Electric rear wing position control method, device and storage medium and automobile

Abstract

This invention provides a method, device, storage medium, and automobile for controlling the position of an electric rear wing. The control method includes initial learning of the rear wing position and correction of the rear wing position. Initial learning of the rear wing position includes controlling the electric rear wing to close and deploy when it is initially powered on, and recording the closed stall position Pmin, the P-Hall position Phall_up, the deployed stall position Pmax, and the P-Hall position Phall_down, respectively. Correction of the rear wing position includes, during operation of the electric rear wing, when the electric rear wing deploys to the point where the P-Hall sensor is detected, comparing the current position coordinates of the electric rear wing with the P-Hall position Phall_up recorded during initial learning. If the difference between the two is greater than a preset difference, the current position coordinates of the electric rear wing are updated to the recorded P-Hall position coordinates Phall_up. This control method can correct for rear wing position deviations and also avoids collision wear on the rear wing linkage.

Description

Technical Field

[0001] This invention relates to the field of electric rear wing technology, and particularly to an electric rear wing position control method. The invention also relates to an electric rear wing position control device, a computer-readable storage medium capable of executing the above-described electric rear wing position control method, and a vehicle equipped with the above-described electric rear wing position control device. Background Technology

[0002] An electric rear wing is a car spoiler that is electrically driven and can be raised and lowered at the rear of the vehicle. It not only has a decorative effect, but also increases the downforce of the vehicle when driving at high speeds. It can also play a certain role in balancing when cornering at high speeds or passing through complex road sections, thereby improving the vehicle's stability and safety.

[0003] However, due to external environmental factors, the movement position of existing electric rear wings may shift after a period of use. If the deviation is significant, the rear wing needs to relearn. During this relearning process, the rear wing linkage mechanism needs to impact structures such as the rear wing mounting base to stall the rear wing motor. This inevitably causes noise during the rear wing's operation and wear on the linkage mechanism, which is detrimental to improving the overall performance of the electric rear wing. Summary of the Invention

[0004] In view of this, the present invention aims to propose an electric tail wing position control method, which can correct the tail wing position offset and avoid collision wear of the tail wing linkage.

[0005] To achieve the above objectives, the technical solution of the present invention is implemented as follows:

[0006] An electric tail fin position control method, the control method includes initial learning of tail fin position and correction of tail fin position;

[0007] The initialization learning of the tail fin position includes:

[0008] When the electric tail wing is initially powered on, the electric tail wing is controlled to close until the tail wing motor stalls and the closing stall position Pmin is recorded. Then, the electric tail wing is controlled to deploy until the P Hall sensor on the tail wing shaft is detected and the P Hall position Phall_up is recorded. Next, the electric tail wing is controlled to deploy until the tail wing motor stalls and the deployment stall position Pmax is recorded. Then, the electric tail wing is controlled to close until the P Hall sensor is detected and the P Hall position Phall_down is recorded.

[0009] The correction of the tail fin position includes:

[0010] During the operation of the electric tail fin, when the electric tail fin deploys to the point where the P Hall sensor is detected, the current position coordinates of the electric tail fin are compared with the P Hall position Phall_up recorded during initial learning. If the difference between the two is greater than a preset difference, the current position coordinates of the electric tail fin are updated to the recorded P Hall position coordinates Phall_up.

[0011] Furthermore, the correction of the tail fin position also includes:

[0012] When the electric tail wing is in operation, when the electric tail wing closes down to the point where the P Hall sensor is detected, if the difference between the two is greater than a preset difference, the current position coordinates of the electric tail wing are updated to the recorded P Hall position coordinates Phall_down.

[0013] Furthermore, during the operation of the electric tail wing, the electric tail wing is controlled to move between closing the soft stop Pclose and deploying the soft stop Popen.

[0014] With Pmin as the coordinate base point, the positions of the electric tail fin have the following correspondence:

[0015] Pclose = Pmin + Δt5;

[0016] Popen = Pmin + Δt5 + Δt4;

[0017] Phall_up = Pclose + Δt1;

[0018] Phall_down = Popen - Δt3;

[0019] Pmax = Pmin + Δt2;

[0020] △t4=△t2–Δt5*2;

[0021] Δt1 is the difference in Hall effect value of the tail wing motor from Pclose to Phall_up; Δt2 is the difference in Hall effect value of the tail wing motor from Pmin to Pmax; Δt3 is the difference in Hall effect value of the tail wing motor from Popen to Phall_down; Δt4 is the travel distance from the soft stop Pclose to the soft stop Popen; Δt5 is the preset number of Hall effect values ​​for tail wing motor retraction.

