An inertial displacement calibration method, device, medium, controller and lifting assembly

Abstract

The present application belongs to the technical field of intelligent control, and particularly relates to an inertial displacement calibration method, device, medium, controller and lifting assembly. By configuring a physical model or a system to be calibrated, after n times of accumulated point motion and return motion, the ripple compensation number Ci in the motor drive control signal and its statistical value are detected, and the displacement inertia coefficient after route switching is calibrated in combination with the deviation value in the return motion. In addition, the optimized value of the parameter to be calibrated can also be obtained through temperature and voltage compensation. The method and product embodiment of the present application adopt sensorless control technology (SLC), effectively calibrate the ripple number of the motor after route switching, and can further obtain the corresponding displacement or angle estimation value of the position control system. After the method or product of the present application is adopted, the related drive control system is simplified, the control precision is higher, the failure rate is lower, and the operation reliability is higher. At the same time, better technical and economic indicators are also taken into account.

Description

Technical Field

[0001] This invention belongs to the field of intelligent control technology, and particularly relates to an inertial displacement calibration method, device, medium, controller and lifting assembly. Background Technology

[0002] Sensorless control technology (SLC) eliminates the need for position sensors and instead uses other relevant signals to indirectly detect and control position. This technology simplifies the structure and composition of the control system, achieving better technical and economic indicators while reducing the system's failure rate and increasing its reliability.

[0003] However, in application scenarios where ripple is used as the detection object, especially in position control systems using DC brushed motors as the actuators, the system loop is cut off, making it difficult to detect ripple using existing methods; consequently, the position control accuracy in the above process is reduced or the system is out of control. Summary of the Invention

[0004] This invention discloses an inertial displacement calibration method, including a first physical model construction step and a second inertial coefficient calibration step; the first physical model construction step configures a physical model or uses the system to be calibrated to replace the physical model to implement the corresponding test process.

[0005] Specifically, the physical model or the system to be calibrated may include a first node, a second node, a third node, a fourth node, and / or a fifth node; wherein, the first node is electrically connected to the positive terminal of the power supply, and the fifth node is electrically connected to the negative terminal of the power supply; the third node and the fourth node are short-circuited to each other or electrically connected via a resistor element; a power input terminal of a drive motor or electromechanical actuator is connected between the second node and the third node; the drive motor or electromechanical actuator includes at least one hard stop position, and when the drive motor or electromechanical actuator runs to the hard stop position, the drive motor or electromechanical actuator is stalled or in a stalled state.

[0006] Furthermore, the physical model also includes a second switching element and a fifth switching element; both the second and fifth switching elements contain a single-pole three-throw structure; the second and fifth switching elements are linked through interlocking, so that the excitation of the second and third nodes is in the first, second, or third state.

[0007] Specifically, when the second switching element and the fifth switching element switch between the first state and the second state, the polarities of their second node and third node are reversed; when the second switching element and the fifth switching element are in the third state, the second node and the third node are in a state of disconnected electrical connection with the power supply.

[0008] Furthermore, the second inertia coefficient calibration step is executed in conjunction with the second and fifth switching elements by jogging control at the aforementioned hard stop position, and the second inertia coefficient calibration step is executed intermittently from the third state to the first or second state a preset number of times n, where n is a positive integer.

[0009] During this period, the ripple compensation number Ci (400) of the drive motor or electromechanical actuator is recorded when each intermittent transition is performed under n intermittent transitions; the ripple compensation number Ci can be recorded or stored by the control unit or vehicle electronic control unit ECU.

[0010] Furthermore, after n intermittent jumps, the drive motor or electromechanical actuator is controlled to return to the hard stop position through the linkage of its second and fifth switching elements, and the position offset y of this continuous return action is recorded; the calibrated inertia coefficient Kx2 is output, such that:

[0011] Kx2 = (Kx1) * (x) / (xy); where,

[0012] x is the sum of the ripple compensation numbers Ci during n intermittent jumps, i.e., sum; Kx1 is the preset initial value of the inertia coefficient (801).

[0013] Specifically, its drive motor or electromechanical actuator can be a brushed DC motor; its second switching element and fifth switching element can be a relay or a controllable electrical contact.

[0014] Furthermore, the inertial displacement calibration method may also include a third iterative optimization compensation step; the third iterative optimization compensation step uses the calibrated inertial coefficient Kx2 obtained in the second inertial coefficient calibration step as the initial value of the inertial coefficient, i.e., Kx1, and iteratively executes the second inertial coefficient calibration step m times; records the minimum value among the m calibrated inertial coefficients Kx2, and outputs the minimum value, so that the minimum value becomes the optimized inertial coefficient, i.e., Kx.

