

[0058] In this embodiment, the input unit, the first calculation unit, the second calculation unit, and the control unit correspond to step S1, step S2, step S3, and step S4 of the above-mentioned automobile component full-angle hovering control method, respectively, and are not repeated here.

[0059] The present invention also discloses an automobile component control system, such as Figure 4 As shown, in a preferred embodiment, the automobile component control system includes: A support rod group for supporting the opening and closing of automobile parts, the support rod group includes more than one support rod, and there is no damper inside the support rod; the support rod group includes one support rod or two left-right symmetrical support rods.

[0060] The component position detection unit is used to obtain the opening position of the automobile component. The opening position of the automobile component is not limited to the length of the strut. The component position detection unit is not limited to measuring the Hall sensor installed in the motor inside the strut or at the extension part of the strut (such as Figure 2The grating displacement sensor is installed in the sliding sleeve 2).

[0061] The current detection unit is used to obtain the actual driving current of the motor inside the support rod. The current detection unit is not limited to the method of combining a sampling resistor with a differential amplifier circuit, or a Hall sensor, or a current transformer.

[0062] The electric component electronic control unit is connected to the component position detection unit, the current detection unit and the driver of the motor inside the strut, and executes the steps of the above-mentioned automobile component full-angle hovering control method. Figure 5 As shown, PLG ECU stands for Power LiftGate Electronic Control Unit, which is an electronic control module that controls the opening, closing, height adjustment and other functions of the vehicle's power liftgate (Power Liftgate / Liftgate).

[0063] The invention also discloses a car, which is provided with the car component control system.

[0064] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "example," "specific example," "one implementation," "a preferred implementation," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0065] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the claims and their equivalents.

Claims

1. A method for controlling the full-angle hovering of an automobile component, characterized in that: The method comprises: Obtaining an opening position of an automobile component, wherein the automobile component is a door or a hood of the automobile; Determining a target motor torque of a motor inside a strut of a strut assembly of the automotive component according to an opening position of the automotive component; wherein the strut assembly includes more than one strut, and no damper is inside the strut; Calculate the target torque current of the motor inside the strut based on the target motor torque; The output torque of the motor inside the support rod is controlled by a current loop closed-loop control method according to the target torque current, so as to achieve the automobile component hovering at the open position of the automobile component.

2. The method according to claim 1, wherein The method of determining a target motor torque of a motor inside a strut of a strut assembly of an automobile component according to an opening position of the automobile component comprises: Obtaining a corresponding relationship model, wherein the relationship model corresponds the opening position of the automobile component to the target motor torque of the motor inside the strut; Input the opening position of the automobile component into the corresponding relationship model to obtain the target motor torque of the motor inside the strut.

3. The method according to claim 2, wherein The obtaining of the corresponding relationship model includes: Obtaining current vehicle operating conditions and / or component information, wherein the vehicle operating conditions include at least one of slope, ambient temperature, and vehicle voltage, and the component information includes vehicle component models and / or strut internal motor models; A relational model matching the current vehicle operating condition and / or component information is screened out from a pre-built relational model library, and the screened out relational model is used as the corresponding relational model.

4. The method according to claim 2, wherein The relational model is a mapping table; When the automobile component is a car back door, a scissor-type car side door, or an engine hood, the mapping table includes the back door gravity moment and the total spring moment of the strut group corresponding to different opening positions of the automobile component; The inputting of the opening position of the automobile component into the corresponding relationship model to obtain the target motor torque of the motor inside the strut includes: Query the component gravity moment and the total spring moment of the strut assembly corresponding to the open position of the automobile component from the mapping table; The target motor torque of the strut group is obtained by subtracting the total spring torque of the strut group from the component gravity torque obtained by the query, and the target motor torque of the motor inside the strut is obtained based on the target motor torque of the strut group; Alternatively, when the automobile component is a non-scissor-type automobile side door, the mapping table includes side door gravity moments corresponding to different opening positions of the automobile component; The inputting of the opening position of the automobile component into the corresponding relationship model to obtain the target motor torque of the motor inside the strut includes: Query the side door gravity torque corresponding to the opening position of the automobile component from the mapping table; The side door gravity torque obtained by query is used as the target motor torque of the strut group, and the target motor torque of the motor inside the strut is obtained according to the target motor torque of the strut group.

5. The method according to claim 1, wherein The calculating the target torque current of the motor inside the strut based on the target motor torque includes: The target motor torque is divided by the proportional coefficient to obtain the target torque current of the motor inside the strut.

6. The method according to any one of claims 1 to 5, wherein After controlling the output torque of the motor inside the strut using a current loop closed-loop control method according to the target torque current, the method further includes: Get the actual speed of the motor inside the strut; Determine the required torque current for the component to hover based on the actual speed of the motor inside the strut and the target hovering speed; The reverse demand voltage is calculated based on the required torque current and the actual driving current of the motor inside the strut, and the motor operation is controlled according to the reverse demand voltage.

7. The method according to claim 6, wherein The method of determining the required torque current for the component to hover according to the actual speed of the motor inside the strut and the hovering target speed includes: The speed deviation is obtained by subtracting the actual speed of the motor inside the strut from the hovering target speed; The speed deviation is input into the PI controller to obtain the required torque and current for the component to hover.

8. A full-angle hovering control device for automobile parts, used to implement the method according to any one of claims 1 to 7, characterized in that: include: An input unit for acquiring an opening position of an automobile component, wherein the automobile component is a door or a hood of the automobile; A first calculation unit determines a target motor torque of a motor inside a strut of a strut assembly of the automobile component according to an opening position of the automobile component, wherein the strut assembly includes more than one strut and no damper is inside the strut; a second calculation unit, calculating a target torque current of a motor inside the strut based on the target motor torque; The control unit controls the output torque of the motor inside the support rod by adopting a current loop closed-loop control method according to the target torque current, so as to achieve the automobile component hovering at the open position of the automobile component.

9. An automobile component control system, characterized in that: include: A support rod assembly for supporting the opening and closing of automobile parts, wherein the support rod assembly includes one or more support rods, each of which has no damper inside and an internal motor inside the support rod; A component position detection unit, used to obtain the opening position of the automobile component; A current detection unit is used to obtain the actual driving current of the motor inside the strut; The electric component electronic control unit is connected to the component position detection unit, the current detection unit and the driver of the motor inside the strut, and executes the steps of any one of the methods of claims 1-7.

10. An automobile, characterized in that: The automobile is provided with an automobile component control system according to claim 9.

Images