Electric tail wing control method and device, storage medium and automobile

Abstract

The application provides an electric tail wing control method, device, storage medium and automobile. The control method comprises initialization learning of a tail wing position and correction of the tail wing position. The initialization learning of the tail wing position comprises the following steps: when the electric tail wing is powered on initially, the electric tail wing is controlled to be unfolded until the tail wing motor is blocked, and the unfolded blocked position Pmax is recorded; then the electric tail wing is controlled to be folded until the tail wing motor is blocked, and the folded blocked position Pmin is recorded; and the stroke value X of the electric tail wing is obtained according to the recorded unfolded blocked position Pmax and the folded blocked position Pmin. The correction of the tail wing position comprises the following steps: when the position of the electric tail wing deviates, the electric tail wing is controlled to be folded until the tail wing motor is blocked, and the folded blocked position P'min is recorded; and the position of the electric tail wing is corrected according to the folded blocked position P'min and the stroke value X. The application can simplify the control of the electric tail wing, reduce the control workload, and also facilitate the reduction of the wear of the tail wing connecting rod mechanism.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electric tail wing, in particular to an electric tail wing control method. The present application also relates to an electric tail wing control device, a computer readable storage medium capable of executing the above-mentioned electric tail wing control method, and a car provided with the above-mentioned electric tail wing control device. BACKGROUND

[0002] The electric tail wing is a car tail wing that can be lifted and lowered by electric drive, which not only has a decorative effect, but also can increase the downforce of the vehicle when driving at high speed, and can also play a certain balancing role when high-speed turning or passing through complex road sections, thereby improving the stability and safety of the vehicle.

[0003] In the prior art, during the unfolding and closing movement of the electric tail wing, the tail wing moves to the hard stop point of the connecting rod, and then the loss of the motor Hall signal is detected to determine that the motor has stalled, and then the tail wing is determined to be in place. This control method will cause the tail wing mechanism to move forward a certain distance due to physical deformation after each movement to the hard stop point of the connecting rod, which will cause the connecting rod mechanism to collide during each unfolding or closing movement, increase the wear of the connecting rod mechanism and other tail wing structures, and reduce the service life of the electric tail wing.

[0004] In order to overcome the deficiencies in the prior art, in the current electric tail wing control, a correction process is triggered when the offset is detected, and the tail wing is moved between the set positions through correction to reduce the collision and wear of the connecting rod mechanism. However, in the current electric tail wing control, the learning and correction functions of the electric tail wing are mixed together, and each time the offset is detected to trigger correction, the tail wing needs to relearn and record the travel value, which will cause the learning process to be frequently executed, not only increasing the control workload and energy consumption, but also affecting the normal operation of the electric tail wing and increasing the collision and wear of the connecting rod mechanism. SUMMARY

[0005] Therefore, the present application aims to provide an electric tail wing control method to reduce the control workload of the electric tail wing and reduce the wear of the tail wing connecting rod mechanism.

[0006] To achieve the above-mentioned purpose, the technical solution of the present application is as follows:

[0007] An electric tail wing control method, the control method comprising initialization learning of tail wing position and correction of tail wing position.

[0008] The initialization learning of tail wing position comprises:

[0009] When the electric tail wing is initially powered on, the electric tail wing is controlled to expand to the stall of the tail wing motor, and the expansion stall position Pmax is recorded, and then the electric tail wing is controlled to close to the stall of the tail wing motor, and the closing stall position Pmin is recorded;

[0010] According to the recorded expansion stall position Pmax and the closing stall position Pmin, the stroke value X of the electric tail wing is obtained, wherein X is the motor hall difference value between the expansion stall position Pmax and the closing stall position Pmin with the closing stall position Pmin as the coordinate base point;

[0011] The correction of the tail wing position includes:

[0012] When the position of the electric tail wing deviates, the electric tail wing is controlled to close to the stall of the tail wing motor, and the closing stall position P'min is recorded;

[0013] According to the recorded closing stall position P'min and the stroke value X obtained during the initialization learning, the position of the electric tail wing is corrected.

[0014] Further, during the operation of the electric tail wing, the electric tail wing is controlled to move between the closing soft stop point Pclose and the expansion soft stop point Popen;

[0015] Wherein, with the closing stall position Pmin as the reference, the closing soft stop point Pclose=Pmin+△t5+△t6, and the expansion soft stop point Popen=Pmax-△t5-△t6, and △t5 and △t6 are preset motor hall values.

