Tooth gap elimination method, device, system and automobile

Abstract

The application relates to the field of motor control, and discloses a cogging elimination method, device, system and automobile. The method comprises the following steps: when the motor is started, an initial power is applied to drive the motor to run, and the number of Halls in which the Hall value detected by the Hall sensor changes is recorded; the initial power is adjusted until the number of Halls is greater than a first preset threshold value, and the adjusted initial power is determined as a first power; the motor is run at the first power until the number of Halls is greater than a second preset threshold value, and the rotating speed of the motor is detected; the first power is adjusted until the rotating speed of the motor remains unchanged, and the adjusted first power is determined as a second power. The application realizes the function of adaptively adjusting the initial power to eliminate cogging by judging the change of the Hall sensor, can dynamically adjust the time of eliminating cogging, avoids noise during meshing, improves customer satisfaction, and reduces the impact on the gear box.

Description

Technical Field

[0001] This invention relates to the field of motor control technology, and in particular to a method, apparatus, system, and automobile for eliminating backlash. Background Technology

[0002] As people's living standards continue to improve, the number of private cars is increasing daily, and the various accessories in these cars are becoming more and more complete. Among them, various in-vehicle screens are becoming increasingly popular, especially electronic ceiling-mounted screens. An electronic ceiling-mounted screen is an entertainment device installed on the roof of a car to play multimedia information, and it is widely used in mid-to-large-sized vehicles such as multi-purpose vehicles and station wagons.

[0003] In general, when using a ceiling-mounted screen, it is necessary to control the screen to move to different angles and to open and close it. When the screen switches from the open state to the closed state, the direction of the motor's rotation will change. The gears will first move through the backlash and then engage. However, because there are multiple stages of gears, the motor needs to rotate a maximum of 10 mechanical cycles for the gears to move through the backlash and begin to engage.

[0004] A common method to eliminate gear backlash is to add a soft-start function. However, this soft-start is designed to prevent excessively high rotational speeds and the generation of instantaneous large currents, and it does not effectively eliminate gear backlash. Based on actual measurements, this method causes significant impact noise, resulting in a poor user experience and affecting the gearbox's lifespan. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to overcome the shortcomings of the prior art and provide a method, apparatus, system and automobile for eliminating tooth gaps.

[0006] This invention provides the following technical solution:

[0007] In a first aspect, this disclosure provides a method for eliminating tooth gaps, the method comprising:

[0008] When the motor starts, an initial power is applied to drive the motor to run, and the number of Hall values ​​that change are recorded by the Hall sensor;

[0009] The initial power is adjusted until the number of Hall effect sensors is greater than a first preset threshold, and the adjusted initial power is determined as the first power.

[0010] The motor is operated at the first power until the number of Hall effect sensors exceeds the second preset threshold, and the rotational speed of the motor is detected.

[0011] Adjust the first power until the motor speed remains constant, and determine the adjusted first power as the second power.

[0012] Further, adjusting the initial power until the number of Hall effect sensors is greater than a first preset threshold, and determining the adjusted initial power as the first power, includes:

[0013] The initial power is increased by a preset power, and it is determined whether the number of Hall effect sensors is greater than the first preset threshold under the adjusted initial power.

[0014] If the number of Hall effect sensors is greater than the first preset threshold, then the adjusted initial power is determined to be the first power.

[0015] If the number of Hall effect sensors is less than or equal to the first preset threshold, the initial power is increased by the preset power until the number of Hall effect sensors is greater than the first preset threshold.

[0016] Furthermore, before operating the motor at the first power, the method further includes:

[0017] Obtain the number of turns and pole pairs of the motor;

[0018] Calculate the product of the first preset threshold, the number of turns of the motor gap, and the number of poles, and use the product as the second preset threshold.

[0019] Further, the step of operating the motor at the first power until the number of Hall effect sensors exceeds a second preset threshold, and detecting the motor's rotational speed, includes:

[0020] The motor is operated at the first power, and it is determined whether the number of Hall effect sensors at the first power is greater than the second preset threshold.

[0021] If the number of Hall effect sensors is greater than the second preset threshold, then the rotational speed of the motor is detected;

[0022] If the number of Hall effect sensors is less than or equal to the second preset threshold, the motor continues to operate at the first power.

[0023] Secondly, this disclosure provides a backlash elimination device, the device comprising:

[0024] An application module is used to apply initial power to drive the motor when it starts, and to record the number of Hall values ​​that the Hall sensor detects as changing.

