Motor control method and seat adjustment system

Abstract

The application provides a motor control method, which comprises the following steps: receiving a motor motion instruction; controlling the motor to start according to the motor motion instruction; adjusting the driving force of the motor at at least one preset running position in a stable running stage of the motor; and determining that the motor reaches a target position and stopping the control of the motor. The application adjusts the driving force of the motor to balance the motor rotating speed, reduces the noise generated by the electric functional part during the adjustment, optimizes the acoustic performance, and improves the subjective experience of the user. In addition, the method of the application does not need to increase additional hardware, is easy to implement, and has low cost.

Description

Technical Field

[0001] This invention relates to the technical field of vehicles, and more specifically, to a motor control method, a computing device, a seat adjustment system, a vehicle including the seat adjustment system, and a computer-readable storage medium. Background Technology

[0002] With the rapid development of the automotive industry and the continuous improvement of people's living standards, users have increasingly higher requirements for the overall quality of vehicles. Therefore, OEMs are increasing their research into details related to the noise generated during the adjustment of some electric functional components, such as sunroof noise, window operation noise, and electric seat operation noise. Among these, electric seat operation noise is a sound that users frequently perceive while riding in a vehicle, which can lead to unpleasant subjective experiences such as loud, sharp, ear-piercing noise, or even abnormal rattles. Summary of the Invention

[0003] In view of the above-mentioned technical problems, a first aspect of the present invention provides a motor control method, comprising: receiving a motor motion command; controlling the motor to start according to the motor motion command; adjusting the driving force of the motor at at least one preset travel position during the stable operation phase of the motor; and determining that the motor has reached a target position and stopping the control of the motor.

[0004] In some embodiments of the present invention, during the stable operation phase, adjusting the driving force of the motor at at least one preset travel position further includes: performing the following steps during the stable operation phase: calculating a first PWM duty cycle adjustment amount of the motor using a trigonometric function, wherein the amplitude, period, and phase shift of the trigonometric function are associated with the at least one preset travel position; adjusting the stable PWM duty cycle of the motor using the first PWM duty cycle adjustment amount to obtain an output PWM duty cycle; and controlling the movement of the motor based on the output PWM duty cycle.

[0005] In some embodiments of the present invention, the trigonometric function includes a sine function and / or a cosine function, and calculating the first PWM duty cycle adjustment of the motor using the trigonometric function further includes: detecting the current position of the motor via a sensor; and calculating the first PWM duty cycle adjustment of the motor using the sine function and / or the cosine function based on the current position of the motor.

[0006] In some embodiments of the present invention, the motor control method further includes: during the stable operation phase, adjusting the driving force of the motor using a proportional-integral-derivative algorithm.

[0007] In some embodiments of the present invention, during the stable operation phase, adjusting the driving force of the motor using a proportional-integral-derivative (PID) algorithm further includes: performing the following steps during the stable operation phase: detecting the current speed of the motor via a sensor; determining the current error between the current speed and the target speed; calculating a second PWM duty cycle adjustment amount for the motor using the PID algorithm based on the current error, cumulative error, and historical error; adjusting the stable PWM duty cycle of the motor using the second PWM duty cycle adjustment amount to obtain an output PWM duty cycle; and controlling the movement of the motor based on the output PWM duty cycle.

[0008] In some embodiments of the present invention, calculating the second PWM duty cycle adjustment amount of the motor using the proportional-integral-derivative algorithm based on the current error, cumulative error, and historical error further includes: calculating the proportional adjustment component of the second PWM duty cycle adjustment amount based on the current error; calculating the integral adjustment component of the second PWM duty cycle adjustment amount based on the cumulative error; calculating the derivative adjustment component of the second PWM duty cycle adjustment amount based on the current error and the historical error; and adding the proportional adjustment component, the integral adjustment component, and the derivative adjustment component to obtain the second PWM duty cycle adjustment amount.

[0009] In some embodiments of the present invention, controlling the motor to start according to the motor motion command further includes: using the motor's start-up PWM duty cycle as the output PWM duty cycle to drive the motor to start according to the motor motion command; and gradually increasing the output PWM duty cycle during the motor start-up phase to control the movement of the motor.

[0010] In some embodiments of the present invention, during the startup phase of the motor, gradually increasing the output PWM duty cycle to control the movement of the motor further includes performing the following steps during the startup phase: determining the current PWM duty cycle of the motor; if the current PWM duty cycle of the motor does not reach the stable PWM duty cycle of the motor, increasing the output PWM duty cycle by a preset acceleration value; and otherwise, determining that the motor has entered the stable operation phase.