[0016] Further, a P hall sensor is arranged on the rotating shaft of the electric tail wing;

[0017] The initialization learning of the tail wing position further includes:

[0018] When the electric tail wing is controlled to expand, the distance Δt1 between the P hall sensor and the closing stall position Pmin is recorded, and when the electric tail wing is controlled to close, the distance Δt3 between the expansion stall position Pmax and the P hall sensor is recorded;

[0019] Wherein, with the closing stall position Pmin as the coordinate base point, Δt1 is the motor hall difference value between Pmin and the P hall sensor position Phall_up when the electric tail wing expands, and Δt3 is the motor hall difference value between Pmax and the P hall sensor position Phall_down when the electric tail wing closes.

[0020] Further, in the normal operation of the electric tail wing, if the tail wing controller detects that the deviation between the distance Δ't1 between the P Hall sensor position and the closed stall position Pmin and the distance Δt1 exceeds the preset difference value when the electric tail wing is expanded, and the deviation between the distance Δ't3 between the expanded stall position Pmax and the Hall sensor position and the distance Δt3 exceeds the preset difference value when the electric tail wing is closed, it is determined that the position of the electric tail wing deviates.

[0021] Further, the correction of the position of the electric tail wing according to the recorded closed stall position P'min and the stroke value X obtained in the initialization learning includes:

[0022] Taking the recorded closed stall position P'min as a coordinate base point, the closed soft stop point Pclose and the expanded soft stop point Popen are obtained through the following relationship:

[0023] Pclose=P'min+△t5+△t6;

[0024] Popen=P'min+△t5+△t6+△t4;

[0025] Wherein, △t5 and △t6 are preset motor Hall values, and △t4=X-2△t5-2△t6.

[0026] Further, when the position of the electric tail wing deviates, the electric tail wing is controlled to be closed to the stall of the tail wing motor at a preset movement speed.

[0027] The preset movement speed is less than the set speed in the normal operation of the electric tail wing.

[0028] Compared with the prior art, the present application has the following advantages:

[0029] The electric tail wing control method provided by the present application records the expanded stall position Pmax and the closed stall position Pmin in the initialization learning of the tail wing position, and obtains the stroke value X of the electric tail wing, and when the position of the electric tail wing deviates, only controls the electric tail wing to be closed to the stall of the tail wing motor, records the closed stall position P'min, and can correct the position of the electric tail wing according to the recorded closed stall position P'min and the stroke value X obtained in the initialization learning.

[0030] Therefore, the present application only needs to record the closing stall position P'min when the electric tail wing deviates, and then uses the stroke value X obtained during the initial learning to realize correction, so that the electric tail wing learning is not needed every time the electric tail wing deviates, that is, the electric tail wing needs to be unfolded to the stall position and closed to the stall position every time, which increases the control workload of the electric tail wing and the wear of the tail wing connecting rod mechanism, and the present application can reduce the control workload of the electric tail wing and is also beneficial to reducing the wear of the tail wing connecting rod mechanism.

[0031] Another object of the present application is to provide an electric tail wing control device, which comprises a tail wing position initialization learning module and a tail wing position correction module.

[0032] The tail wing position initialization learning module comprises a first recording module and a calculation module.

[0033] The first recording module is used to control the electric tail wing to unfold to the stall position of the tail wing motor and record the unfolding stall position Pmax, and then control the electric tail wing to close to the stall position of the tail wing motor and record the closing stall position Pmin when the electric tail wing is initially powered on.

[0034] The calculation module is used to obtain the stroke value X of the electric tail wing according to the recorded unfolding stall position Pmax and closing stall position Pmin, wherein X is the motor hall difference value between the unfolding stall position Pmax and the closing stall position Pmin with the closing stall position Pmin as the coordinate base point.

[0035] The tail wing position correction module comprises a second recording module and a correction module.

[0036] The second recording module is used to control the electric tail wing to close to the stall position of the tail wing motor and record the closing stall position P'min when the position of the electric tail wing deviates.

[0037] The correction module is used to correct the position of the electric tail wing according to the recorded closing stall position P'min and the stroke value X obtained during the initial learning.