[0015] Furthermore, the ambient temperature t of the physical model or the system to be calibrated can be changed until a steady state is reached. The second inertia coefficient calibration step and / or the third iterative optimization compensation step can be repeated to record or output the calibrated inertia coefficient Kx2 and / or the optimized inertia coefficient Kx at different ambient temperatures t.

[0016] It can also change the power supply voltage VS of its physical model or the system to be calibrated, and repeatedly execute the second inertia coefficient calibration step and / or the third iterative optimization compensation step, while recording or outputting the calibrated inertia coefficient Kx2 and / or the optimized inertia coefficient Kx under different power supply voltages VS.

[0017] Specifically, its second inertia coefficient calibration step can also obtain the motor speed V and armature current I of its drive motor or electromechanical actuator, and output its inertial displacement value S, so that:

[0018] S = (Ky) * (V * V) / I; where Ky is the calibrated inertia coefficient Kx2 or the optimized inertia coefficient, i.e., Kx.

[0019] Furthermore, this embodiment of the invention also discloses a testing device, including a first physical model access unit and a second inertia coefficient calibration unit; wherein: the first physical model access unit is electrically connected to a physical model or a system to be calibrated; the physical model or system to be calibrated includes a first node, a second node, a third node, a fourth node and / or a fifth node; its first node is electrically connected to the positive terminal of the power supply, and its fifth node is electrically connected to the negative terminal of the power supply; its third node and fourth node are short-circuited to each other or electrically connected via a resistive element; a power input terminal of a drive motor or electromechanical actuator is connected between its second node and third node; its drive motor or electromechanical actuator includes at least one hard stop position, and when its drive motor or electromechanical actuator runs to the hard stop position, its drive motor or electromechanical actuator is stalled or in a stalled state.

[0020] Furthermore, its physical model also includes a second switching element and a fifth switching element; both the second and fifth switching elements include a single-pole three-throw structure; the second and fifth switching elements are linked by interlocking, so that the excitation of their second and third nodes is in a first state, a second state, or a third state; when switching between the first and second states, the polarities of their second and third nodes are reversed; in the third state, their second and third nodes are disconnected from the power supply.

[0021] Furthermore, its second inertia coefficient calibration unit jogs the second and fifth switching elements from the aforementioned hard stop position, intermittently switching from the third state to the first or second state a preset number of times n, where n is a positive integer; simultaneously, it records the ripple compensation number Ci of its drive motor or electromechanical actuator during each of the n intermittent switching cycles; this ripple compensation number Ci can be recorded or stored by the control unit or vehicle electronic control unit (ECU); then, after the n intermittent switching cycles end, its second and fifth switching elements control its drive motor or electromechanical actuator to return to its hard stop position, and record the position offset y of this continuous return action; outputting the calibrated inertia coefficient Kx2, such that:

[0022] Kx2 = (Kx1) * (x) / (xy); where,

[0023] x is the sum of the ripple compensation numbers Ci during n intermittent jumps, i.e., sum; Kx1 is the preset initial value of the inertia coefficient.

[0024] Specifically, its drive motor or electromechanical actuator can be a brushed DC motor; its second switching element and fifth switching element can be a relay or a controllable electrical contact.

[0025] Furthermore, the inertial displacement calibration method may also include a third iterative optimization compensation unit; using the calibrated inertial coefficient Kx2 obtained by its second inertial coefficient calibration unit as the initial value of the inertial coefficient, i.e. Kx1, and iteratively executing the test process of its second inertial coefficient calibration unit m times; recording the minimum value among the m calibrated inertial coefficients Kx2, and outputting the minimum value, so that the minimum value becomes the optimized inertial coefficient, i.e. Kx.

[0026] Furthermore, the physical model or the ambient temperature t of the system to be calibrated can be changed until a steady state is reached. The second inertia coefficient calibration unit and / or the third iterative optimization compensation unit can be repeatedly started to record or output the calibrated inertia coefficient Kx2 and / or the optimized inertia coefficient Kx under different ambient temperatures t.

[0027] In addition, the power supply voltage VS of the physical model or the system to be calibrated can be changed, and its second inertia coefficient calibration unit and / or third iterative optimization compensation unit can be repeatedly started to record or output the calibrated inertia coefficient Kx2 and / or optimized inertia coefficient Kx under different power supply voltages VS.