[0022] Compared with the prior art, the present invention has the following advantages:

[0023] The electric tail wing position control method of this invention records the closed stall position Pmin, P Hall position Phall_up, deployed stall position Pmax, and P Hall position Phall_down during initialization learning. It compares the current position coordinates of the electric tail wing with the P Hall position coordinates recorded during initialization learning. When the difference exceeds a preset value, indicating a tail wing position shift, the current position coordinates of the electric tail wing are updated to the recorded P Hall position coordinates. This allows for tail wing position correction using the recorded P Hall position coordinates, avoiding collision noise and wear on the tail wing linkage caused by tail wing relearning. Therefore, this method significantly improves tail wing position offset correction and prevents collision wear on the tail wing linkage, demonstrating excellent practicality.

[0024] Another object of the present invention is to provide an electric tail wing position control device, which includes a tail wing position initialization learning module and a tail wing position correction module.

[0025] The tail wing position initialization learning module is used to control the electric tail wing to close until the tail wing motor stalls when the electric tail wing is initially powered on, and record the closing stall position Pmin. Then, it controls the electric tail wing to deploy until the P Hall sensor on the tail wing shaft is detected and records the P Hall position Phall_up. Next, it controls the electric tail wing to deploy until the tail wing motor stalls and records the deployment stall position Pmax. Finally, it controls the electric tail wing to close until the P Hall sensor is detected and records the P Hall position Phall_down.

[0026] The tail wing position correction module is used to compare the current position coordinates of the electric tail wing with the P Hall position Phall_up recorded during initial learning when the electric tail wing is deployed to detect the P Hall sensor. If the difference between the two is greater than a preset difference, the current position coordinates of the electric tail wing are updated to the recorded P Hall position coordinates Phall_up.

[0027] Furthermore, the tail wing position correction module is also used in the operation of the electric tail wing. When the electric tail wing is closed to the point where the P Hall sensor is detected, it compares the current position coordinates of the electric tail wing with the P Hall position coordinates Phall_down recorded during initial learning. If the difference between the two is greater than a preset difference, the current position coordinates of the electric tail wing are updated to the recorded P Hall position coordinates Phall_down.

[0028] Furthermore, the control device also includes a control module for controlling the movement of the electric tail wing between closing the soft stop Pclose and deploying the soft stop Popen during operation of the electric tail wing.

[0029] With Pmin as the coordinate base point, the positions of the electric tail fin have the following correspondence:

[0030] Pclose = Pmin + Δt5;

[0031] Popen = Pmin + Δt5 + Δt4;

[0032] Phall_up = Pclose + Δt1;

[0033] Phall_down = Popen - Δt3;

[0034] Pmax = Pmin + Δt2;

[0035] △t4=△t2–Δt5*2;

[0036] Δt1 is the difference in Hall effect value of the tail wing motor from Pclose to Phall_up; Δt2 is the difference in Hall effect value of the tail wing motor from Pmin to Pmax; Δt3 is the difference in Hall effect value of the tail wing motor from Popen to Phall_down; Δt4 is the travel distance from the soft stop Pclose to the soft stop Popen; Δt5 is the preset number of Hall effect values ​​for tail wing motor retraction.

[0037] The present invention also proposes a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the electric tail fin position control method as described above.

[0038] Furthermore, the present invention also proposes an automobile equipped with an electric rear wing, and the automobile is also equipped with an electric rear wing position control device as described above.

[0039] The electric rear wing position control device, computer-readable storage medium, and automobile described in this invention have the same beneficial effects as the electric rear wing position control method described above compared to the prior art, and will not be repeated here. Attached Figure Description

[0040] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0041] Figure 1 This is a schematic diagram illustrating the displacement of the electric tail fin according to an embodiment of the present invention;

[0042] Figure 2 This is a schematic diagram of the stroke of the electric tail fin according to an embodiment of the present invention;

[0043] Figure 3This is a flowchart illustrating the tail fin position initialization learning process as described in an embodiment of the present invention;

[0044] Figure 4 This is a flowchart illustrating the tail wing position correction process during the deployment of the electric tail wing according to an embodiment of the present invention.