[0038] Further, the control device further comprises a control module.

[0039] The control module controls the electric tail wing to move between the closing soft stop point Pclose and the unfolding soft stop point Popen during the operation of the electric tail wing.

[0040] Wherein, the closing soft stop point Pclose = Pmin +△t5 +△t6 and the unfolding soft stop point Popen = Pmax -△t5 -△t6 with the closing stall position Pmin as the reference, and△t5 and△t6 are preset motor hall values.

[0041] The application also provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize the electric tail wing control method.

[0042] In addition, the application further provides an automobile, which is provided with an electric tail wing and the electric tail wing control device.

[0043] The electric tail wing control device, the computer readable storage medium and the automobile have the same beneficial effects as the electric tail wing control method, and the beneficial effects are not repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0044] The accompanying drawings, which form a part of the present application, are intended to provide further understanding of the present application, and the illustrative embodiments of the present application and their descriptions serve the purpose of explaining the present application, and do not constitute improper limitations on the present application. In the drawings:

[0045] Figure 1 The stroke diagram of the electric tail wing according to the embodiment of the application;

[0046] Figure 2 The stroke diagram of the electric tail wing when the P Hall sensor is arranged;

[0047] Figure 3 The structure diagram of the electric tail wing control device according to the embodiment of the application;

[0048] REFERENCE SIGNS:

[0049] 100, tail wing controller;

[0050] 10, control module; 20, tail wing position initialization learning module; 30, tail wing position correction module;

[0051] 201, first recording module; 202, calculation module; 301, second recording module; 302, correction module. DETAILED DESCRIPTION

[0052] It should be noted that the embodiments in the application and the features in the embodiments can be combined with each other without conflict.

[0053] In the description of the present application, it should be noted that if the terms indicating the orientation or position relationship such as "upper", "lower", "inner", "outer" and the like appear, they are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, if the terms "first", "second" and the like appear, they are also only for the purpose of description and cannot be understood as indicating or implying relative importance.

[0054] In addition, in the description of the present application, unless otherwise explicitly limited, the terms "mounting", "connection", "connection", "connection" should be broadly understood. For example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be connected inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood in conjunction with the specific circumstances.

[0055] The present application will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0056] Embodiment one

[0057] The present embodiment relates to an electric tail wing control method for controlling an electric tail wing on a vehicle, and can reduce the control workload of the electric tail wing, and is beneficial to reducing the wear of the tail wing connecting rod mechanism.

[0058] Overall design, combined with Figure 1 and Figure 2 The electric tail wing control method of the present embodiment includes initialization learning of tail wing position and correction of tail wing position.

[0059] The initialization learning of the tail wing position includes the following steps:

[0060] Step s01, when the electric tail wing is initially powered on, control the electric tail wing to expand to the tail wing motor to occur stalling, and record the expansion stall position Pmax, and then control the electric tail wing to close to the tail wing motor to occur stalling, and record the closing stall position Pmin.

[0061] Step s02, according to the recorded expansion stall position Pmax and closing stall position Pmin, obtain the stroke value X of the electric tail wing, wherein X is the motor hall difference value between the expansion stall position Pmax and the closing stall position Pmin with the closing stall position Pmin as the coordinate base point.

[0062] Specifically, the same as the control mode of the electric tail wing on the existing car, the embodiment also determines the position of the electric tail wing through the detection of the rotation hall of the tail wing motor. Moreover, during the expansion or closing movement of the electric tail wing, when the tail wing moves to the expansion or closing hard stop point, the connecting rod mechanism contacts the tail wing bottom support and the like, due to the physical deformation of the connecting rod mechanism, the connecting rod mechanism will move forward by a distance, and after the locked-rotor current of the tail wing motor rises to the preset rated threshold, it is judged that the tail wing is moved to the position.

[0063] At this time, the locked-rotor position of the motor when the electric tail wing is expanded is the expansion locked-rotor position Pmax, the locked-rotor position of the motor when the electric tail wing is closed is the closing locked-rotor position Pmin, and the distance between the expansion locked-rotor position Pmax and the closing locked-rotor position Pmin, that is, the stroke value X of the electric tail wing is the maximum stroke of the actual movement of the electric tail wing.