[0028] Specifically, its second inertia coefficient calibration unit can obtain the motor speed V and armature current I of the drive motor or electromechanical actuator, and output the inertial displacement value S, such that:

[0029] S = (Ky) * (V * V) / I; where Ky is the calibrated inertia coefficient Kx2 or the optimized inertia coefficient, i.e., Kx.

[0030] Furthermore, embodiments of the present invention also disclose a computer storage medium, including a storage medium body for storing a computer program; when the computer program is executed by a microprocessor, it can implement any inertial displacement calibration method.

[0031] Furthermore, embodiments of the present invention also disclose a controller, including any of the test devices described above; and / or any of the computer storage media described above.

[0032] Similarly, embodiments of the present invention also disclose a window lift assembly, including any of the above-mentioned testing devices; and / or any of the above-mentioned computer storage media; and / or any of the above-mentioned controllers.

[0033] In summary, the method and product of this invention, by configuring a physical model or the system to be calibrated, after accumulating n jog and return actions, calibrates the displacement inertia coefficient after the circuit switching by detecting the ripple compensation number Ci and its statistical value in the motor drive control signal, and combining it with the deviation value in the return action; in addition, optimized values ​​of the parameters to be calibrated can be obtained through temperature and voltage compensation; the method and product of this invention adopt sensorless control technology SLC to effectively calibrate the ripple number of the motor after the circuit switching, thereby obtaining the corresponding displacement or rotation angle estimate of the position control system; after adopting the method or product of this invention, the relevant drive control system is simplified, the control accuracy is higher, the failure rate is lower, and the operational reliability is higher; at the same time, it also takes into account better technical and economic indicators.

[0034] It should be noted that the terms "first," "second," and similar terms used in this article are merely for describing the constituent elements of the technical solution and do not constitute a limitation on the technical solution, nor should they be interpreted as an indication or implication of the importance of the corresponding elements; elements with terms such as "first," "second," or similar terms indicate that at least one of the elements is included in the corresponding technical solution. Attached Figure Description

[0035] To more clearly illustrate the technical solution of the present invention and facilitate a further understanding of its technical effects, features, and objectives, the present invention will be described in detail below with reference to the accompanying drawings. The drawings constitute an essential part of the specification and are used together with Embodiment 1 of the present invention to illustrate the technical solution of the present invention, but do not constitute a limitation on the present invention.

[0036] The same reference numerals in the attached diagrams represent the same parts, specifically:

[0037] Figure 1 This is an electrical schematic diagram of the physical model of the method and product embodiments of the present invention.

[0038] Figure 2 This is a schematic diagram showing the change in ripple before and after circuit switching in the method and product embodiments of the present invention.

[0039] Figure 3 Table 1 shows the relationship between the ripple compensation number Ci and the displacement S in the embodiments of the method and product of the present invention.

[0040] Figure 4 Table 2 shows the relationship between the ripple compensation number Ci and the displacement S in the embodiments of the method and product of the present invention.

[0041] Figure 5 This is a schematic diagram of the process structure of an embodiment of the method of the present invention.

[0042] Figure 6 This is a schematic diagram of the structural composition of an embodiment of the testing device of the present invention.

[0043] Figure 7 This is a schematic diagram of the composition structure of an embodiment of the product of the present invention. Figure 1 .

[0044] Figure 8 This is a schematic diagram of the composition structure of an embodiment of the product of the present invention. Figure 2 .

[0045] Figure 9 This is a schematic diagram of the composition structure of an embodiment of the product of the present invention. Figure 3 .

[0046] in:

[0047] 001 - First node, i.e., the positive terminal of the power supply;

[0048] 002 - Second node, i.e., the first terminal of the motor;

[0049] 003 - The third node, i.e., the second terminal of the motor;

[0050] 004 - Fourth Node;

[0051] 010 - Fifth Node;

[0052] 100-Physical Model;

[0053] 101 - DC power supply;

[0054] 102 - Second switching element;

[0055] 103 - Drive motor;

[0056] 104 - Resistive element;

[0057] 105 - Fifth switching element;

[0058] 200 - Route change time;

[0059] 201 - Ripple diagram of the first or second state before switching;

[0060] 202 - Schematic diagram of ripple in the third state after circuit switching;

[0061] 300 - Displacement parameters;

[0062] 333 - Displacement sample set during jogging;

[0063] 400 - Ripple compensation number Ci;