[0045] Figure 5 This is a flowchart illustrating the tail wing position correction process when the electric tail wing is closed, as described in an embodiment of the present invention.

[0046] Figure 6 This is a schematic diagram of the electric tail fin position control device according to an embodiment of the present invention;

[0047] Explanation of reference numerals in the attached figures:

[0048] 100. Tail wing controller;

[0049] 10. Control module; 20. Tail wing position initialization learning module; 30. Tail wing position correction module. Detailed Implementation

[0050] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0051] In the description of this invention, it should be noted that the use of terms such as "upper," "lower," "inner," and "outer," indicating orientation or positional relationship, is based on the orientation or positional relationship shown in the accompanying drawings and is only for the convenience of describing the invention and simplifying the description. It does not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the use of terms such as "first" and "second" is also for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0052] Furthermore, in the description of this invention, unless otherwise explicitly defined, the terms "installation," "connection," "joining," and "connector" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention in light of the specific circumstances.

[0053] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0054] Example 1

[0055] Combination Figure 1As shown, after a period of use, the electric rear wing on a car will shift in position due to factors such as vehicle bumps and wind pressure. When the deviation is large, the existing technology will cause the electric rear wing to relearn.

[0056] During the learning process, the tail wing linkage mechanism needs to collide with structures such as the tail wing mounting base to stall the tail wing motor, thereby re-identifying and determining the tail wing's movement position coordinates. However, because the tail wing linkage will collide every time it relearns, it will cause tail wing operating noise and wear on the linkage mechanism, thus affecting the quality of the electric tail wing's operation.

[0057] Based on this, this embodiment relates to an electric tail wing position control method, which can correct the tail wing position offset and avoid collision wear of the tail wing linkage.

[0058] In terms of overall design, and combined with Figure 3 and Figure 4 As shown, the control method in this embodiment includes initial learning of the tail wing position and correction of the tail wing position.

[0059] The initialization learning of the aforementioned tail wing position includes the following steps when the electric tail wing is initially powered on:

[0060] Step s01: Control the electric tail wing to close until the tail wing motor stalls, and record the stall position Pmin.

[0061] Step s02: Control the electric tail wing to deploy until the P Hall sensor on the tail wing shaft is detected, and record the P Hall position Phall_up;

[0062] Step s03, next, control the electric tail fin to deploy until the tail fin motor stalls, and record the deployment stall position Pmax;

[0063] Step s04: Control the electric tail wing to close until the P Hall sensor is detected, then record the P Hall position Phall_down.

[0064] Specifically, similar to the control method of electric rear wings in existing automobiles, this embodiment also determines the position of the electric rear wing by detecting the rotation Hall effect of the rear wing motor. Moreover, during the deployment or closure of the electric rear wing, when the rear wing moves to the hard stop point of the linkage deployment or closure, and the linkage mechanism contacts the rear wing base, the linkage mechanism will move forward a certain distance due to physical deformation. After the stall current of the rear wing motor rises to a preset rated threshold, it is determined that the rear wing has reached the correct position.

[0065] At this point, the motor stall position when the electric tail fin deploys is the aforementioned deployment stall position Pmax, and the motor stall position when the electric tail fin closes becomes the aforementioned closing stall position Pmin, and in combination with... Figure 2 As shown, the distance Δt2 between the deployed stall position Pmax and the closed stall position Pmin is the maximum mechanical stroke of the electric tail fin in actual movement.

[0066] Furthermore, in this embodiment, the P-Hall sensor is mounted on the pivot of the electric tail fin, and a corresponding sensing element is provided on the tail fin base or other tail fin mounting base. During the deployment and closure of the electric tail fin, the P-Hall sensor will experience a voltage level change once when the positions of the P-Hall sensor and the sensing element are aligned. Since the P-Hall sensor and the corresponding sensing element are fixed Hall effect devices installed in the tail fin mechanism, the position of the P-Hall sensor in the electric tail fin is not affected by external factors.