[0064] Of course, during the operation of the electric tail wing, if it moves within the above-mentioned maximum stroke range, it will inevitably cause the collision between the connecting rod mechanism and the tail wing bottom support and the like during each expansion and closing, and therefore, in order to avoid the collision and wear of the connecting rod mechanism and to avoid the collision noise, in the control method of the embodiment, the electric tail wing is also controlled to move between the closing soft stop point Pclose and the expansion soft stop point Popen during the operation of the electric tail wing.

[0065] Among them, taking the closing locked-rotor position Pmin as the reference, the above-mentioned closing soft stop point Pclose=Pmin+△t5+△t6, the expansion soft stop point Popen=Pmax-△t5-△t6, and△t5 and△t6 are preset motor hall values, and they can be selected according to the mechanical structure of the electric tail wing and the related control requirements of the electric tail wing.

[0066] During the operation of the electric tail wing, the electric tail wing is controlled to move between the closing soft stop point Pclose and the expansion soft stop point Popen based on the closing locked-rotor position Pmin, which can avoid the collision between the connecting rod mechanism in the electric tail wing and the tail wing bottom support at the end of the expansion of the tail wing and at the end of the closing of the tail wing, and thereby avoid the wear and collision noise of the connecting rod structure.

[0067] In the embodiment, the correction of the position of the tail wing specifically includes the following steps:

[0068] Step s03, when the position of the electric tail wing deviates, the electric tail wing is controlled to be closed to the locked-rotor position of the tail wing motor, and the closing locked-rotor position P'min is recorded.

[0069] Step s04, according to the recorded closing locked-rotor position P'min and the stroke value X obtained during the initialization learning, the position of the electric tail wing is corrected.

[0070] Specifically, as a preferred implementation form, the embodiment is provided with a P Hall sensor on the rotating shaft of the electric tail wing, the P Hall sensor is installed on the rotating shaft of the electric tail wing, and a sensing element corresponding to the P Hall sensor is arranged on the tail wing bottom support or other tail wing mounting base. During the expansion and closing process of the electric tail wing, the P Hall sensor will have a level change each time, and since the P Hall sensor and the corresponding sensing element are fixed Hall elements installed in the tail wing mechanism, the position of the P Hall sensor in the electric tail wing is not disturbed by external factors, and the position of the P Hall sensor during the expansion and closing process of the electric tail wing can be used as a reference coordinate of the tail wing position.

[0071] Based on the above-mentioned P Hall sensor, in the initialization learning of the above-mentioned tail wing position, the embodiment further includes recording the distance Δt1 between the P Hall sensor and the closing stall position Pmin when controlling the electric tail wing to expand, and recording the distance Δt3 between the expansion stall position Pmax and the P Hall sensor when controlling the electric tail wing to close.

[0072] Wherein, taking the closing stall position Pmin as the coordinate base point, Δt1 is the motor Hall difference value of the electric tail wing from Pmin to the P Hall sensor position Phall_up when the electric tail wing expands, and Δt3 is the motor Hall difference value of the electric tail wing from Pmax to the P Hall sensor position Phall_down when the electric tail wing closes.

[0073] Therefore, as a judgment method of tail wing position deviation, in the normal working of the electric tail wing, if the tail wing controller 100 detects that the deviation between the distance Δ't1 between the P Hall sensor position and the closing stall position Pmin and the distance Δt1 exceeds the preset difference value when the electric tail wing expands, and the deviation between the distance Δ't3 between the expansion stall position Pmax and the P Hall sensor position and the distance Δt3 exceeds the preset difference value when the electric tail wing closes, it can be determined that the position of the electric tail wing deviates.

[0074] In specific implementation, based on the above-mentioned preset motor Hall values △t5 and △t6, during the expansion process of the electric tail wing, the motor Hall value of the tail wing from the expansion initial to the P Hall sensor position Phall_up is recorded, and the recorded motor Hall value plus △t5 and △t6 is the distance Δ't1. Similarly, during the closing process of the electric tail wing, the motor Hall value of the tail wing from the closing initial to the P Hall sensor position Phall_down is recorded, and the recorded motor Hall value plus △t5 and △t6 is the distance Δ't3.