[0064] 444 - Total ripple compensation number x, which is the sum of the ripple compensation numbers Ci during each jog;

[0065] 500 - Position offset y;

[0066] 600-Inertial displacement calibration method;

[0067] 601 - Steps for constructing the first physical model;

[0068] 602 - Second Inertia Coefficient Calibration Steps;

[0069] 603 - Third Iteration Optimization Compensation Steps;

[0070] 701 - Calibration Input;

[0071] 702 - Calibration Intermediate Results;

[0072] 703 - Calibration and optimization results;

[0073] 800 - Test apparatus;

[0074] 801 - Initial value of inertia coefficient;

[0075] 802 - Calibrated inertia coefficient Kx2;

[0076] 900 - Vehicles;

[0077] 901 - Controller;

[0078] 903 - Computer storage media;

[0079] 909 - Window lift assembly. Detailed Implementation

[0080] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Of course, the specific embodiments described below are merely illustrative of the technical solutions of the present invention, and not intended to limit the invention. Furthermore, the parts described in the embodiments or drawings are merely illustrative examples of relevant parts of the present invention, and not the entirety of the invention.

[0081] like Figure 1 , Figure 5 The inertial displacement calibration method shown includes a first physical model construction step 601 and a second inertial coefficient calibration step 602; wherein, the first physical model construction step 601 configures a physical model 100 or uses a system to be calibrated to replace the physical model 100; the physical model 100 or the system to be calibrated includes a first node 001, a second node 002, a third node 003, a fourth node 004 and / or a fifth node 010.

[0082] The first node 001 is electrically connected to the positive terminal of the power supply 101, and the fifth node 010 is electrically connected to the negative terminal of the power supply 101; the third node 003 and the fourth node 004 are short-circuited to each other or electrically connected via a resistor element 104; the power input terminal of the drive motor 103 or the electromechanical actuator is connected between the second node 002 and the third node 003; the drive motor 103 or the electromechanical actuator includes at least one hard stop position; when in the hard stop position, the drive motor 103 or the electromechanical actuator is stalled or in a stalled state.

[0083] like Figure 1 , Figure 5 As shown, the physical model 100 also includes a second switching element 102 and a fifth switching element 105; both the second switching element 102 and the fifth switching element 105 include a single-pole three-throw structure; the second switching element 102 and the fifth switching element 105 are linked by interlocking, so that the excitation of the second node 002 and the third node 003 is in the first state, the second state or the third state.

[0084] Specifically, during the transition between the first and second states, the polarity of the second node 002 and the third node 003 is reversed; in the third state, the second node 002 and the third node 003 are disconnected from the power supply 101; in the second inertia coefficient calibration step 602, the second switching element 102 and the fifth switching element 105 are jogged from the hard stop position to the first or second state intermittently switch for a preset number of times n, where n is a positive integer; the ripple compensation number Ci, i.e., 400, of the drive motor 103 or electromechanical actuator during each intermittent switch is recorded; the ripple compensation number Ci is recorded or stored by the control unit 901 or the vehicle electronic control unit ECU.

[0085] Furthermore, such as Figure 3 , Figure 4 After n intermittent jumps, the drive motor 103 or electromechanical actuator is controlled to return to the hard stop position via the second switching element 102 and the fifth switching element 105, and the position offset y of this continuous return action is recorded, i.e., 500; the calibrated inertia coefficient Kx2 is output, such that:

[0086] Kx2 = (Kx1) * (x) / (xy); where,

[0087] x is the sum of the ripple compensation numbers Ci during n intermittent jumps, i.e., sum444, and Kx1 is the preset initial value of the inertia coefficient 801.

[0088] Specifically, its drive motor 103 or electromechanical actuator includes a brushed DC motor; the second switching element 102 and the fifth switching element 105 may be relays or controllable electrical contacts.

[0089] Furthermore, such as Figure 5 As shown, the inertial displacement calibration method also includes a third iterative optimization compensation step 603;

[0090] The third iterative optimization compensation step 603 uses the calibrated inertial coefficient Kx2 obtained in the second inertial coefficient calibration step 602 as the initial value of the inertial coefficient 801, i.e., Kx1, and iteratively executes the second inertial coefficient calibration step m times; records the minimum value among the m calibrated inertial coefficients Kx2, and outputs the minimum value, so that the minimum value becomes the optimized inertial coefficient, i.e., Kx.

