Elevator thermal protection control method, device, equipment and storage medium

Abstract

The present invention belongs to the field of vehicle technology, and discloses a lifter thermal protection control method, device, equipment and storage medium. The method includes: monitoring the motor voltage, motor speed and ambient temperature of the lifter motor; determining the motor temperature through a preset motor temperature mathematical model according to the motor voltage, motor speed and ambient temperature, and determining the corresponding trigger threshold; when the motor temperature is greater than or equal to the trigger threshold, limiting the lifter motor to perform a preset motor action. In the above manner, when the ECU detects that the motor temperature is too high, it limits the execution of the preset motor action. Since thermal protection is not achieved by disconnecting the circuit, the anti-pinch trigger function is logically excluded, which solves the safety problem of being unable to prevent pinch reversal during the triggering of thermal protection, and saves the hardware cost of the hardware thermal protector.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a lifter thermal protection control method, device, equipment and storage medium. Background Art

[0002] The existing one-touch lifting (AP) style window lift motor uses a hardware thermal protector (i.e. bimetallic strip or PTC). The hardware thermal protector is connected in series in the circuit to achieve thermal protection by "breaking the circuit". The thermal protection process of the bimetallic strip is: when more current than usual flows, the temperature of the metal rises and deforms and breaks. When the metal temperature drops, the metal will immediately move and recover. The thermal protection process of PTC is: when a larger current than usual flows, the polymer expands due to heat, and the path where the current flows is interrupted, so only a small amount of current flows and a tripping state occurs. When the operating switch is closed, the polymer cools and returns.

[0003] The current anti-pinch reversal function is that when the control circuit is turned on, if the glass opening is within the range of 4mm to 200mm from the top of the window and touches an object during the rising process, the ECU triggers the anti-pinch function to control the lifter motor to reverse and descend a certain distance (regulatory requirements are greater than or equal to 50mm). However, during the period when the hardware thermal protector triggers thermal protection, the ECU cannot control the motor to drive the glass down to achieve the anti-pinch reversal function. It can be seen that there are safety hazards. In addition, the existing hardware thermal protector is not compatible with various temperature environments. The continuous actuation performance of the lifter motor is poor in high and low temperature environments. The lifting endurance test has a long pause cycle, and the labor and equipment investment are large. In addition, the bimetallic strip has the disadvantages of pitting corrosion and high current at the moment of current on and off; PTC has the problem that after tripping, it will not return unless the power is turned off.

[0004] The above contents are only used to assist in understanding the technical solution of the present invention and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The main purpose of the present invention is to provide a lifter thermal protection control method, device, equipment and storage medium, aiming to solve the technical problem that the existing hardware thermal protector achieves thermal protection by disconnecting the circuit, and the ECU cannot control the motor to drive the glass to descend to achieve the anti-pinch reversal function during the triggering of thermal protection.

[0006] To achieve the above object, the present invention provides a lifter thermal protection control method, the method comprising the following steps:

[0007] Monitor the motor voltage, motor speed and ambient temperature of the lifter motor;

[0008] Determine the motor temperature by using a preset motor temperature mathematical model according to the motor voltage, the motor speed and the ambient temperature;

[0009] When the motor temperature is greater than or equal to a trigger threshold, the lifter motor is restricted from performing a preset motor action.

[0010] Optionally, when the motor temperature is greater than or equal to a trigger threshold, before limiting the lifter motor to perform a preset motor action, the method further includes:

[0011] Determine the motor limit temperature according to the motor voltage, the motor speed and the ambient temperature;

[0012] The trigger threshold is determined according to the motor limit temperature and a preset cycle temperature, wherein the preset cycle temperature is a temperature preset according to a preset number of cycles of continuous actuation of the lifter.

[0013] Optionally, after limiting the lifter motor to perform a preset motor action when the motor temperature is greater than or equal to a trigger threshold, the method further comprises:

[0014] Get the current motor voltage, current motor speed and current ambient temperature;

[0015] Obtaining the current motor temperature through the preset motor temperature mathematical model according to the current motor voltage, the current motor speed and the current ambient temperature;

[0016] When the current motor temperature is less than or equal to a recovery threshold, the action restriction of the lifter motor is released.

[0017] Optionally, when the current motor temperature is less than or equal to the recovery threshold, before releasing the action restriction of the lifter motor, the method further includes:

[0018] A recovery threshold is determined according to the motor limit temperature and a preset recovery temperature, wherein the preset recovery temperature is a temperature preset according to a preset recovery time.

[0019] Optionally, determining the motor temperature by a preset motor temperature mathematical model according to the motor voltage, the motor speed and the ambient temperature includes:

[0020] Get the historical temperature of the motor corresponding to the last monitoring cycle;

[0021] Determine the temperature change value within a periodic interval based on the preset motor temperature mathematical model according to the motor voltage, the motor speed and the ambient temperature;

[0022] The motor temperature is determined according to the temperature change value and the motor historical temperature.

[0023] Optionally, determining the temperature change value within a periodic interval according to the motor voltage, the motor speed and the ambient temperature based on a preset motor temperature mathematical model includes:

[0024] Determine the motor heating power according to the motor voltage and the motor speed based on a preset motor temperature mathematical model;

[0025] Obtaining a preset thermal resistance coefficient, and determining the heat dissipation power of the motor according to the preset thermal resistance coefficient, the historical temperature of the motor and the ambient temperature;

[0026] Determine the target power according to the heating power of the motor and the heat dissipation power of the motor;

[0027] Obtaining a preset specific heat capacity coefficient;

[0028] The temperature change value within the periodic interval is determined according to the preset specific heat capacity coefficient and the target power.

[0029] Optionally, after determining the motor temperature by using a preset motor temperature mathematical model according to the motor voltage, the motor speed and the ambient temperature, the method further includes:

[0030] When the motor temperature is greater than or equal to a trigger threshold, detecting whether the lifter motor is in an anti-pinch reversal state;

[0031] When the lifter motor is in an anti-pinch reversal state, controlling the lifter motor to reverse according to a preset anti-pinch reversal setting;

[0032] When the lifter reverses and descends to a preset anti-pinch reversal distance, the lifter motor is controlled to stop operating;

[0033] When the lifting motor stops actuating, the lifter motor is controlled to enter a thermal protection state that limits the actuation of the motor.