[0067] In this way, the position of the Hall sensor during the deployment and closure of the electric tail fin can be used as the reference coordinates for the tail fin position. Simultaneously, in step s02 of the tail fin position initialization learning, when the electric tail fin deploys until a change in the level of the Hall sensor on the tail fin shaft is detected, the Hall position Phall_up is recorded. Similarly, in step s04, when the electric tail fin closes until a change in the level of the Hall sensor on the tail fin shaft is detected, the Hall position Phall_down is recorded.

[0068] In this embodiment, it remains as follows Figure 3 As shown, the correction of the tail fin position specifically includes the following process:

[0069] During the operation of the electric tail fin, when the electric tail fin deploys to the point where the P Hall sensor is detected, the current position coordinates of the electric tail fin are compared with the P Hall position Phall_up recorded during initial learning. If the difference between the two is greater than a preset difference, the current position coordinates of the electric tail fin are updated to the recorded P Hall position coordinates Phall_up.

[0070] At this point, the aforementioned preset difference can be, for example, five motor Hall effect sensors. This preset difference design allows the offset correction of the electric tail wing to have a certain error capacity, avoiding frequent corrections and increasing the control workload. After updating the current position coordinates of the electric tail wing to the recorded Hall effect position coordinates (Phall_up), the tail wing controller 100 can further obtain the deployed and closed end positions of the tail wing based on the updated coordinate values, so that the movement position of the electric tail wing meets the design requirements. In this embodiment, the deployed and closed end positions of the tail wing specifically refer to the closed soft stop point (Pclose) and the deployed soft stop point (Popen).

[0071] It should be noted that, in this embodiment, in addition to correcting the offset during tail fin deployment, [the following is also mentioned:] combining [the following is mentioned:] Figure 5 As shown, the correction of the tail fin position also includes the following process:

[0072] During the operation of the electric tail wing, when the electric tail wing closes to the point where the P Hall sensor is detected, the current position coordinates of the electric tail wing are compared with the P Hall position coordinates Phall_down recorded during initial learning. If the difference between the two is greater than a preset difference, the current position coordinates of the electric tail wing are updated to the recorded P Hall position coordinates Phall_down.

[0073] The aforementioned preset difference can, for example, be 5 motor Hall effect sensors. Furthermore, based on the updated coordinate values, the tail wing controller 100 also re-obtains the deployment and closure end positions of the tail wing, ensuring that the movement position of the electric tail wing meets design requirements. In this embodiment, the deployment and closure end positions of the tail wing also refer to the closing soft stop point Pclose and the deployment soft stop point Popen described below.

[0074] In this embodiment, it is understood that if the electric tail wing moves within the maximum stroke range during operation, it will inevitably cause collisions between the linkage mechanism and the tail wing base during each deployment and closure. To avoid collision wear on the linkage mechanism and to avoid collision noise, the control method in this embodiment specifically controls the electric tail wing to retract a preset distance relative to the deployment stall position Pmax and the closure stall position Pmin during operation. This preset distance is also the preset Hall number Δt5 for the tail wing motor to retract. With this retraction design, the electric tail wing specifically moves between the closure soft stop Pclose and the deployment soft stop Popen, that is, within the stroke Δt4, so as not to cause collisions in the linkage mechanism.

[0075] Among them, continue to combine Figure 2 As shown, with the stall position Pmin as the reference, the positions of the electric tail fin in this embodiment have the following correspondence:

[0076] Pclose = Pmin + Δt5;

[0077] Popen = Pmin + Δt5 + Δt4;

[0078] Phall_up = Pclose + Δt1;

[0079] Phall_down = Popen - Δt3;

[0080] Pmax = Pmin + Δt2;

[0081] △t4=△t2–Δt5*2.

[0082] Specifically, Δt1 is the difference in Hall effect value of the tail wing motor from Pclose to Phall_up; Δt2 is the difference in Hall effect value of the tail wing motor from Pmin to Pmax; Δt3 is the difference in Hall effect value of the tail wing motor from Popen to Phall_down; Δt4 is the travel distance from the soft stop Pclose to the soft stop Popen; and Δt5 is the preset number of Hall effect values ​​for tail wing motor retraction.