[0025] An adjustment module is used to adjust the initial power until the number of Hall effect sensors is greater than a first preset threshold, and to determine the adjusted initial power as the first power.

[0026] The detection module is used to run the motor at the first power until the number of Hall sensors is greater than a second preset threshold, and to detect the rotational speed of the motor.

[0027] A determining module is used to adjust the first power until the speed of the motor remains constant, and to determine the adjusted first power as the second power.

[0028] Furthermore, the device also includes:

[0029] An additional module is used to increase the initial power by a preset power and determine whether the number of Hall effect sensors is greater than the first preset threshold under the adjusted initial power.

[0030] A determining submodule is used to determine the adjusted initial power as the first power if the number of Hall effect sensors is greater than the first preset threshold.

[0031] An additional submodule is added, which is used to continue increasing the initial power by the preset power if the number of Hall effect sensors is less than or equal to the first preset threshold, until the number of Hall effect sensors is greater than the first preset threshold.

[0032] Furthermore, the device also includes:

[0033] The acquisition module is used to acquire the number of turns in the gap and the number of pole pairs of the motor;

[0034] The calculation module is used to calculate the product of the first preset threshold, the number of turns of the motor gap, and the number of poles, and use the product as the second preset threshold.

[0035] Furthermore, the device also includes:

[0036] The operation module is used to run the motor at the first power and determine whether the number of Hall effect sensors at the first power is greater than the second preset threshold.

[0037] A switching submodule is used to detect the motor speed if the number of Hall effect sensors is greater than the second preset threshold.

[0038] The operation submodule is configured to continue operating the motor at the first power if the number of Hall effect sensors is less than or equal to the second preset threshold.

[0039] Thirdly, this disclosure provides a backlash elimination system, including at least one control processor and a memory for communicatively connecting to the at least one control processor; the memory stores instructions executable by the at least one control processor, which, when executed by the at least one control processor, enable the at least one control processor to perform the steps of the backlash elimination method as described in the first aspect.

[0040] Fourthly, this disclosure provides an automobile that includes a processor capable of performing the steps of the backlash elimination method as described in the first aspect.

[0041] The embodiments of this application have the following advantages:

[0042] The backlash elimination method provided in this application includes: when the motor starts, applying an initial power to drive the motor to run, and recording the number of Hall values ​​that change detected by the Hall sensor; adjusting the initial power until the number of Hall values ​​is greater than a first preset threshold, and determining the adjusted initial power as a first power; running the motor at the first power until the number of Hall values ​​is greater than a second preset threshold, and detecting the rotational speed of the motor; adjusting the first power until the rotational speed of the motor remains constant, and determining the adjusted first power as a second power. This application achieves the function of adaptively adjusting the initial power to eliminate backlash by judging changes in the Hall sensor, and can dynamically adjust the backlash elimination time, avoiding noise during meshing, improving customer satisfaction, and reducing the impact on the gearbox.

[0043] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0044] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort. In the various drawings, similar components are numbered similarly.

[0045] Figure 1 A flowchart of a backlash elimination method provided in an embodiment of this application is shown;

[0046] Figure 2 The diagram shows the effect of a backlash elimination method provided in an embodiment of this application;

[0047] Figure 3 A schematic diagram of a backlash elimination device provided in an embodiment of this application is shown;

[0048] Figure 4 A schematic diagram of a backlash elimination system provided in an embodiment of this application is shown;

[0049] Figure 5 A schematic diagram of the structure of a car provided in an embodiment of this application is shown. Detailed Implementation

[0050] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0051] It should be noted that when an element is said to be "fixed" to another element, it can be directly on the other element or there may be an intervening element. When an element is said to be "connected" to another element, it can be directly connected to the other element or there may be an intervening element. Conversely, when an element is said to be "directly" on another element, there is no intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0052] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0053] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0054] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the template description is for the purpose of describing particular embodiments only and is not intended to limit the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0055] Example 1

[0056] like Figure 1 The diagram shown is a flowchart of a backlash elimination method according to an embodiment of this application. The backlash elimination method provided in this application includes the following steps:

[0057] In step S110, when the motor starts, an initial power is applied to drive the motor to run, and the number of Hall values ​​that the Hall sensor detects as changing is recorded.