[0034] Optionally, the method further comprises:

[0035] After a preset time interval in the flameout state, a target motor temperature is determined according to the ambient temperature by using a preset motor temperature mathematical model;

[0036] Comparing the target motor temperature with the ambient temperature to obtain a first comparison result;

[0037] Selecting a corresponding target temperature according to the first comparison result, and storing the target temperature as an estimated motor temperature;

[0038] When ignition is detected, obtaining an estimated motor temperature, and comparing the estimated motor temperature as the motor temperature of the current monitoring period with the trigger threshold to obtain a second comparison result;

[0039] It is determined whether to control the lifter motor to enter a thermal protection state that limits motor actuation according to the second comparison result.

[0040] Optionally, selecting a corresponding target temperature according to the first comparison result, and storing the target temperature as an estimated motor temperature, includes:

[0041] When the target motor temperature is greater than the ambient temperature, the target motor temperature is stored as the motor estimated temperature.

[0042] Optionally, selecting a corresponding target temperature according to the first comparison result, and storing the target temperature as an estimated motor temperature, includes:

[0043] When the target motor temperature is less than or equal to the ambient temperature, the target motor temperature is reset to zero, and the current ambient temperature is stored as the motor estimated temperature at the next ignition.

[0044] In addition, to achieve the above-mentioned purpose, the present invention also proposes a lifter thermal protection control device, the lifter thermal protection control device comprising:

[0045] A monitoring module, used to monitor the motor voltage, motor speed and ambient temperature of the lifter motor;

[0046] A calculation module, used to determine the motor temperature according to the motor voltage, the motor speed and the ambient temperature by using a preset motor temperature mathematical model;

[0047] The limiting module is used to limit the lifter motor to perform a preset motor action when the motor temperature is greater than or equal to a trigger threshold, and to release the action restriction of the lifter motor when the current motor temperature is less than or equal to a recovery threshold.

[0048] In addition, to achieve the above-mentioned purpose, the present invention also proposes a lifter thermal protection control device, which includes: a memory, a processor, and a lifter thermal protection control program stored in the memory and executable on the processor, and the lifter thermal protection control program is configured to implement the lifter thermal protection control method as described above.

[0049] In addition, to achieve the above-mentioned purpose, the present invention also proposes a storage medium, on which a lifter thermal protection control program is stored. When the lifter thermal protection control program is executed by a processor, the lifter thermal protection control method as described above is implemented.

[0050] The method proposed by the present invention includes: monitoring the motor voltage, motor speed and ambient temperature of the lifter motor; determining the motor temperature through a preset motor temperature mathematical model according to the motor voltage, motor speed and ambient temperature; and limiting the lifter motor to perform a preset motor action when the motor temperature is greater than or equal to the trigger threshold. In the above manner, when the ECU detects that the motor temperature is too high, it limits the execution of the preset motor action. Since thermal protection is not achieved by disconnecting the circuit, the anti-pinch trigger function is logically excluded. When the glass encounters an object during the rising process, the ECU can still control the motor to drive the glass to descend to achieve the anti-pinch reversal function, solving the safety problem of being unable to prevent pinch reversal during the triggering of thermal protection. In addition, the present invention does not achieve thermal protection by setting a hardware thermal protector such as a bimetallic strip or PTC, saving the hardware cost of the hardware thermal protector and avoiding the impact caused by the inherent characteristics of hardware thermal protection such as pitting and high current. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 It is a structural schematic diagram of a lifter thermal protection control device in a hardware operating environment involved in an embodiment of the present invention;

[0052] Figure 2 It is a schematic flow chart of a first embodiment of a lifter thermal protection control method of the present invention;

[0053] Figure 3 It is a flow chart of the second embodiment of the lifter thermal protection control method of the present invention;

[0054] Figure 4 It is a flow chart of a third embodiment of the lifter thermal protection control method of the present invention;

[0055] Figure 5 It is a flow chart of a fourth embodiment of the lifter thermal protection control method of the present invention;

[0056] Figure 6 A schematic diagram of software thermal protection control logic of an embodiment of a thermal protection control method for a lifter of the present invention;

[0057] Figure 7 This is a schematic diagram of the estimated temperature storage logic of an embodiment of the lifter thermal protection control method of the present invention;

[0058] Figure 8 It is a structural block diagram of the first embodiment of the lifter thermal protection control device of the present invention.

[0059] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0060] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0061] Reference Figure 1 , Figure 1 It is a schematic diagram of the structure of the lifter thermal protection control device in the hardware operating environment involved in the embodiment of the present invention.

[0062] like Figure 1 As shown, the lifter thermal protection control device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (Wireless-Fidelity, Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM), or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk storage. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0063] Those skilled in the art will understand that Figure 1 The structure shown in the figure does not constitute a limitation on the lifter thermal protection control device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0064] like Figure 1 As shown, the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and a lifter thermal protection control program.

[0065] exist Figure 1 In the lifter thermal protection control device shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the lifter thermal protection control device of the present invention can be set in the lifter thermal protection control device, and the lifter thermal protection control device calls the lifter thermal protection control program stored in the memory 1005 through the processor 1001, and executes the lifter thermal protection control method provided by the embodiment of the present invention.

[0066] The embodiment of the present invention provides a lifter thermal protection control method, referring to Figure 2 , Figure 2 It is a flow chart of the first embodiment of the lifter thermal protection control method of the present invention.

[0067] In this embodiment, the lifter thermal protection control method is applied to a vehicle-mounted computer, comprising the following steps:

[0068] Step S10: monitor the motor voltage, motor speed and ambient temperature of the lifter motor.

[0069] It can be understood that the executor of this embodiment is the on-board computer (Electronic Control Unit, ECU). The ECU monitors the lifter motor by connecting to the lifter motor, determines the motor voltage and motor speed applied to both ends of the lifter motor, and detects the ambient temperature through the ambient temperature sensor installed on the vehicle.