[0083] Furthermore, in practical implementation, the aforementioned Δt5 is set based on the structural design of the electric tail wing drive mechanism. Δt1 and Δt3 can be obtained through detection and measurement of the P-Hall sensor during the tail wing initialization learning process. Δt2 is also set based on the structural design of the electric tail wing drive mechanism, and it can also be measured and obtained during the tail wing initialization learning process; in practice, the measured value obtained during initialization learning is generally used. Δt4 represents the actual stroke of the tail wing movement, defined by the structural design of the electric tail wing drive mechanism. However, in practical implementation, Δt4 is usually compensated for by adjusting Δt5 based on the tolerance between the theoretical and measured values ​​of Δt2.

[0084] During the operation of the electric tail wing, the electric tail wing moves between the closed soft stop Pclose and the deployed soft stop Popen, with the closed stall position Pmin as the reference. This avoids the linkage mechanism in the electric tail wing from colliding with the tail wing base at the end of the tail wing deployment and at the end of the tail wing closure, thereby avoiding wear and collision noise on the linkage structure.

[0085] Furthermore, based on the above correspondence and the updated P Hall position Phall_up and P Hall position Phall_down, the control method of this embodiment can calculate the position coordinates of the closing soft stop Pclose and the deployment soft stop Popen of the tail wing movement, so as to synchronously correct and update the closing soft stop Pclose and the deployment soft stop Popen, so that the electric tail wing moves within the designed position range.

[0086] The electric tail wing position control method of this embodiment records the closed stall position Pmin, P Hall position Phall_up, deployed stall position Pmax, and P Hall position Phall_down during initialization learning. By comparing the difference between the current position coordinates of the electric tail wing and the P Hall position coordinates recorded during initialization learning, when the difference is greater than a preset difference, that is, when the tail wing position has shifted, the current position coordinates of the electric tail wing are updated to the recorded P Hall position coordinates. In this way, the recorded P Hall position coordinates can be used to correct the tail wing position, which can avoid the collision noise and wear of the tail wing linkage caused by tail wing relearning. Therefore, this method can improve the correction of tail wing position shift and avoid the collision wear of the tail wing linkage, thus having good practicality.

[0087] Example 2

[0088] This embodiment relates to an electric tail fin position control device, combined with... Figure 6 As shown, the control device includes a tail wing position initialization learning module 20 and a tail wing position correction module 30.

[0089] Specifically, the tail wing position initialization learning module 20 is used to control the electric tail wing to close until the tail wing motor stalls and record the closing stall position Pmin when the electric tail wing is initially powered on; then control the electric tail wing to deploy until the P Hall sensor on the tail wing shaft is detected and record the P Hall position Phall_up; then control the electric tail wing to deploy until the tail wing motor stalls and record the deployment stall position Pmax; and finally control the electric tail wing to close until the P Hall sensor is detected and record the P Hall position Phall_down.

[0090] The tail wing position correction module 30 is specifically used in the operation of the electric tail wing. When the electric tail wing deploys to the point where the P Hall sensor is detected, it compares the current position coordinates of the electric tail wing with the P Hall position Phall_up recorded during initial learning. If the difference between the two is greater than a preset difference, the current position coordinates of the electric tail wing are updated to the recorded P Hall position coordinates Phall_up.

[0091] Meanwhile, the tail wing position correction module 30 is also used in the operation of the electric tail wing. When the electric tail wing is closed to the point where the P Hall sensor is detected, it compares the current position coordinates of the electric tail wing with the P Hall position coordinates Phall_down recorded during initial learning. If the difference between the two is greater than a preset difference, the current position coordinates of the electric tail wing are updated to the recorded P Hall position coordinates Phall_down.

[0092] In addition, the control device in this embodiment also includes a control module 10, which is specifically used to control the movement of the electric tail wing between closing the soft stop Pclose and deploying the soft stop Popen during the operation of the electric tail wing.

[0093] With Pmin as the coordinate base point, as mentioned in Example 1, the positions of the electric tail fin in this embodiment have the following correspondence:

[0094] Pclose = Pmin + Δt5;

[0095] Popen = Pmin + Δt5 + Δt4;

[0096] Phall_up = Pclose + Δt1;

[0097] Phall_down = Popen - Δt3;

[0098] Pmax = Pmin + Δt2;

[0099] △t4=△t2–Δt5*2.