[0091] Furthermore, such as Figure 1 As shown, the ambient temperature t of the physical model 100 or the system to be calibrated can be changed to reach a steady state. The second inertia coefficient calibration step 602 and / or the third iterative optimization compensation step 603 can be repeatedly executed to record or output the calibrated inertia coefficient Kx2 and / or the optimized inertia coefficient Kx under different ambient temperatures t.

[0092] Alternatively, the power supply voltage VS of the physical model 100 or the system to be calibrated can be changed, and the second inertia coefficient calibration step 602 and / or the third iterative optimization compensation step 603 can be repeatedly executed to record or output the calibrated inertia coefficient Kx2 and / or the optimized inertia coefficient Kx under different power supply voltages VS.

[0093] Specifically, its second inertia coefficient calibration step 602 can obtain the motor speed V and armature current I of the drive motor 103 or electromechanical actuator, and output the inertial displacement value S, such that:

[0094] S = (Ky) * (V * V) / I; where Ky is the calibrated inertia coefficient Kx2 or the optimized inertia coefficient, i.e., Kx.

[0095] Furthermore, such as Figure 6 , Figure 1 The test device 800 shown includes a first physical model access unit 810 and a second inertia coefficient calibration unit 820; wherein, the first physical model access unit 810 is electrically connected to a physical model 100 or a system to be calibrated; the physical model 100 or the system to be calibrated includes a first node 001, a second node 002, a third node 003, a fourth node 004 and / or a fifth node 010.

[0096] The first node 001 is electrically connected to the positive terminal of the power supply 101, and the fifth node 010 is electrically connected to the negative terminal of the power supply 101; the third node 003 and the fourth node 004 are short-circuited to each other or electrically connected via a resistor element 104; the power input terminal of the drive motor 103 or the electromechanical actuator is connected between the second node 002 and the third node 003; the drive motor 103 or the electromechanical actuator includes at least one hard stop position, and when in the hard stop position, the drive motor 103 or the electromechanical actuator is stalled or in a stalled state.

[0097] Furthermore, the physical model 100 may also include a second switching element 102 and a fifth switching element 105; both the second switching element 102 and the fifth switching element 105 include a single-pole three-throw structure; the second switching element 102 and the fifth switching element 105 are linked by interlocking, so that the excitation of the second node 002 and the third node 003 is in a first state, a second state, or a third state; when the first state and the second state are switched, the polarity of the second node 002 and the third node 003 is reversed; in the third state, the second node 002 and the third node 003 are disconnected from the power supply 101.

[0098] Furthermore, the second inertia coefficient calibration unit 820 jogs the second switching element 102 and the fifth switching element 105 from the aforementioned hard stop position, and intermittently transitions from the third state to the first or second state a preset number of times n, where n is a positive integer; it records the ripple compensation number Ci of the drive motor 103 or electromechanical actuator during each intermittent transition under n intermittent transitions; the ripple compensation number Ci is recorded or stored by the control unit 901 or the vehicle electronic control unit ECU; after the n intermittent transitions end, the drive motor 103 or electromechanical actuator is controlled to return to the hard stop position through the second switching element 102 and the fifth switching element 105, and the position offset y of this continuous return action is recorded; the calibrated inertia coefficient Kx2, i.e., 802, is output, such that:

[0099] Kx2 = (Kx1) * (x) / (xy); where,

[0100] x is the sum of the ripple compensation numbers Ci (400) during n intermittent jumps, i.e., sum444, and Kx1 is the preset initial value of the inertia coefficient 801.

[0101] Specifically, the drive motor 103 or electromechanical actuator can be a brushed DC motor; the second switching element 102 and the fifth switching element 105 can be relays or controllable electrical contacts.

[0102] Furthermore, this method may also include a third iterative optimization compensation unit 830; the third iterative optimization compensation unit 830 uses the calibrated inertial coefficient Kx2 obtained by the second inertial coefficient calibration unit 820 as the initial value 801 of the inertial coefficient, i.e., Kx1, and iteratively executes the second inertial coefficient calibration unit m times; records the minimum value among the m calibrated inertial coefficients Kx2, and outputs the minimum value, so that the minimum value becomes the optimized inertial coefficient, i.e., Kx.

[0103] The system can change the ambient temperature t of the physical model 100 or the system to be calibrated until it reaches a steady state, and repeatedly start the second inertia coefficient calibration unit 820 and / or the third iterative optimization compensation unit 830 to record or output the calibrated inertia coefficient Kx2 and / or the optimized inertia coefficient Kx at different ambient temperatures t.