[0070] It should be noted that a preset monitoring cycle is set in advance, and the ECU monitors the operating parameters of the lifter motor according to the preset monitoring cycle. Assuming that the time interval of the preset monitoring cycle is Δt, that is, the ECU monitors the motor voltage a, motor speed b and ambient temperature c at the current time. After Δt time, the ECU monitors the motor voltage A, motor speed B and ambient temperature C again.

[0071] Step S20: determining the motor temperature by using a preset motor temperature mathematical model according to the motor voltage, the motor speed and the ambient temperature.

[0072] It is understandable that, optionally, the motor voltage and the motor speed are converted into the motor heating temperature through a temperature conversion formula, and the motor temperature is determined based on the heat dissipation formula according to the motor heating temperature and the ambient temperature. Optionally, the preset motor temperature mathematical model is represented by formula (1):

[0073]

[0074] Among them, T k is the motor temperature, T k-1 is the motor historical temperature corresponding to the previous monitoring cycle, U is the motor voltage, n is the motor speed, T a is the ambient temperature, H r is the preset thermal resistance coefficient, H c is the preset specific heat capacity coefficient, and Δt is the period interval of the preset monitoring cycle.

[0075] Step S30: When the motor temperature is greater than or equal to a trigger threshold, restricting the lifter motor to perform a preset motor action.

[0076] It should be noted that the trigger threshold is a critical value used to distinguish whether the current motor temperature needs to turn on thermal protection. In one example, the trigger threshold is based on a high temperature threshold determined by experiment. Preferably, in this embodiment, the trigger threshold is a high temperature threshold set according to a preset number of cycles and the current ambient temperature. The preset motor action is other motor actions except the anti-pinch reversal action. In this embodiment, since thermal protection is not achieved by disconnecting the circuit, when the glass hits an object during the rising process, the ECU can still control the motor to drive the glass down to achieve the anti-pinch reversal function.

[0077] Furthermore, after step S20, the method further includes: when the motor temperature is greater than or equal to the trigger threshold, detecting whether the window glass is currently in the trigger anti-pinch state; when the window glass is currently in the trigger anti-pinch state, controlling the lifter motor to actuate according to the anti-pinch reversal preset function; when the lifter reverses and descends to the anti-pinch reversal preset distance, controlling the lifter motor to stop actuating. When the lifter motor stops actuating, controlling the lifter motor to enter a thermal protection state that limits the actuation of the motor.

[0078] It is understandable that, before triggering the software thermal protection, this embodiment controls the motor to reverse so that the window drops a certain distance to achieve anti-pinch reversal.

[0079] The method proposed in this embodiment includes: monitoring the motor voltage, motor speed and ambient temperature of the lifter motor; determining the motor temperature through a preset motor temperature mathematical model according to the motor voltage, motor speed and ambient temperature; and limiting the lifter motor to perform a preset motor action when the motor temperature is greater than or equal to the trigger threshold. In the above manner, when the ECU detects that the motor temperature is too high, it limits the execution of the preset motor action. Since thermal protection is not achieved by disconnecting the circuit, the anti-pinch trigger function is logically excluded. When the glass encounters an object during the rising process, the ECU can still control the motor to drive the glass down to achieve the anti-pinch reversal function, solving the safety problem of being unable to prevent pinch reversal during the triggering of thermal protection. In addition, this embodiment does not achieve thermal protection by setting a hardware thermal protector such as a bimetallic strip or PTC, saving the hardware cost of the hardware thermal protector and avoiding the impact caused by the inherent characteristics of hardware thermal protection such as pitting and high current.

[0080] refer to Figure 3 , Figure 3 It is a flow chart of the second embodiment of the lifter thermal protection control method of the present invention.

[0081] Based on the first embodiment, the lifter thermal protection control method of this embodiment further includes, before step S30:

[0082] Step S21: determining a motor limit temperature according to the motor voltage, the motor speed and the ambient temperature.

[0083] In the specific implementation, the existing hardware thermal protector is not compatible with various temperature environments, which makes the continuous operation performance of the lifter motor poor in high and low temperature environments. If the lifting endurance test is carried out, the seasonal temperature has a greater impact, resulting in a long experimental suspension period, or artificially created environmental conditions, resulting in large equipment investment.

[0084] It should be understood that the motor limit temperature is determined by formula (2) based on the motor voltage, motor speed and ambient temperature:

[0085]

[0086] Among them, U is the motor voltage, ω=2πn / 60, n is the motor speed, T a is the ambient temperature, H r is the preset thermal resistance coefficient.

[0087] Step S22: determining a trigger threshold value according to the motor limit temperature and a preset cycle temperature, wherein the preset cycle temperature is a temperature preset according to a preset number of cycles of continuous actuation of the lifter.

[0088] It should be noted that according to the motor limit temperature T max And the preset cycle temperature T0 determines the trigger threshold T lim , specifically: T lim =T max -T0, the preset cycle temperature T0 is a temperature constant pre-set according to the preset number of cycles of the continuous action of the lifter, the preset number of cycles can be set to 15 times, and the temperature increment corresponding to 15 cycles is determined experimentally to be set to the preset cycle temperature T0, thereby ensuring that the lifter motor can cycle at least 15 times, if the motor temperature is greater than or equal to the trigger threshold after 15 cycles, the motor action is restricted, and in this embodiment, the motor limit temperature is determined according to the current ambient temperature and the motor operating parameters, thereby ensuring that the lifter motor can achieve at least 15 cycles under all temperature conditions, avoiding the influence of ambient temperature on the number of lifter cycles, and reducing the experimental man-hour investment and experimental equipment investment.

[0089] Furthermore, after step S30, the method further includes:

[0090] Step S301: Obtain the current motor voltage, current motor speed and current ambient temperature.

[0091] Step S302: obtaining the current motor temperature through the preset motor temperature mathematical model according to the current motor voltage, the current motor speed and the current ambient temperature.

[0092] Step S303: when the current motor temperature is less than or equal to the recovery threshold, releasing the action restriction of the lifter motor.