[0058] In this embodiment, a preset number of Hall sensors are installed on the motor. When the motor starts, an initial power is applied to the motor, and the number of Hall sensors that detect changes in their Hall values ​​is recorded. Figure 2 As shown, generally speaking, the Hall value changes from its maximum value to its minimum value in one electrical cycle. However, as long as the detected Hall value fluctuates, the change in Hall value is recorded.

[0059] It is understood that in this embodiment, the initial power is set to 3000W. 3000W is an adjustment value. If the initial power is too small, the motor will not be able to rotate and the function of eliminating backlash will not be achieved. If the initial power is too large, the speed of the motor at the meshing point will increase and the noise generated by the gears will be greater. The specific adjustment value can be determined according to the actual situation. This application embodiment does not limit this.

[0060] By applying an appropriate initial power to the motor, and then gradually increasing the value of that initial power, the motor can start to rotate, thereby obtaining the first power to eliminate backlash.

[0061] Step S120: Adjust the initial power until the number of Hall effect sensors is greater than a first preset threshold, and determine the adjusted initial power as the first power.

[0062] Specifically, the initial power is dynamically increased according to a preset power, and it is determined whether the number of Hall effect sensors at the adjusted initial power (i.e., the first power) is greater than a first preset threshold. As the initial power increases and time passes, the number of Hall effect sensors continues to rise. When the detected number of Hall effect sensors is greater than the first preset threshold, it indicates that the motor has started to rotate, and the adjusted initial power is determined as the first power, which is used for subsequent backlash elimination. If the number of Hall effect sensors is less than or equal to the first preset threshold, the initial power continues to be increased according to the preset power until the number of Hall effect sensors is greater than the first preset threshold.

[0063] It is understood that in this embodiment of the application, the preset power is set to 2W and the first preset threshold is set to 6. However, the specific preset power and the first preset threshold can be determined according to the actual situation. The preset power can be set to 1W, 3W or 4W, etc., and the first preset threshold can be set to 4, 5, 7, etc. This embodiment of the application does not limit this.

[0064] By dynamically adjusting the initial power, the system can adaptively adjust the power to eliminate backlash. This prevents the impact and abnormal noise caused by gear collision when the car starts, thus slowing down the deterioration of gear backlash and improving the user experience.

[0065] Step S130: Run the motor at the first power until the number of Hall sensors is greater than the second preset threshold, and detect the rotational speed of the motor.

[0066] Furthermore, after determining the first power of the motor, the motor is operated at the first power. The number of motor turns with gap and the number of pole pairs are obtained, and the product of the first preset threshold, the number of motor turns with gap, and the number of pole pairs is calculated. This product is used as the second preset threshold. It is understood that, for example, in this embodiment, the first preset threshold is 6, the number of motor turns with gap is 10, and the number of motor pole pairs is 3. Therefore, the value of the second preset threshold is 6 × 10 × 3 = 180. The specific values ​​can be determined according to the actual situation, and this embodiment does not limit this.

[0067] When the motor is running at the first power, the number of Hall effect sensors that change in value continues to be monitored, and it is determined whether the number of Hall effect sensors at the first power is greater than a second preset threshold. As time progresses, the number of Hall effect sensors will continue to increase. When the number of Hall effect sensors exceeds the second preset threshold, it indicates that backlash elimination of the motor has been completed, and the motor speed is then monitored. If the number of Hall effect sensors is less than or equal to the second preset threshold, it indicates that backlash elimination of the motor has not yet been completed, and the motor needs to continue running at the first power until the detected number of Hall effect sensors exceeds the second preset threshold.

[0068] Reference Figure 2 The figure shows the effect of a backlash elimination method provided in the embodiment of this application. From the start of motor operation to backlash elimination, the first power operation time is 1.5s. When the backlash is eliminated, that is, when the motor is at the meshing point, the first power is 3434W. According to actual measurement, no gear collision noise is generated at this time, thereby improving user satisfaction and the service life of the gearbox.

[0069] Step S140: Adjust the first power until the speed of the motor remains constant, and determine the adjusted first power as the second power.

[0070] After eliminating backlash in the motor, it needs to be switched to a closed-loop speed control mode. This closed-loop speed control mode is a control method that corrects for speed based on motor output feedback. Specifically, it dynamically adjusts the first power based on whether the detected motor speed is stabilizing, until the motor speed remains constant, achieving a stable state. The adjusted first power is then determined as the second power. When the motor operates at the second power, there is no gear-clashing noise, and the speed remains stable.