[0100] Furthermore, the meanings of Δt1, Δt2, Δt3, Δt4, and Δt5 in the above relationships, as well as their specific settings in actual implementation, can be found in the relevant descriptions in Embodiment 1. Meanwhile, through the above relationships, this embodiment can also update and correct the closed soft stop Pclose and the deployed soft stop Popen based on the updated P Hall positions Phall_up and Phall_down, allowing the electric tail wing to move within the designed position range.

[0101] In this embodiment, the control module 10, the tail wing position initialization learning module 20, and the tail wing position correction module 30 can all be integrated into the tail wing controller 100. Furthermore, the aforementioned modules can be any existing commonly used modules with data storage and processing capabilities.

[0102] Furthermore, based on the above description, the electric tail wing position control device of this embodiment, in terms of the control of the electric tail wing, especially the initial learning of the tail wing position and the correction of the tail wing position, can be referred to the relevant description in Embodiment 1, and will not be repeated here.

[0103] The electric tail wing position control device of this embodiment can correct the tail wing position using the recorded P Hall position coordinates, which can avoid the collision noise and wear of the tail wing link caused by tail wing relearning. Thus, this method can improve the correction of tail wing position offset and avoid collision wear of the tail wing link, and has good practicality.

[0104] Example 3

[0105] This embodiment relates to a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, can implement the electric tail fin position control method in Embodiment 1.

[0106] The computer-readable storage medium of this embodiment is generally exemplified by a memory. Furthermore, this computer-readable storage medium includes permanent and non-permanent, removable and non-removable media, and information storage can be achieved by any method or technology.

[0107] The aforementioned information may be computer-readable instructions, data structures, program modules, or other data. Examples of computer-readable storage media 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 technologies, CD-ROM, digital versatile optical disc (DVD), or other optical storage, magnetic tape, magnetic magnetic tape, disk storage, or other magnetic storage devices, or any other non-transfer medium that can be used to store information that can be accessed by a computing device.

[0108] In addition, this embodiment also relates to a car equipped with an electric rear wing, and the car is also equipped with the electric rear wing position control device of Embodiment 2.

[0109] In this embodiment, an electric rear wing is installed on the car, and the operation of the electric rear wing is controlled by the electric rear wing position control device in Embodiment 2. The position of the rear wing is corrected by using the recorded P Hall position coordinates, which can avoid the collision noise and wear of the rear wing link caused by the relearning of the rear wing. Thus, this method can improve the correction of the rear wing position offset and avoid the collision wear of the rear wing link, and has good practicality.