[0093] It is understandable that after limiting the preset motor action, the ECU continues to obtain the current motor voltage, the current motor speed and the current ambient temperature according to the preset monitoring period, and determines the current motor temperature based on the current motor voltage, the current motor speed and the current ambient temperature based on the preset motor temperature mathematical model. If the current motor temperature is detected to be less than or equal to the recovery threshold, the restriction is lifted. The recovery threshold is a critical value used to distinguish whether the current motor temperature needs to restore the motor limit. In one example, the recovery threshold is based on a low temperature threshold determined experimentally. Preferably, in this embodiment, the recovery threshold is a low temperature threshold set according to the preset recovery time and the current ambient temperature. Specifically, the current motor temperature is obtained according to the current motor voltage, the current motor speed and the current ambient temperature through the preset motor temperature mathematical model, including: obtaining the previous motor temperature corresponding to the previous monitoring period; determining the current motor heating power according to the current motor voltage and the current motor speed based on the preset motor temperature mathematical model; obtaining a preset thermal resistance coefficient; determining the current motor heat dissipation power according to the preset thermal resistance coefficient, the previous motor temperature and the current ambient temperature; determining the current power according to the current motor heating power and the current motor heat dissipation power; obtaining a preset specific heat capacity coefficient; determining the current temperature change value within the period interval according to the preset specific heat capacity coefficient and the current power; and determining the current motor temperature according to the current temperature change value and the previous motor temperature.

[0094] Furthermore, before step S303, the method further includes:

[0095] Step S31: determining a recovery threshold according to the motor limit temperature and a preset recovery temperature, wherein the preset recovery temperature is a temperature preset according to a preset recovery time.

[0096] It should be noted that according to the motor limit temperature T max And the preset recovery temperature T1 determines the recovery threshold T rec , specifically: T rec =T max -T1, the preset recovery temperature T1 is a temperature constant preset according to the preset recovery time. The preset recovery time can be set to 15s. According to the experiment, the temperature reduction corresponding to cooling for 15s is set to the preset recovery temperature T1, so as to ensure that the lifter motor can recover within 15s. If the current motor temperature within the cycle of 15s is less than or equal to the recovery threshold T rec , then the motor action restriction is released. In the specific implementation, since the time from restriction to recovery of the lifter motor is short, the motor limit temperature T maxSet to the same value, in another example, when determining the recovery threshold, the motor limit temperature T can be re-determined by formula (2) according to the current motor voltage, current motor speed and current ambient temperature monitored at the current moment. max , and according to T rec =T max -T1 determines the recovery threshold T rec In this embodiment, the motor limit temperature is determined according to the current ambient temperature and motor operating parameters, thereby ensuring that the lifter motor can achieve recovery function within 15 seconds under various temperature conditions, avoiding the influence of ambient temperature on the lifter recovery function, and reducing experimental man-hours and equipment investment.

[0097] This embodiment monitors the motor voltage, motor speed and ambient temperature of the lifter motor; determines the motor temperature through a preset motor temperature mathematical model based on the motor voltage, motor speed and ambient temperature; determines the motor limit temperature based on the motor voltage, motor speed and ambient temperature; determines the trigger threshold value based on the motor limit temperature and the preset cycle temperature, wherein the preset cycle temperature is a temperature pre-set according to the preset number of cycles of continuous actuation of the lifter; limits the lifter motor to perform the preset motor action when the motor temperature is greater than or equal to the trigger threshold value; obtains the current motor voltage, current motor speed and current ambient temperature; obtains the current motor temperature through a preset motor temperature mathematical model based on the current motor voltage, current motor speed and current ambient temperature; and determines the recovery threshold value based on the motor limit temperature and the preset recovery temperature, wherein, The preset recovery temperature is a temperature pre-set according to the preset recovery time; when the current motor temperature is less than or equal to the recovery threshold, the action restriction of the lifter motor is released; through the above method, when the ECU detects that the motor temperature is too high, it limits the execution of the preset motor action, and when it detects that the motor temperature drops to the recovery threshold, the action restriction is released. Since thermal protection is not achieved by disconnecting the circuit, the anti-pinch triggering function is logically excluded. When the glass hits an object during the rising process, the ECU can still control the motor to drive the glass to descend to achieve the anti-pinch reversal function, which solves the safety problem of being unable to prevent pinching and reversal during the triggering of thermal protection. In addition, this embodiment does not achieve thermal protection by setting a hardware thermal protector such as a bimetallic strip or PTC, which saves the hardware cost of the hardware thermal protector and avoids the influence of inherent characteristics of hardware thermal protection such as pitting corrosion and high current. The motor limit temperature, trigger threshold and recovery threshold are determined according to the current ambient temperature and motor operating parameters, thereby ensuring that the lifter motor can achieve at least 15 cycles under all temperature conditions, avoiding the influence of ambient temperature on the number of lifter cycles, reducing the experimental man-hours and equipment investment, ensuring that the lifter motor can resume operation within 15 seconds, avoiding the ambient temperature causing a decrease in the lifter recovery speed, and ensuring the operating stability of the lifter motor.

[0098] refer to Figure 4 , Figure 4 It is a flow chart of the third embodiment of the lifter thermal protection control method of the present invention.

[0099] Based on the first embodiment, the lifter thermal protection control method of this embodiment further includes, after step S20:

[0100] Step S304: when the motor temperature is greater than or equal to the trigger threshold, detecting whether the lifter motor is in an anti-pinch reversal state.

[0101] It is understood that the anti-pinch area of ​​the window glass is 4 mm to 200 mm below the bottom edge of the top sealing strip of the window. The ECU of this embodiment can determine the current position of the window glass by counting the number of square wave pulse signals generated by the Hall sensor through the internal clock, and other methods can also be used, which are not limited in this embodiment. Optionally, when the current position of the window glass is in the anti-pinch area, it is determined that the lifter motor is in the anti-pinch reversal state.

[0102] Step S305: When the lifter motor is in the anti-pinch reversal state, control the lifter motor to reverse according to a preset anti-pinch reversal setting.

[0103] It should be noted that if the motor temperature is greater than or equal to the trigger threshold and is currently in the trigger anti-pinch reversal state, the ECU sends a control command to the relay to make the lifter motor perform a reversal action (i.e., a descending action). Furthermore, when the lifter is not in the anti-pinch reversal state, the lifter motor is controlled to enter a thermal protection state that limits the motor's actuation.