[0071] It should be noted that the closed-loop control used in this application is PID closed-loop control. PID is an abbreviation for Proportional, Integral, and Differential, representing three control algorithms. PID control combines the effects of proportional, integral, and derivative control, which can accelerate the system response speed, reduce oscillations, overcome overshoot, and effectively eliminate steady-state error, thus greatly improving the static and dynamic quality of the system.

[0072] The backlash elimination method provided in this application involves applying an initial power to drive the motor during startup and recording the number of Hall effect sensors detecting changes in Hall values. The initial power is adjusted until the number of Hall effect sensors exceeds a first preset threshold, and this adjusted initial power is determined as a first power. The motor is then run at this first power until the number of Hall effect sensors exceeds a second preset threshold, and the motor's rotational speed is detected. Finally, the first power is adjusted until the motor's rotational speed remains constant, and this adjusted first power is determined as a second power. This application achieves adaptive adjustment of the initial power to eliminate backlash by judging changes in the Hall effect sensors. Furthermore, it allows for dynamic adjustment of the backlash elimination time, avoiding noise during meshing, improving customer satisfaction, and reducing impact on the gearbox.

[0073] Example 2

[0074] like Figure 3 The diagram shown is a structural schematic of a backlash elimination device 300 according to an embodiment of this application. The device includes:

[0075] The application module 310 is used to apply initial power to drive the motor when the motor starts, and to record the number of Hall values ​​that the Hall sensor detects as changing.

[0076] The adjustment module 320 is used to adjust the initial power until the number of Hall effect sensors is greater than a first preset threshold, and to determine the adjusted initial power as the first power.

[0077] The detection module 330 is used to run the motor at the first power until the number of Hall sensors is greater than a second preset threshold, and to detect the rotational speed of the motor.

[0078] The determining module 340 is used to adjust the first power until the speed of the motor remains constant, and to determine the adjusted first power as the second power.

[0079] Optionally, the above-mentioned backlash elimination device further includes:

[0080] An additional module is used to increase the initial power by a preset power and determine whether the number of Hall effect sensors is greater than the first preset threshold under the adjusted initial power.

[0081] A determining submodule is used to determine the adjusted initial power as the first power if the number of Hall effect sensors is greater than the first preset threshold.

[0082] An additional submodule is added, which is used to continue increasing the initial power by the preset power if the number of Hall effect sensors is less than or equal to the first preset threshold, until the number of Hall effect sensors is greater than the first preset threshold.

[0083] Optionally, the above-mentioned backlash elimination device further includes:

[0084] The acquisition module is used to acquire the number of turns in the gap and the number of pole pairs of the motor;

[0085] The calculation module is used to calculate the product of the first preset threshold, the number of turns of the motor gap, and the number of poles, and use the product as the second preset threshold.

[0086] Optionally, the above-mentioned backlash elimination device further includes:

[0087] The operation module is used to run the motor at the first power and determine whether the number of Hall effect sensors at the first power is greater than the second preset threshold.

[0088] A switching submodule is used to detect the motor speed if the number of Hall effect sensors is greater than the second preset threshold.

[0089] The operation submodule is configured to continue operating the motor at the first power if the number of Hall effect sensors is less than or equal to the second preset threshold.

[0090] It should be noted that since the tooth gap elimination device in this embodiment is based on the same inventive concept as the tooth gap elimination method in the above method embodiment, the corresponding content in the above method embodiment is also applicable to this device embodiment, and will not be described in detail here.

[0091] The backlash elimination device provided in this application embodiment realizes the function of adaptively adjusting the initial power to eliminate backlash by judging the changes of the Hall sensor, and can dynamically adjust the backlash elimination time, avoiding noise during meshing, improving customer satisfaction, and reducing the impact on the gearbox.

[0092] Example 3

[0093] like Figure 4As shown, a backlash elimination system provided in this application includes at least one control processor 410 and a memory 420 for communicatively connecting to the at least one control processor 410; the memory 420 stores instructions that can be executed by the at least one control processor 410, and the instructions are executed by the at least one control processor 410 to enable the at least one control processor 410 to perform the steps of the backlash elimination method as described in Embodiment 1.

[0094] Example 4

[0095] like Figure 5 As shown, an automobile 500 is provided in an embodiment of this application. The automobile includes a processor 510, which can execute the steps of the backlash elimination method as described in Embodiment 1.