[0011] In some embodiments of the present invention, before determining that the motor has reached the target position and stopping control of the motor, the method further includes: detecting the current position of the motor via a sensor; determining, based on the current position of the motor, whether the motor has reached a slow-stopping area before the target position; if the motor has not yet reached the slow-stopping area, controlling the motor to remain in the stable operation phase; otherwise, gradually reducing the output PWM duty cycle to control the movement of the motor.

[0012] In some embodiments of the present invention, gradually reducing the output PWM duty cycle to control the movement of the motor further includes: obtaining the current PWM duty cycle of the motor; if the current PWM duty cycle of the motor does not reach the pre-stop PWM duty cycle of the motor, then reducing the output PWM duty cycle by a preset deceleration value; otherwise, determining that the motor has entered the pre-stop stage.

[0013] In some embodiments of the present invention, the motor control method includes: during the pre-stop phase, using the pre-stop PWM duty cycle as the output PWM duty cycle to control the movement of the motor.

[0014] A second aspect of the invention provides a computing device comprising: a processor; and a memory for storing computer-executable instructions that, when executed, cause the processor to perform the motor control method according to the first aspect described above.

[0015] A third aspect of the invention provides a seat adjustment system, including a motor for generating power to adjust the position of a seat via a transmission device; and a control device including a processor; and a memory for storing computer-executable instructions that, when executed, cause the processor to perform the following methods: receiving a motor motion command; controlling the motor to start according to the motor motion command; adjusting the driving force of the motor at at least one preset travel position during a stable operation phase of the motor; and determining that the motor has reached a target position and ceasing control of the motor.

[0016] In some embodiments of the present invention, when the computer-executable instructions are executed, the processor adjusts the driving force of the motor at at least one preset travel position during a stable operation phase of the motor by performing the following steps: calculating a first PWM duty cycle adjustment amount of the motor using trigonometric functions, the amplitude, period, and phase shift of the trigonometric functions being associated with the at least one preset travel position; adjusting the stable PWM duty cycle of the motor using the first PWM duty cycle adjustment amount to obtain an output PWM duty cycle; and controlling the movement of the motor based on the output PWM duty cycle.

[0017] In some embodiments of the invention, the trigonometric functions include sine and / or cosine functions, and when the computer-executable instructions are executed, the processor calculates a first PWM duty cycle adjustment of the motor using the trigonometric functions by performing the following method: detecting the current position of the motor via the sensor; and calculating the first PWM duty cycle adjustment of the motor using the sine and / or cosine functions based on the current position of the motor.

[0018] In some embodiments of the present invention, when the computer-executable instructions are executed, the processor controls the motor to start according to the motor motion instructions by performing the following methods: driving the motor to start by using the motor's start-up PWM duty cycle as the output PWM duty cycle according to the motor motion instructions; and gradually increasing the output PWM duty cycle during the motor start-up phase to control the movement of the motor.

[0019] In some embodiments of the present invention, when the computer-executable instructions are executed, the processor causes the processor to gradually increase the output PWM duty cycle to control the movement of the motor during the motor startup phase by performing the following steps: determining the current PWM duty cycle of the motor; if the current PWM duty cycle of the motor has not reached the stable PWM duty cycle of the motor, increasing the output PWM duty cycle by a preset acceleration value; and otherwise, determining that the motor has entered the stable operation phase.

[0020] In some embodiments of the present invention, when the computer-executable instructions are executed, the processor further performs the following steps before determining that the motor has reached the target position and ceasing control of the motor: detecting the current position of the motor via a sensor; determining, based on the current position of the motor, whether the motor has reached the slow-stopping zone before the target position; if the motor has not yet reached the slow-stopping zone, controlling the motor to remain in the stable operation phase; otherwise, gradually reducing the output PWM duty cycle to control the movement of the motor.

[0021] In some embodiments of the present invention, when the computer-executable instructions are executed, the processor performs the following steps to gradually reduce the output PWM duty cycle to control the movement of the motor: obtaining the current PWM duty cycle of the motor; if the current PWM duty cycle of the motor does not reach the pre-stop PWM duty cycle of the motor, then reducing the output PWM duty cycle by a preset deceleration value; otherwise, determining that the motor has entered the pre-stop stage.

[0022] A fourth aspect of the invention provides a vehicle including a seat adjustment system according to the aforementioned third aspect.

[0023] A fifth aspect of the invention provides a computer-readable storage medium having computer-executable instructions stored thereon for performing the motor control method according to the first aspect above.