[0104] Step S306: When the lifter reverses and descends to the anti-pinch reverse preset distance, the lifter motor is controlled to stop operating.

[0105] It can be understood that the preset distance for anti-pinch reversal is quantitative. For example, when it is detected in the anti-pinch area that an anti-pinch reversal operation is to be performed, the motor performs a reversal, the reversal distance is 50mm, and the glass is controlled to drop 50mm.

[0106] Step S307: When the lifting motor stops actuating, controlling the lifter motor to enter a thermal protection state that limits the actuation of the motor.

[0107] It should be noted that after the lifter motor enters the thermal protection state that limits the motor movement, it continues to monitor the current motor voltage, current motor speed and current ambient temperature of the lifter motor, obtains the current motor temperature through a preset motor temperature mathematical model, and compares the current motor temperature with the recovery threshold. If the current motor temperature is less than or equal to the recovery threshold, the movement restriction of the lifter motor is released.

[0108] This embodiment monitors the motor voltage, motor speed and ambient temperature of the lifter motor; determines the motor temperature through a preset motor temperature mathematical model according to the motor voltage, motor speed and ambient temperature; detects whether the lifter motor is in an anti-pinch reversal state when the motor temperature is greater than or equal to a trigger threshold; controls the lifter motor to reverse according to a preset anti-pinch reversal setting when the lifter motor is in the anti-pinch reversal state; controls the lifter motor to stop when the lifter reverses and descends to a preset anti-pinch reversal distance; and controls the lifter motor to enter a thermal protection state that limits motor actuation when the lifter motor stops. Through the above method, when the ECU detects that the motor temperature is too high, it monitors whether the lifter motor is in the anti-pinch reversal state. If so, it controls the lifter motor to execute the preset anti-pinch reversal setting. When the window glass drops a preset distance, the lifter is controlled to stop moving and enter the thermal protection state. In this embodiment, when the ECU motor temperature is too high, the motor can still be controlled to drive the glass to drop to achieve the anti-pinch reversal function, which solves the safety problem of being unable to prevent pinch reversal during the triggering of thermal protection. In addition, this embodiment does not achieve thermal protection by setting hardware thermal protectors such as bimetallic strips or PTC, which saves the hardware cost of hardware thermal protectors and avoids the influence of inherent characteristics of hardware thermal protection such as pitting corrosion and high current.

[0109] refer to Figure 5 , Figure 5 It is a flow chart of a fourth embodiment of the lifter thermal protection control method of the present invention.

[0110] Based on the first embodiment, step S20 of the lifter thermal protection control method of this embodiment includes:

[0111] Step S201: Obtain the historical temperature of the motor corresponding to the previous monitoring cycle.

[0112] It should be understood that this embodiment monitors the motor temperature in a discrete form according to a preset monitoring cycle. Assuming that the motor temperature monitored in the current monitoring cycle is T k , the motor historical temperature corresponding to the previous monitoring cycle is T k-1 In a specific implementation, in each monitoring cycle, the motor voltage, motor speed and ambient temperature of the lifter motor are monitored, and the motor temperature, trigger threshold and recovery threshold are determined according to the motor voltage, motor speed and ambient temperature of the lifter motor, and the motor temperature, trigger threshold and recovery threshold determined in each monitoring cycle are stored in a preset storage area.

[0113] Step S202: determining a temperature change value within a periodic interval according to the motor voltage, the motor speed and the ambient temperature based on a preset motor temperature mathematical model.

[0114] Furthermore, the step S202 includes: determining the motor heating power according to the motor voltage and the motor speed based on a preset motor temperature mathematical model; obtaining a preset thermal resistance coefficient; determining the motor heat dissipation power according to the preset thermal resistance coefficient, the motor historical temperature and the ambient temperature; determining the target power according to the motor heating power and the motor heat dissipation power; obtaining a preset specific heat capacity coefficient; and determining the temperature change value within a periodic interval according to the preset specific heat capacity coefficient and the target power.

[0115] It should be noted that the motor heating power is determined by formula (3) based on the motor voltage and motor speed:

[0116]

[0117] Among them, Q1 is the motor heating power, U is the motor voltage, and n is the motor speed.

[0118] The motor heat dissipation power is determined by formula (4) based on the preset thermal resistance coefficient, the motor historical temperature and the ambient temperature:

[0119]

[0120] Among them, Q2 is the heat dissipation power of the motor, T k-1 is the motor historical temperature corresponding to the previous monitoring cycle, H r The preset thermal resistance coefficient is a coefficient constant determined in advance according to experiments and stored in a preset storage area. When calculating by using the preset motor temperature mathematical model, the preset specific heat capacity coefficient is directly retrieved from the preset storage area.

[0121] The target power is determined by the formula (5) based on the motor heating power and the motor heat dissipation power:

[0122] Q=Q1-Q2 (5)

[0123] Among them, Q is the target power, Q1 is the motor heating power, and Q2 is the motor heat dissipation power.

[0124] The temperature change value within the cycle interval is determined by formula (6) according to the preset specific heat capacity coefficient and the target power:

[0125]

[0126] Where T' is the temperature change value within the cycle interval, Q is the target power, H c is the preset specific heat capacity coefficient, and Δt is the period interval of the preset monitoring cycle. The preset specific heat capacity coefficient is a coefficient constant determined in advance according to the experiment and stored in the preset storage area. When calculating by the preset motor temperature mathematical model, the preset specific heat capacity coefficient is directly retrieved from the preset storage area.

[0127] Step S203: determining the motor temperature according to the temperature change value and the motor historical temperature.

[0128] It can be understood that the motor temperature is determined by formula (7) according to the temperature change value and the motor historical temperature:

[0129] T k =T k-1 +T' (7)

[0130] Among them, T k is the motor temperature, T k-1 is the historical temperature of the motor corresponding to the previous monitoring cycle, and T' is the temperature change value within the cycle interval.

[0131] refer to Figure 6 , Figure 6 The software thermal protection control logic diagram of an embodiment of the thermal protection control method of the lifter of the present invention is shown in FIG. 1 , wherein the ECU monitors the motor speed, power supply voltage and ambient temperature in real time, calculates the temperature rise and temperature drop based on the temperature model in real time, and determines whether the trigger condition or the recovery condition is met based on the threshold value. When the trigger condition is met, that is, T k ≥T lim , restricting the lifter motor from performing other motor actions except anti-pinch reversal. When the recovery condition is reached, that is, T k ≤T rec , release the movement restriction of the lifter motor.