[0104] Alternatively, the power supply voltage VS of the physical model 100 or the system to be calibrated can be changed, and the second inertia coefficient calibration unit 820 and / or the third iterative optimization compensation unit 830 can be repeatedly started to record or output the calibrated inertia coefficient Kx2 and / or the optimized inertia coefficient, i.e., Kx, under different power supply voltages VS.

[0105] Specifically, its second inertia coefficient calibration unit 820 can acquire the motor speed V and armature current I of the drive motor 103 or the electromechanical actuator, and output the inertial displacement value S, such that:

[0106] S = (Ky) * (V * V) / I; where Ky is the calibrated inertia coefficient Kx2 or the optimized inertia coefficient, i.e., Kx.

[0107] Furthermore, such as Figure 7 , 8 The computer storage medium 903 shown in Figure 9 includes a storage medium body for storing a computer program; when the computer program is executed by the microprocessor, it implements any of the above-described inertial displacement calibration methods.

[0108] In addition, such as Figure 7 , 8 The controller 901 shown in Figure 9 includes any of the test devices 800 described above; and / or any of the computer storage media 903 described above; similarly, as Figure 7 , 8 The window lift assembly 909 shown in Figure 9 includes any of the above-mentioned test devices 800; and / or any of the above-mentioned computer storage media 903; and / or any of the above-mentioned controllers 901.

[0109] For example, in such Figure 7 , 8 In the window lift assembly 909 of vehicle 9, its drive motor 103 rotates and can generate such as Figure 2The ripple signal 201; at this time, the controller 901 or the ECU controller can collect the ripple signal; when the rotor of the drive motor 103 rotates one revolution, eight ripple signals can be generated; when the power supply to the drive motor 103 is disconnected, due to inertia, it will continue to move forward a distance S.

[0110] Subsequently, if the switching element, i.e., the relay, cuts off the power supply to the drive motor 103 at time 200, the ripple signal 202 loses its original regular variation under the influence of the back electromotive force. However, according to the kinetic energy theorem, the corresponding ripple number can be determined as follows:

[0111] On the one hand, FS = (1 / 2)m*V*V,

[0112] On the other hand, F=K*I

[0113] Where F is the force, S is the displacement, m is the mass, V is the velocity, I is the current, and K is the proportionality coefficient;

[0114] Therefore, we have: S = (1 / 2) * (m * V * V) / (K * I) = (Kx) * (V * V) / I;

[0115] Where Kx is the inertia coefficient.

[0116] At this point, if the motor is continuously moved downwards n times and the ripple compensation value Ci is recorded each time, then the motor is controlled to move upwards to the hard stop position, and the current position offset y is recorded.

[0117] Therefore, the total compensation is the sum of the ripple compensation numbers Ci during the n intermittent jumps; at this time,

[0118] (Kx2)=(Kx1)*x / (xy).

[0119] In actual calibration, the test can be completed at room temperature and 13.5V; the ripple compensation data when the window stops moving after the test can be obtained as follows: Figure 3 , Figure 4 The data.

[0120] When the drive motor 103 moves upward to the hard stop, the ripple count is cleared to 0; it is manually moved downward once and then stopped, and then manually moved downward once and then stopped again. This operation is repeated 15 times, and the ripple count of each compensation is recorded.

[0121] If the initial value of Kx is 200, then its calibrated inertia coefficient Kx2 is 317. By repeating the above calibration process and minimizing the ripple number when zeroing, the optimized inertia coefficient Kx can be obtained.

[0122] In summary, the calculation scheme disclosed in the method and product embodiments of this invention is used to calibrate the displacement caused by inertia after the switching element, i.e., the relay, is disconnected. Since a fixed number of ripples are generated for each rotation of the motor or actuator, the angle and displacement can be converted according to a fixed ratio, thereby also realizing the calibration of the rotation angle under the action of inertia. This allows the number of ripples after the switching element disconnects the circuit or the corresponding inertia coefficient to be determined, thus improving the accuracy of the position control of the motor or actuator.

[0123] It should be noted that the above embodiments are only for more clearly illustrating the technical solution of the present invention. Those skilled in the art will understand that the implementation of the present invention is not limited to the above content. Any obvious changes, substitutions or replacements made based on the above content do not exceed the scope of the technical solution of the present invention. Other implementations will also fall within the scope of the present invention without departing from the concept of the present invention.