[0075] Moreover, the preset difference value can be, for example, 10 motor Halls, so that when the deviation between the detected distance Δ'tl and Δtl exceeds 10 motor Halls and the deviation between the detected distance Δ't3 and Δt3 exceeds 10 motor Halls, the tail controller 100 determines that the moving position of the electric tail wing deviates and can perform the correction process.

[0076] In this embodiment, as a preferred implementation form, the correction of the position of the electric tail wing according to the recorded closing stall position P'min and the stroke value X obtained during the initial learning also specifically includes the following process:

[0077] Taking the recorded closing stall position P'min as the coordinate base point, the closing soft stop point Pclose and the opening soft stop point Popen are obtained through the following relationship:

[0078] Pclose = P'min + Δt5 + Δt6;

[0079] Popen = P'min + Δt5 + Δt6 + Δt4;

[0080] Wherein, Δt5 and Δt6 are preset motor Hall values, and Δt4 = X - 2Δt5 - 2Δt6.

[0081] Moreover, it should be noted that in the correction process, the recorded closing stall position P'min is generally the same as the closing stall position Pmin recorded in the initial learning. Through the recorded closing stall position P' and the stroke value X obtained in the initial learning, and based on the preset retreat stroke values Δt5 and Δt6 of the electric tail wing (to avoid the collision of the connecting rod, the tail wing retreats relative to the stall position, and the end points of the retreat stroke are the opening soft stop point Popen and the closing soft stop point Pclose), the corrected opening soft stop point Popen and closing soft stop point Pclose can be obtained again. The electric tail wing moves between the corrected opening soft stop point Popen and closing soft stop point Pclose with the recorded closing stall position P'min as the coordinate base point, and returns to the state before the deviation.

[0082] In addition, as a preferred implementation form, this embodiment is beneficial to the smooth completion of the correction process, and when the position of the electric tail wing deviates, the electric tail wing can also be controlled to close to the stall of the tail motor at a preset moving speed to record the closing stall position P'min.

[0083] At this time, the preset movement speed is generally set to be less than the set speed during normal operation of the electric tail wing, and is achieved by adjusting the signal duty cycle for controlling the rotation of the tail wing motor. In addition, the preset movement speed less than the set speed during normal operation of the electric tail wing is, for example, such that when the electric tail wing is stalled, the stall clamping force is within the anti-clamping force safety range (80-120N).

[0084] The electric tail wing control method of the embodiment records the expansion stall position Pmax and the closing stall position Pmin in the initialization learning of the tail wing position, and obtains the stroke value X of the electric tail wing. When the position of the electric tail wing deviates, the electric tail wing is only controlled to close to the stall of the tail wing motor to record the closing stall position P'min, and the position of the electric tail wing can be corrected according to the recorded closing stall position P'min and the stroke value X obtained during the initialization learning.

[0085] Therefore, the embodiment only needs to record the closing stall position P'min when the electric tail wing deviates, and then uses the stroke value X during the initial learning to correct, which can avoid re-learning of the electric tail wing every time it deviates, that is, the electric tail wing needs to be expanded to the stall position and closed to the stall position every time, which increases the control workload of the electric tail wing and the wear of the tail wing linkage mechanism, which makes the embodiment reduce the control workload of the electric tail wing, and is also beneficial to reducing the wear of the tail wing linkage mechanism, and has good practicability.

[0086] Embodiment Two

[0087] The embodiment relates to an electric tail wing control device, which combines Figure 3 The control device includes a tail wing position initialization learning module 20 and a tail wing position correction module 30.

[0088] The tail wing position initialization learning module 20 includes a first recording module 201 and a calculation module 202. The first recording module 201 is specifically used for controlling the electric tail wing to expand to the stall of the tail wing motor and recording the expansion stall position Pmax, and controlling the electric tail wing to close to the stall of the tail wing motor and recording the closing stall position Pmin when the electric tail wing is initially powered on. The calculation module 202 is specifically used for obtaining the stroke value X of the electric tail wing according to the recorded expansion stall position Pmax and closing stall position Pmin, wherein X is the motor hall difference value between the expansion stall position Pmax and the closing stall position Pmin with the closing stall position Pmin as the coordinate base point.