[0132] Furthermore, the method further comprises:

[0133] After a preset time interval in the flameout state, the target motor temperature is determined according to the ambient temperature through a preset motor temperature mathematical model; the target motor temperature is compared with the ambient temperature to obtain a first comparison result; the corresponding target temperature is selected according to the first comparison result, and the target temperature is stored as the estimated motor temperature; when ignition is detected, the estimated motor temperature is obtained, and the estimated motor temperature is compared with the trigger threshold as the motor temperature of the current monitoring period to obtain a second comparison result; according to the second comparison result, it is determined whether to control the lifter motor to enter a thermal protection state that limits motor actuation.

[0134] It is understandable that the preset time interval is set to 45s according to the actual situation. In this embodiment, if the power is cut off and the motor enters the flameout state after the motor is actuated, an estimated motor temperature is stored. When the motor is actuated at the next ignition, the stored estimated motor temperature is used as the motor temperature of the current monitoring cycle. This is explained in conjunction with formula (1):

[0135]

[0136] In the off state, the motor voltage and motor speed are 0. At this time, according to the ambient temperature and the motor historical temperature T corresponding to the previous monitoring cycle k-1 The motor temperature after each time interval is determined by formula (1). In the off state, the motor temperature of the lifter motor is T k-1 The starting temperature decreases in a curve. After 45 seconds, the motor temperature drops to a certain value, that is, the target motor temperature is obtained. The target motor temperature is compared with the ambient temperature to determine whether the target motor temperature is greater than the ambient temperature. Specifically, the first comparison result includes: the target motor temperature is greater than the ambient temperature, and the target motor temperature is less than or equal to the ambient temperature. When the motor is actuated at the next ignition, the stored estimated motor temperature is used as the motor temperature of the current monitoring cycle. If the motor temperature of the current monitoring cycle is less than the trigger threshold, normal actuation is maintained. If the motor temperature of the current monitoring cycle is greater than or equal to the trigger threshold, the thermal protection state is entered. If the thermal protection state is not entered, the estimated motor temperature obtained is taken as T in the next monitoring cycle. k-1 , calculate the motor temperature of the next monitoring cycle according to the ambient temperature, the real-time monitored motor voltage and the motor speed, and compare the monitored motor temperature with the trigger threshold in real time to determine whether to enter the thermal protection state.

[0137] Further, selecting a corresponding target temperature according to the first comparison result and storing the target temperature as the motor estimated temperature includes: when the target motor temperature is greater than the ambient temperature, storing the target motor temperature as the motor estimated temperature.

[0138] Furthermore, selecting a corresponding target temperature according to the first comparison result and storing the target temperature as the estimated motor temperature includes: when the target motor temperature is less than or equal to the ambient temperature, clearing the target motor temperature, and storing the current ambient temperature as the estimated motor temperature at the next ignition.

[0139] In the specific implementation, there are mainly three working conditions: the first is that after 45 seconds in the IGN OFF state, if the ambient temperature is less than the calculated target motor temperature and less than the trigger threshold, the calculated target motor temperature is stored as the motor estimated temperature. When the next IGN is turned on, the ECU will start calculating the motor temperature of each monitoring cycle from the stored motor estimated temperature. The second is that after 45 seconds in the IGN OFF state, if the calculated target motor temperature is less than or equal to the ambient temperature, the target motor temperature will be cleared. When the next IGN is turned on, the ECU will start calculating the motor temperature from the next ambient temperature using formula (1). The third is that after 45 seconds in the IGN OFF state, if the calculated target motor temperature is greater than or equal to the trigger threshold, the higher target motor temperature will be stored. When the next IGN is turned on, the ECU will start calculating the motor temperature from the stored motor estimated temperature. Since the stored motor estimated temperature is too high, the ECU will directly enter the thermal protection state and cannot be actuated.

[0140] It should be noted that, refer to Figure 7 , Figure 7 This is a schematic diagram of the estimated temperature storage logic of an embodiment of the lifter thermal protection control method of the present invention. Figure 7 The motor temperature gradually rises as the motor is actuated. After 45 seconds of power failure, the ambient temperature < target motor temperature < trigger threshold. At this time, the calculated target motor temperature is stored as the motor estimated temperature. At the next IGN ON, the motor temperature gradually rises from the target motor temperature. Therefore, the number of continuous actuations will be reduced, avoiding the number of cycles of thermal protection triggered by passengers resetting the engine by turning off the engine. If thermal protection is triggered in the IGN ON state, the motor estimated temperature will gradually decrease to "0" after the motor is left for about 60 minutes.

[0141] This embodiment monitors the motor voltage, motor speed and ambient temperature of the lifter motor; obtains the motor history temperature corresponding to the last monitoring cycle; determines the temperature change value within the cycle interval based on the motor voltage, motor speed and ambient temperature based on the preset motor temperature mathematical model; and determines the motor temperature based on the temperature change value and the motor history temperature; when the motor temperature is greater than or equal to the trigger threshold, limits the lifter motor to perform the preset motor action. In the above manner, the ECU monitors the motor temperature within each monitoring cycle, determines the motor temperature based on the temperature change value and the motor history temperature of the last monitoring cycle, and limits the execution of the preset motor action when the current motor temperature is detected to be too high, thereby improving the accuracy of the motor temperature. Since thermal protection is not achieved by disconnecting the circuit, the anti-pinch trigger function is logically excluded, solving the safety problem of being unable to prevent the reversal of pinching during the triggering of thermal protection, saving the hardware cost of the hardware thermal protector, and avoiding the impact of the inherent characteristics of hardware thermal protection such as pitting and high current.

[0142] In addition, an embodiment of the present invention further provides a storage medium, on which a lifter thermal protection control program is stored. When the lifter thermal protection control program is executed by a processor, the lifter thermal protection control method as described above is implemented.

[0143] Since the storage medium adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

[0144] Reference Figure 8 , Figure 8 It is a structural block diagram of the first embodiment of the lifter thermal protection control device of the present invention.