Claims

1. A method for calibrating inertial displacement, characterized in that, This includes the first physical model construction step (601) and the second inertia coefficient calibration step (602); wherein: The first physical model construction step (601) involves configuring a physical model (100) or replacing the physical model (100) with a system to be calibrated; the physical model (100) or the system to be calibrated includes a first node (001), a second node (002), a third node (003), a fourth node (004), and / or a fifth node (010); the first node (001) is electrically connected to the positive terminal of the power supply (101), and the fifth node (010) is electrically connected to the negative terminal of the power supply (101). The third node (003) and the fourth node (004) are short-circuited or electrically connected via a resistor element (104); a power input terminal of a drive motor (103) or an electromechanical actuator is connected between the second node (002) and the third node (003); the drive motor (103) or the electromechanical actuator includes at least one hard stop position, at which the drive motor (103) or the electromechanical actuator is stalled or in a stalled state; The physical model (100) further includes a second switching element (102) and a fifth switching element (105); both the second switching element (102) and the fifth switching element (105) include a single-pole three-throw structure; the second switching element (102) and the fifth switching element (105) are linked by interlocking, and the excitation of the second node (002) and the third node (003) is in a first state, a second state, or a third state; when the first state and the second state are switched, the polarity of the second node (002) and the third node (003) is reversed; in the third state, the second node (002) and the third node (003) are disconnected from the power supply (101); The second inertia coefficient calibration step (602) involves jogging the second switching element (102) and the fifth switching element (105) from the hard stop position to intermittently switch from the third state to the first state or the second state a preset number of times n, where n is a positive integer; Record the ripple compensation number Ci (400) of the drive motor (103) or the electromechanical actuator when performing each intermittent transition under n intermittent transitions; the ripple compensation number Ci (400) is recorded or stored by the control unit (901) or the vehicle electronic control unit (ECU); After n intermittent jumps, the drive motor (103) or the electromechanical actuator is controlled to return to the hard stop position via the second switching element (102) and the fifth switching element (105), and the position offset y (500) of this continuous return action is recorded; the calibrated inertia coefficient Kx2 (802) is output, such that: Kx2 = (Kx1) * (x) / (xy); where, x is the sum of the ripple compensation numbers Ci (400) for each of the n intermittent jumps, sum (444), and Kx1 is the preset initial value of the inertia coefficient (801).

2. The inertial displacement calibration method as described in claim 1, wherein: The drive motor (103) or electromechanical actuator includes a brushed DC motor; the second switching element (102) and the fifth switching element (105) are relays or controllable electrical contacts.

3. The inertial displacement calibration method as described in claim 1 or 2 further includes a third iterative optimization compensation step (603). The third iterative optimization compensation step (603) uses the calibrated inertia coefficient Kx2 (802) obtained in the second inertia coefficient calibration step (602) as the initial value (801) of the inertia coefficient, i.e. Kx1, and iteratively executes the second inertia coefficient calibration step (602) m times. Record the minimum values ​​among the m calibrated inertia coefficients Kx2 (802), and output the minimum values ​​so that the minimum values ​​become the optimized inertia coefficients, i.e., Kx.

4. The inertial displacement calibration method as described in claim 3, wherein: Change the physical model (100) or the ambient temperature t of the system to be calibrated and reach a steady state, repeat the second inertia coefficient calibration step (602) and / or the third iterative optimization compensation step (603), and record or output the calibrated inertia coefficient Kx2 (802) and / or the optimized inertia coefficient, i.e. Kx, under different ambient temperatures t.

5. The inertial displacement calibration method as described in claim 4, wherein: Change the physical model (100) or the power supply voltage VS of the system to be calibrated, repeat the second inertia coefficient calibration step (602) and / or the third iterative optimization compensation step (603), and record or output the calibrated inertia coefficient Kx2 (802) and / or the optimized inertia coefficient, i.e. Kx, under different power supply voltages VS.

6. The inertial displacement calibration method as described in any one of claims 1, 2, 4 or 5, wherein: The second inertia coefficient calibration step (602) obtains the motor speed V and armature current I of the drive motor (103) or the electromechanical actuator, and outputs the inertial displacement value S, such that: S = (Ky) * (V * V) / I; Ky is the calibrated inertia coefficient Kx2 or the optimized inertia coefficient, i.e., Kx.