[0110] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for controlling the position of an electrically powered tail wing, the method comprising: initial learning of the position of the tail wing; and correction of the position of the tail wing; wherein the initial learning of the position of the tail wing comprises: when the electrically powered tail wing is initially powered on, controlling the electrically powered tail wing to close until a closing stall position Pmin is recorded when the tail wing motor stalls, then controlling the electrically powered tail wing to deploy until a P-Hall position Phall_up is recorded when the P-Hall sensor on the tail wing shaft is detected, then controlling the electrically powered tail wing to deploy until a deployment stall position Pmax is recorded when the tail wing motor stalls, and then controlling the electrically powered tail wing to close until the P-Hall position Phall_down is recorded when the P-Hall sensor is detected; and wherein the correction of the position of the tail wing comprises: when the electrically powered tail wing is in operation, comparing the current position coordinate of the electrically powered tail wing with the P-Hall position Phall_up recorded during the initial learning, and if the difference between the two is greater than a preset difference, updating the current position coordinate of the electrically powered tail wing to the P-Hall position coordinate Phall_up recorded; and wherein, after the current position coordinate of the electrically powered tail wing is updated to the P-Hall position coordinate Phall_up recorded, the deployment and closing end positions of the electrically powered tail wing are reacquired according to the updated coordinate values; and wherein the deployment and closing end positions of the electrically powered tail wing are the closing soft stop point Pclose and the deployment soft stop point Popen of the electrically powered tail wing, and the electrically powered tail wing is controlled to move between the closing soft stop point Pclose and the deployment soft stop point Popen in operation. 2.The method for controlling the position of an electrically powered tail wing according to claim 1, wherein the correction of the position of the tail wing further comprises: when the electrically powered tail wing is in operation, comparing the current position coordinate of the electrically powered tail wing with the P-Hall position coordinate Phall_down recorded during the initial learning, and if the difference between the two is greater than a preset difference, updating the current position coordinate of the electrically powered tail wing to the P-Hall position coordinate Phall_down recorded. 3.The method for controlling the position of an electrically powered tail wing according to claim 1 or 2, wherein, with Pmin as the coordinate base point, the corresponding relationship between the positions of the electrically powered tail wing is as follows: Pclose = Pmin + △t5; Popen = Pmin +△t5 +△t4; Phall_up = Pclose +Δt1; Phall_down = Popen -Δt3; Pmax = Pmin +Δt2; △t4 = △t2–Δt5 ×2; Δt1 is the tail wing motor Hall difference value from Pclose to Phall_up; Δt2 is the tail wing motor Hall difference value from Pmin to Pmax; Δt3 is the tail wing motor Hall difference value from Popen to Phall_down; △t4 is the stroke from the closing soft stop point Pclose to the deployment soft stop point Popen; and △t5 is a preset tail wing motor rollback Hall number. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ 4. An electric tail wing position control device, characterized in that: the control device comprises a tail wing position initialization learning module (20) and a tail wing position correction module (30), and further comprises a control module (10); the tail wing position initialization learning module (20) is configured to, when the electric tail wing is powered on for the first time, control the electric tail wing to close until a closing stall position Pmin is recorded when the tail wing motor stalls, then control the electric tail wing to expand until a Phall_up position is recorded when the P Hall sensor on the tail wing rotating shaft is detected, then control the electric tail wing to expand until an expanding stall position Pmax is recorded when the tail wing motor stalls, and then control the electric tail wing to close until a Phall_down position is recorded when the P Hall sensor is detected; the tail wing position correction module (30) is configured to, during the operation of the electric tail wing, compare the current position coordinate of the electric tail wing with the recorded Phall_up position when the electric tail wing expands to the P Hall sensor, and if the difference between the two is greater than a preset difference, update the current position coordinate of the electric tail wing to the recorded Phall_up position coordinate; after updating the current position coordinate of the electric tail wing to the recorded Phall_up position coordinate, the expanding and closing end positions of the electric tail wing are reacquired according to the updated coordinate value, wherein the expanding and closing end positions of the electric tail wing are the closing soft stop point Pclose and the expanding soft stop point Popen of the electric tail wing movement; the control module (10) is configured to, during the operation of the electric tail wing, control the electric tail wing to move between the closing soft stop point Pclose and the expanding soft stop point Popen.

5. The electric tail wing position control device according to claim 4, characterized in that: the tail wing position correction module (30) is further configured to, during the operation of the electric tail wing, compare the current position coordinate of the electric tail wing with the recorded Phall_down position when the electric tail wing closes to the P Hall sensor, and if the difference between the two is greater than a preset difference, update the current position coordinate of the electric tail wing to the recorded Phall_down position coordinate.

6. The electric tail wing position control device according to claim 4 or 5, characterized in that: with Pmin as the coordinate base point, the corresponding relationship between the positions of the electric tail wing is as follows: Pclose = Pmin + △t5; Popen = Pmin +△t5 +△t4; Phall_up = Pclose +Δt1; Phall_down = Popen -Δt3; Pmax = Pmin +Δt2; △t4 = △t2–Δt5 ×2; Δt1 is the tail rotor motor hall difference value from Pclose to Phall_up; Δt2 is the tail rotor motor hall difference value from Pmin to Pmax; Δt3 is the tail rotor motor hall difference value from Popen to Phall_down; Δt4 is the stroke from the closing soft stop point Pclose to the opening soft stop point Popen; and Δt5 is a preset tail rotor motor rollback hall number. 7.A computer readable storage medium, having stored thereon a computer program, wherein the computer program is executed by a processor to implement the electric tail wing position control method according to any one of claims 1-3. 8.An automobile, characterized in that: The automobile is provided with an electric tail wing, and the automobile is further provided with the electric tail wing position control device according to any one of claims 4-6. ​

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