[0145] like Figure 8 As shown, the lifter thermal protection control device proposed in the embodiment of the present invention includes:

[0146] The monitoring module 10 is used to monitor the motor voltage, motor speed and ambient temperature of the lifter motor.

[0147] The calculation module 20 is used to determine the motor temperature according to the motor voltage, the motor speed and the ambient temperature by using a preset motor temperature mathematical model.

[0148] The limiting module 30 is used to limit the lifter motor to perform a preset motor action when the motor temperature is greater than or equal to a trigger threshold.

[0149] It should be understood that the above is only an example and does not constitute any limitation on the technical solution of the present invention. In specific applications, technicians in this field can make settings as needed, and the present invention does not limit this.

[0150] This embodiment monitors the motor voltage, motor speed and ambient temperature of the lifter motor; determines the motor temperature, trigger threshold and recovery threshold through a preset motor temperature mathematical model according to the motor voltage, motor speed and ambient temperature; and limits the lifter motor to perform preset motor actions when the motor temperature is greater than or equal to the trigger threshold. In the above manner, when the ECU detects that the motor temperature is too high, it limits the execution of preset motor actions. Since thermal protection is not achieved by disconnecting the circuit, the anti-pinch trigger function is logically excluded. When the glass encounters an object during the rising process, the ECU can still control the motor to drive the glass down to achieve the anti-pinch reversal function, solving the safety problem of being unable to prevent pinch reversal during the triggering of thermal protection. In addition, this embodiment does not achieve thermal protection by setting a hardware thermal protector such as a bimetallic strip or PTC, saving the hardware cost of the hardware thermal protector and avoiding the impact caused by the inherent characteristics of hardware thermal protection such as pitting and high current.

[0151] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of the present invention. In practical applications, technicians in this field can select part or all of them according to actual needs to achieve the purpose of the present embodiment, and no limitation is made here.

[0152] In addition, for technical details that are not described in detail in this embodiment, reference can be made to the lifter thermal protection control method provided in any embodiment of the present invention, and will not be repeated here.

[0153] In one embodiment, the calculation module 20 is also used to determine the motor limit temperature based on the motor voltage, the motor speed and the ambient temperature; determine the trigger threshold based on the motor limit temperature and a preset cycle temperature, wherein the preset cycle temperature is the temperature collected when the lifter is continuously actuated for a preset number of cycles.

[0154] In one embodiment, the lifter thermal protection control device further includes a limit release module;

[0155] The restriction release module is used to obtain the current motor voltage, the current motor speed and the current ambient temperature; obtain the current motor temperature through the preset motor temperature mathematical model according to the current motor voltage, the current motor speed and the current ambient temperature; and release the action restriction of the lifter motor when the current motor temperature is less than or equal to the recovery threshold.

[0156] In one embodiment, the calculation module 20 is further used to determine a recovery threshold value according to the motor limit temperature and a preset recovery temperature, wherein the preset recovery temperature is a temperature preset according to a preset number of cycles of continuous actuation of the lifter.

[0157] In one embodiment, the calculation module 20 is also used to obtain the historical temperature of the motor corresponding to the previous monitoring cycle; determine the temperature change value within the cycle interval based on the motor voltage, the motor speed and the ambient temperature based on a preset motor temperature mathematical model; and determine the motor temperature based on the temperature change value and the historical temperature of the motor.

[0158] In one embodiment, the calculation module 20 is also used to determine the motor heating power according to the motor voltage and the motor speed based on a preset motor temperature mathematical model; obtain a preset thermal resistance coefficient; determine the motor heat dissipation power according to the preset thermal resistance coefficient, the motor historical temperature and the ambient temperature; determine the target power according to the motor heating power and the motor heat dissipation power; obtain a preset specific heat capacity coefficient; determine the temperature change value within a periodic interval according to the preset specific heat capacity coefficient and the target power.

[0159] In one embodiment, the lifter thermal protection control device further includes an anti-pinch reversal module;

[0160] The anti-pinch reversal module is used to detect whether the lifter motor is in an anti-pinch reversal state when the motor temperature is greater than or equal to a trigger threshold; when the lifter motor is in the anti-pinch reversal state, control the lifter motor to reverse according to a preset anti-pinch reversal setting; when the lifter reverses and descends to a preset anti-pinch reversal distance, control the lifter motor to stop actuating; when the lifter motor stops actuating, control the lifter motor to enter a thermal protection state that limits the motor actuation.

[0161] In one embodiment, the lifter thermal protection control device further includes a pre-storage module;

[0162] The pre-storage module is used to determine the target motor temperature according to the ambient temperature through a preset motor temperature mathematical model after a preset time interval in the flameout state; compare the target motor temperature with the ambient temperature to obtain a first comparison result; select a corresponding target temperature according to the first comparison result, and store the target temperature as the estimated motor temperature; when ignition is detected, obtain the estimated motor temperature, and compare the estimated motor temperature as the motor temperature of the current monitoring period with the trigger threshold to obtain a second comparison result; and determine whether to control the lifter motor to enter a thermal protection state that limits motor actuation according to the second comparison result.

[0163] In one embodiment, the pre-storage module is further configured to store the target motor temperature as the estimated motor temperature when the target motor temperature is greater than the ambient temperature.

[0164] In one embodiment, the pre-storage module is further used to reset the target motor temperature to zero when the target motor temperature is less than or equal to the ambient temperature, and store the current ambient temperature as the estimated motor temperature at the next ignition.