7. A testing device (800), comprising a first physical model access unit (810) and a second inertia coefficient calibration unit (820), wherein: The first physical model access unit (810) is electrically connected to a physical model (100) or a calibration system; the physical model (100) or the calibration system includes a first node (001), a second node (002), a third node (003), a fourth node (004), and / or a fifth node (010); the first node (001) is electrically connected to the positive terminal of the power supply (101), and the fifth node (010) is electrically connected to the negative terminal of the power supply (101); the third node (003) and the fourth node (004) are short-circuited to each other or electrically connected via a resistor element (104); a power input terminal of a drive motor (103) or an electromechanical actuator is connected between the second node (002) and the third node (003); the drive motor (103) or the electromechanical actuator includes at least one hard stop position, at which the drive motor (103) or the electromechanical actuator is stalled or in a stalled state; The physical model (100) further includes a second switching element (102) and a fifth switching element (105); both the second switching element (102) and the fifth switching element (105) include a single-pole three-throw structure; the second switching element (102) and the fifth switching element (105) are linked by interlocking, and the excitation of the second node (002) and the third node (003) is in a first state, a second state, or a third state; when the first state and the second state are switched, the polarity of the second node (002) and the third node (003) is reversed; in the third state, the second node (002) and the third node (003) are disconnected from the power supply (101); The second inertia coefficient calibration unit (820) jogs the second switching element (102) and the fifth switching element (105) from the hard stop position to intermittently switch from the third state to the first state or the second state a preset number of times n, where n is a positive integer; records the ripple compensation number Ci (400) of the drive motor (103) or the electromechanical actuator when performing each intermittent switch under n intermittent switches; the ripple compensation number Ci (400) is recorded or stored by the control unit (901) or the vehicle electronic control unit (ECU); after the n intermittent switches end, the second switching element (102) and the fifth switching element (105) control the drive motor (103) or the electromechanical actuator to return to the hard stop position, and records the position offset y (500) of this continuous return action; outputs the calibrated inertia coefficient Kx2 (802), such that: Kx2 = (Kx1) * (x) / (xy); where, x is the sum of the ripple compensation numbers Ci (400) for each of the n intermittent jumps, sum (444), and Kx1 is the preset initial value of the inertia coefficient (801).

8. The test apparatus (800) as claimed in claim 7, wherein: The drive motor (103) or electromechanical actuator includes a brushed DC motor; the second switching element (102) and the fifth switching element (105) are relays or controllable electrical contacts.

9. The testing apparatus as described in claim 7 or 8 further includes a third iterative optimization compensation unit (830). The third iterative optimization compensation unit (830) uses the calibrated inertia coefficient Kx2 (802) obtained by the second inertia coefficient calibration unit (820) as the initial value (801) of the inertia coefficient, i.e. Kx1, and iteratively executes the second inertia coefficient calibration unit (820) m times. Record the minimum values ​​among the m calibrated inertia coefficients Kx2 (802), and output the minimum values ​​so that the minimum values ​​become the optimized inertia coefficients, i.e., Kx.

10. The test apparatus (800) as claimed in claim 9, wherein: Change the ambient temperature t of the physical model (100) or the system to be calibrated and reach a steady state, repeatedly start the second inertia coefficient calibration unit (820) and / or the third iterative optimization compensation unit (830), and record or output the calibrated inertia coefficient Kx2 (802) and / or the optimized inertia coefficient, i.e. Kx, at different ambient temperatures t.

11. The test apparatus (800) as claimed in claim 10, wherein: Change the physical model (100) or the power supply voltage VS of the system to be calibrated, and repeatedly start the second inertia coefficient calibration unit (820) and / or the third iterative optimization compensation unit (830) to record or output the calibrated inertia coefficient Kx2 (802) and / or the optimized inertia coefficient, i.e. Kx, under different power supply voltages VS.

12. The test apparatus (800) as described in any one of claims 7, 8, 10, or 11, wherein: The second inertia coefficient calibration unit (820) acquires the motor speed V and armature current I of the drive motor (103) or the electromechanical actuator, and outputs the inertial displacement value S, such that: S = (Ky) * (V * V) / I; Ky is the calibrated inertia coefficient Kx2 or the optimized inertia coefficient, i.e., Kx.

13. A computer storage medium (903) comprising a storage medium body for storing a computer program; wherein the computer program, when executed by a microprocessor, implements the inertial displacement calibration method as described in any one of claims 1 to 6.

14. A controller comprising a test apparatus (800) as described in any of claims 7, 8, 10 or 11; and / or a computer storage medium (903) as described in claim 13.

15. A vehicle window lift assembly (909) comprising a test device (800) as described in any of claims 7, 8, 10 or 11; and / or a computer storage medium (903) as described in claim 13; and / or a controller as described in claim 14.

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