[0089] The tail wing position correction module 30 includes a second recording module 301 and a correction module 302. The second recording module 301 is specifically configured to record the closing stall position P'min when the position of the electric tail wing deviates and the electric tail wing is closed to the stall of the tail wing motor. The correction module 302 is specifically configured to correct the position of the electric tail wing according to the recorded closing stall position P'min and the stroke value X obtained during the initial learning.

[0090] In addition, the electric tail wing control device further includes a control module 10, which is specifically configured to control the movement of the electric tail wing between the closing soft stop point Pclose and the opening soft stop point Popen during the operation of the electric tail wing. The closing soft stop point Pclose is Pmin+△t5+△t6, the opening soft stop point Popen is Pmax-△t5-△t6, and △t5 and △t6 are preset motor hall values.

[0091] The tail wing position initialization learning module 20 including the first recording module 201 and the calculation module 202 and the tail wing position correction module 30 including the second recording module 301 and the correction module 302 are integrated in the tail wing controller 100 and can use the related modules with data storage and processing functions.

[0092] The control of the electric tail wing, the initial learning of the tail wing position, and the correction of the tail wing position of the electric tail wing control device can be understood from the related description in Embodiment One, and will not be repeated here.

[0093] The electric tail wing control device of the present embodiment only needs to record the closing stall position P'min and use the stroke value X obtained during the initial learning to correct the position, which can avoid the need to re-learn the electric tail wing every time it deviates. That is, the electric tail wing needs to be opened to the stall position and closed to the stall position every time, which increases the control workload of the electric tail wing and the wear of the tail wing linkage mechanism. The present embodiment can reduce the control workload of the electric tail wing and is also beneficial to reducing the wear of the tail wing linkage mechanism, which has good practicability.

[0094] Embodiment Three

[0095] The present embodiment relates to a computer readable storage medium having a computer program stored thereon, and the computer program can implement the electric tail wing control method of Embodiment One when executed by a processor.

[0096] The computer readable storage medium of the embodiment, the general example is memory. In addition, the computer readable storage medium includes permanent and non-permanent, removable and non-removable media can be realized by any method or technology to store information.

[0097] Wherein, the above information can be computer readable instructions, data structure, program module or other data. Examples of computer readable storage medium include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), flash memory, or other memory technology, compact disc read only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette tape, magnetic tape magnetic disk storage or other magnetic storage device, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device.

[0098] In addition, the embodiment also relates to a car, which is provided with an electric tail wing, and the car is also provided with the electric tail wing control device in embodiment two.

[0099] The car of the embodiment is provided with an electric tail wing, and the electric tail wing is controlled to work through the electric tail wing control device in embodiment two. When the electric tail wing deviates, only the closing stall position P'min needs to be recorded, and the stroke value X during initial learning can be used to realize correction, so that the electric tail wing learning needs to be performed again every time the electric tail wing deviates, that is, the electric tail wing needs to be unfolded to the closing stall position and closed to the closing stall position in turn every time, which causes the increase of electric tail wing control workload and the increase of tail wing connecting rod mechanism wear, so that the embodiment can reduce the electric tail wing control workload, and is also beneficial to reducing the wear of the tail wing connecting rod mechanism, and has good practicability.

[0100] The above only describes the preferred embodiment of the application and does not limit the application. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the application shall be included in the protection scope of the application.