[0165] In addition, it should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0166] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0167] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory (ROM) / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0168] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A lifter thermal protection control method, characterized in that: The lifter thermal protection control method comprises: Monitor the motor voltage, motor speed and ambient temperature of the lifter motor; Determine the motor temperature by using a preset motor temperature mathematical model according to the motor voltage, the motor speed and the ambient temperature; When the motor temperature is greater than or equal to a trigger threshold, limiting the lifter motor to perform a preset motor action; Before limiting the lifter motor to perform a preset motor action when the motor temperature is greater than or equal to the trigger threshold, the method further includes: Determine the motor limit temperature according to the motor voltage, the motor speed and the ambient temperature; Determine a trigger threshold value according to the motor limit temperature and a preset cycle temperature, wherein the preset cycle temperature is a temperature preset according to a preset number of cycles of continuous actuation of the lifter; The method further comprises: After a preset time interval in the flameout state, a target motor temperature is determined according to the ambient temperature by using a preset motor temperature mathematical model; Comparing the target motor temperature with the ambient temperature to obtain a first comparison result; Selecting a corresponding target temperature according to the first comparison result, and storing the target temperature as an estimated motor temperature; When ignition is detected, obtaining an estimated motor temperature, and comparing the estimated motor temperature as the motor temperature of the current monitoring period with the trigger threshold to obtain a second comparison result; It is determined whether to control the lifter motor to enter a thermal protection state that limits motor actuation according to the second comparison result.

2. The lifter thermal protection control method according to claim 1, characterized in that: After limiting the lifter motor to perform a preset motor action when the motor temperature is greater than or equal to a trigger threshold, the method further includes: Get the current motor voltage, current motor speed and current ambient temperature; Obtaining the current motor temperature through the preset motor temperature mathematical model according to the current motor voltage, the current motor speed and the current ambient temperature; When the current motor temperature is less than or equal to a recovery threshold, the action restriction of the lifter motor is released.

3. The lifter thermal protection control method according to claim 2, characterized in that: When the current motor temperature is less than or equal to the recovery threshold, before releasing the action restriction of the lifter motor, the method further includes: A recovery threshold is determined according to the motor limit temperature and a preset recovery temperature, wherein the preset recovery temperature is a temperature preset according to a preset recovery time.

4. The lifter thermal protection control method according to claim 1, characterized in that: Determining the motor temperature according to the motor voltage, the motor speed and the ambient temperature by using a preset motor temperature mathematical model includes: Get the historical temperature of the motor corresponding to the last monitoring cycle; Determine the temperature change value within a periodic interval based on the motor voltage, the motor speed and the ambient temperature based on a preset motor temperature mathematical model; The motor temperature is determined according to the temperature change value and the motor historical temperature.

5. The lifter thermal protection control method according to claim 4, characterized in that: Determining a temperature change value within a periodic interval based on a preset motor temperature mathematical model according to the motor voltage, the motor speed, and the ambient temperature includes: Determine the motor heating power according to the motor voltage and the motor speed based on a preset motor temperature mathematical model; Obtaining a preset thermal resistance coefficient, and determining the heat dissipation power of the motor according to the preset thermal resistance coefficient, the historical temperature of the motor and the ambient temperature; Determine the target power according to the heating power of the motor and the heat dissipation power of the motor; Obtaining a preset specific heat capacity coefficient; The temperature change value within the periodic interval is determined according to the preset specific heat capacity coefficient and the target power.

6. The lifter thermal protection control method according to any one of claims 1 to 5, characterized in that: After determining the motor temperature by using a preset motor temperature mathematical model according to the motor voltage, the motor speed and the ambient temperature, the method further includes: When the motor temperature is greater than or equal to a trigger threshold, detecting whether the lifter motor is in an anti-pinch reversal state; When the lifter motor is in an anti-pinch reversal state, controlling the lifter motor to reverse according to a preset anti-pinch reversal setting; When the lifter reverses and descends to a preset anti-pinch reversal distance, the lifter motor is controlled to stop operating; When the lifter motor stops actuating, the lifter motor is controlled to enter a thermal protection state that limits the actuation of the motor.

7. The lifter thermal protection control method according to claim 6, characterized in that: The method further comprises: selecting a corresponding target temperature according to the first comparison result, and storing the target temperature as an estimated motor temperature. When the target motor temperature is greater than the ambient temperature, the target motor temperature is stored as the motor estimated temperature.

8. The lifter thermal protection control method according to claim 6, characterized in that: The method further comprises: selecting a corresponding target temperature according to the first comparison result, and storing the target temperature as an estimated motor temperature. When the target motor temperature is less than or equal to the ambient temperature, the target motor temperature is reset to zero, and the current ambient temperature is stored as the motor estimated temperature at the next ignition.

9. A heat protection control device for a lifter, characterized in that: The lifter thermal protection control device comprises: A monitoring module, used to monitor the motor voltage, motor speed and ambient temperature of the lifter motor; A calculation module, used to determine the motor temperature according to the motor voltage, the motor speed and the ambient temperature by using a preset motor temperature mathematical model; A limiting module, used for limiting the lifter motor to perform a preset motor action when the motor temperature is greater than or equal to a trigger threshold; The calculation module is further used to determine the motor limit temperature according to the motor voltage, the motor speed and the ambient temperature; determine the trigger threshold according to the motor limit temperature and a preset cycle temperature, wherein the preset cycle temperature is a temperature preset according to a preset number of cycles of continuous actuation of the lifter; The calculation module is further used to determine the motor limit temperature according to the motor voltage, the motor speed and the ambient temperature; Determine a trigger threshold value according to the motor limit temperature and a preset cycle temperature, wherein the preset cycle temperature is a temperature preset according to a preset number of cycles of continuous actuation of the lifter; The calculation module is further used to determine the target motor temperature according to the ambient temperature by using a preset motor temperature mathematical model after a preset time interval in the flameout state; Comparing the target motor temperature with the ambient temperature to obtain a first comparison result; Selecting a corresponding target temperature according to the first comparison result, and storing the target temperature as an estimated motor temperature; When ignition is detected, obtaining an estimated motor temperature, and comparing the estimated motor temperature as the motor temperature of the current monitoring period with the trigger threshold to obtain a second comparison result; It is determined whether to control the lifter motor to enter a thermal protection state that limits motor actuation according to the second comparison result.

10. A lifter thermal protection control device, characterized in that: The device comprises: a memory, a processor, and a lifter thermal protection control program stored in the memory and executable on the processor, wherein the lifter thermal protection control program is configured to implement the lifter thermal protection control method according to any one of claims 1 to 8.

11. A storage medium, characterized in that: The storage medium stores a lifter thermal protection control program, and when the lifter thermal protection control program is executed by the processor, the lifter thermal protection control method according to any one of claims 1 to 8 is implemented.

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