[0096] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative; for example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that, as an alternative implementation, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0097] In addition, the functional modules or units in the various embodiments of the present invention can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0098] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a smartphone, personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0099] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for eliminating tooth gaps, characterized in that, The method includes: When the motor starts, an initial power is applied to drive the motor to run, and the number of Hall values ​​that change are recorded by the Hall sensor; The initial power is adjusted until the number of Hall effect sensors is greater than a first preset threshold, and the adjusted initial power is determined as the first power. The motor is operated at the first power until the number of Hall effect sensors exceeds the second preset threshold, and the rotational speed of the motor is detected. Adjust the first power until the motor speed remains constant, and determine the adjusted first power as the second power.

2. The backlash elimination method according to claim 1, characterized in that, The step of adjusting the initial power until the number of Hall effect sensors is greater than a first preset threshold, and determining the adjusted initial power as the first power, includes: The initial power is increased by a preset power, and it is determined whether the number of Hall effect sensors is greater than the first preset threshold under the adjusted initial power. If the number of Hall effect sensors is greater than the first preset threshold, then the adjusted initial power is determined to be the first power. If the number of Hall effect sensors is less than or equal to the first preset threshold, the initial power is increased by the preset power until the number of Hall effect sensors is greater than the first preset threshold.

3. The backlash elimination method according to claim 1, characterized in that, Before operating the motor at the first power, the method further includes: Obtain the number of turns and pole pairs of the motor; Calculate the product of the first preset threshold, the number of turns of the motor gap, and the number of poles, and use the product as the second preset threshold.

4. The backlash elimination method according to claim 1, characterized in that, The step of operating the motor at the first power until the number of Hall effect sensors exceeds a second preset threshold, and detecting the motor's rotational speed, includes: The motor is operated at the first power, and it is determined whether the number of Hall effect sensors at the first power is greater than the second preset threshold. If the number of Hall effect sensors is greater than the second preset threshold, then the rotational speed of the motor is detected; If the number of Hall effect sensors is less than or equal to the second preset threshold, the motor continues to operate at the first power.

5. A backlash elimination device, characterized in that, The device includes: An application module is used to apply initial power to drive the motor when it starts, and to record the number of Hall values ​​that the Hall sensor detects as changing. An adjustment module is used to adjust the initial power until the number of Hall effect sensors is greater than a first preset threshold, and to determine the adjusted initial power as the first power. The detection module is used to run the motor at the first power until the number of Hall sensors is greater than a second preset threshold, and to detect the rotational speed of the motor. A determining module is used to adjust the first power until the speed of the motor remains constant, and to determine the adjusted first power as the second power.

6. The backlash elimination device according to claim 5, characterized in that, The device further includes: An additional module is used to increase the initial power by a preset power and determine whether the number of Hall effect sensors is greater than the first preset threshold under the adjusted initial power. A determining submodule is used to determine the adjusted initial power as the first power if the number of Hall effect sensors is greater than the first preset threshold. An additional submodule is added, which is used to continue increasing the initial power by the preset power if the number of Hall effect sensors is less than or equal to the first preset threshold, until the number of Hall effect sensors is greater than the first preset threshold.

7. The backlash elimination device according to claim 5, characterized in that, The device further includes: The acquisition module is used to acquire the number of turns in the gap and the number of pole pairs of the motor; The calculation module is used to calculate the product of the first preset threshold, the number of turns of the motor gap, and the number of poles, and use the product as the second preset threshold.

8. The backlash elimination device according to claim 5, characterized in that, The device further includes: The operation module is used to run the motor at the first power and determine whether the number of Hall effect sensors at the first power is greater than the second preset threshold. A switching submodule is used to detect the motor speed if the number of Hall effect sensors is greater than the second preset threshold. The operation submodule is configured to continue operating the motor at the first power if the number of Hall effect sensors is less than or equal to the second preset threshold.

9. A backlash elimination system, characterized in that, It includes at least one control processor and a memory for communicatively connecting to the at least one control processor; the memory stores instructions executable by the at least one control processor, which, when executed by the at least one control processor, enable the at least one control processor to perform the steps of the backlash elimination method as described in any one of claims 1-4.

10. A car, characterized in that, The vehicle includes a processor capable of performing the steps of the backlash elimination method as described in any one of claims 1-4.

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