Claims

1. A control method of an electric tail wing, characterized in that: the control method comprises initialization learning of a tail wing position and correction of the tail wing position; the initialization learning of the tail wing position comprises: controlling the electric tail wing to expand to a stall of the tail wing motor and recording an expansion stall position Pmax, and then controlling the electric tail wing to close to a stall of the tail wing motor and recording a closing stall position Pmin when the electric tail wing is initially powered on; obtaining a stroke value X of the electric tail wing according to the recorded expansion stall position Pmax and the closing stall position Pmin, wherein X is a difference value of the motor hall between the expansion stall position Pmax and the closing stall position Pmin with the closing stall position Pmin as a coordinate base point; the correction of the tail wing position comprises: controlling the electric tail wing to close to a stall of the tail wing motor and recording a closing stall position P'min when the position of the electric tail wing deviates; correcting the position of the electric tail wing according to the recorded closing stall position P'min and the stroke value X obtained in the initialization learning. 2.The control method of the electric tail wing according to claim 1, characterized in that: controlling the electric tail wing to move between a closing soft stop point Pclose and an expansion soft stop point Popen in the operation of the electric tail wing; wherein the closing soft stop point Pclose = Pmin + △t5 + △t6 and the expansion soft stop point Popen = Pmax - △t5 - △t6 with the closing stall position Pmin as a reference, and △t5 and △t6 are preset motor hall values. 3.The control method of the electric tail wing according to claim 2, characterized in that: a P hall sensor is arranged on a rotating shaft of the electric tail wing; the initialization learning of the tail wing position further comprises: recording a distance Δt1 between the P hall sensor and the closing stall position Pmin when the electric tail wing is controlled to expand, and recording a distance Δt3 between the expansion stall position Pmax and the P hall sensor when the electric tail wing is controlled to close; wherein Δt1 is a difference value of the motor hall between Pmin and the P hall sensor position Phall_up when the electric tail wing expands, and Δt3 is a difference value of the motor hall between Pmax and the P hall sensor position Phall_down when the electric tail wing closes, with the closing stall position Pmin as a coordinate base point. 4.The control method of the electric tail wing according to claim 3, characterized in that: if the electric tail wing controller (100) detects that the deviation between the distance Δ't1 between the P hall sensor position and the closing stall position Pmin and the distance Δt1 exceeds a preset difference value when the electric tail wing expands, and the electric tail wing controller (100) detects that the deviation between the distance Δ't3 between the expansion stall position Pmax and the P hall sensor position and the distance Δt3 exceeds a preset difference value when the electric tail wing closes, it is determined that the position of the electric tail wing deviates. 5.The control method of the electric tail wing according to claim 3, characterized in that: The position of the electric tail wing is corrected according to the recorded closing stall position P'min and the stroke value X obtained during initialization learning, and the correction includes: The closing soft stop point Pclose and the opening soft stop point Popen are obtained by taking the recorded closing stall position P'min as a coordinate base point and by the following relationship: Pclose=P'min+△t5+△t6; Popen=P'min+△t5+△t6+△t4; Wherein, △t5 and △t6 are preset motor hall values, and △t4=X-2△t5-2△t6.

6. The electric tail wing control method according to any one of claims 1 to 5, characterized in that: When the position of the electric tail wing deviates, the electric tail wing is controlled to close at a preset movement speed until the tail wing motor stalls; The preset movement speed is less than the set speed when the electric tail wing normally works.

7. An electric tail wing control device, characterized in that: The control device includes a tail wing position initialization learning module (20) and a tail wing position correction module (30); The tail wing position initialization learning module (20) includes a first recording module (201) and a calculation module (202); The first recording module (201) is configured to control the electric tail wing to open until the tail wing motor stalls when the electric tail wing is initially powered on, and record the opening stall position Pmax, and then control the electric tail wing to close until the tail wing motor stalls, and record the closing stall position Pmin; The calculation module (202) is configured to obtain a stroke value X of the electric tail wing according to the recorded opening stall position Pmax and closing stall position Pmin, wherein X is the motor hall difference value between the opening stall position Pmax and the closing stall position Pmin, taking the closing stall position Pmin as a coordinate base point; The tail wing position correction module (30) includes a second recording module (301) and a correction module (302); The second recording module (301) is configured to control the electric tail wing to close until the tail wing motor stalls and record the closing stall position P'min when the position of the electric tail wing deviates; The correction module (302) is configured to correct the position of the electric tail wing according to the recorded closing stall position P'min and the stroke value X obtained during initialization learning.

8. The electric tail wing control device according to claim 7, characterized in that: The control device further includes a control module (10); The control module (10) controls the electric tail wing to move between the closing soft stop point Pclose and the opening soft stop point Popen during the operation of the electric tail wing; Wherein, taking the closing stall position Pmin as a reference, the closing soft stop point Pclose=Pmin+△t5+△t6, and the opening soft stop point Popen=Pmax-△t5-△t6, and △t5 and △t6 are preset motor hall values.

9. A computer readable storage medium having a computer program stored thereon, characterized in that: The computer program, when executed by a processor, implements the electric tail wing control method of any one of claims 1-6.

10. A car, characterized in that: The car is provided with an electric tail wing, and the car is also provided with the electric tail wing control device of claim 7 or 8.

Images