[0024] In the above embodiments, adjusting the driving force of the motor achieves balanced motor speed, reduces noise generated by the electric functional components during adjustment, optimizes acoustic performance, and improves the user's subjective experience. Furthermore, the method of the present invention requires no additional hardware, is easy to implement, and is relatively inexpensive. Attached Figure Description

[0025] The features, advantages, and other aspects of the various embodiments of the present invention will become more apparent from the accompanying drawings and the following detailed description, in which several embodiments of the invention are illustrated by way of example and not limitation, in the drawings:

[0026] Figure 1 A schematic flowchart of a motor control method according to an embodiment of the present invention is shown;

[0027] Figure 2 Another schematic flowchart of a motor control method according to an embodiment of the present invention is shown;

[0028] Figure 3 A schematic diagram of the proportional-integral-differential algorithm according to an embodiment of the present invention is shown.

[0029] Figure 4 Another schematic flowchart of a motor control method according to an embodiment of the present invention is shown;

[0030] Figure 5 Another schematic flowchart of a motor control method according to an embodiment of the present invention is shown;

[0031] Figure 6 Another schematic flowchart of a motor control method according to an embodiment of the present invention is shown;

[0032] Figure 7 Another schematic flowchart of a motor control method according to an embodiment of the present invention is shown;

[0033] Figure 8 A schematic block diagram of a seat adjustment system according to an embodiment of the present invention is shown;

[0034] Figure 9 A schematic block diagram of a computing device according to an embodiment of the present invention is shown. Detailed Implementation

[0035] Various exemplary embodiments of the present invention are described in detail below with reference to the accompanying drawings. While the exemplary methods and apparatuses described below include software and / or firmware executed on hardware among other components, it should be noted that these examples are merely illustrative and should not be considered limiting. For example, it is conceivable that any or all hardware, software, and firmware components may be implemented exclusively in hardware, exclusively in software, or in any combination of hardware and software. Therefore, although exemplary methods and apparatuses have been described below, those skilled in the art will readily understand that the examples provided are not intended to limit the ways in which these methods and apparatuses may be implemented.

[0036] Furthermore, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of methods and systems according to various embodiments of the present invention. It should be noted that the functions indicated in the blocks may occur in a different order than that shown in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, or they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the flowcharts and / or block diagrams, and combinations of blocks in the flowcharts and / or block diagrams, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0037] The terms "comprising," "including," and similar terms used in this invention are open-ended, meaning "including / including but not limited to," indicating that other content may also be included. The term "based on" means "at least partially based on." The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment," and so on.

[0038] In the existing technology, the noise from the adjustment of electric functional components is a sound that users can often perceive during the ride, which can bring users a bad subjective experience such as loud noise, sharp noise, ear pressure, or even abnormal noise.

[0039] In view of this, the present invention proposes a motor control method and a seat adjustment system that can achieve motor speed balance by adjusting the driving force of the motor, thereby reducing the noise generated by the electric functional components during adjustment. The content of the present invention will be described below with reference to several embodiments.

[0040] First refer to Figure 1 , Figure 1 A schematic flowchart of a motor control method according to an embodiment of the present invention is shown. Figure 1The motor control method can be executed by the control equipment of the electric functional components (such as the ECU), or by other control equipment, such as the vehicle's overall controller. Electric functional components can include, for example, power windows, power seats, power sunroofs, and power lift screens. Figure 1 As shown, method 100 includes steps 110-140.

[0041] In step 110, a motor motion command is received. The motor motion command may be an adjustment command for an electric functional component, and can be received via vehicle control or a communication bus.

[0042] For example, the electric function is an electric seat, and the motor movement command is the seat adjustment command. Vehicle users (such as drivers or passengers) can directly initiate seat adjustment commands via a human-machine interface (such as a display screen) or buttons. Alternatively, other vehicle control devices can issue seat adjustment commands based on specific application scenarios. Seat adjustment commands can include, for example, any one or more of the following: fore-and-aft position adjustment commands, height adjustment commands, backrest angle adjustment commands, leg support adjustment commands, lumbar support adjustment commands, headrest adjustment commands, etc.

[0043] For example, an electric function component could be a power window, and the motor's movement commands could be used to control the window. Vehicle users can also initiate window control commands directly through a human-machine interface (such as a display screen) or buttons. Alternatively, other vehicle control devices can issue window control commands based on specific application scenarios. Window control commands could include, for example, commands to raise or lower the window.

[0044] In step 120, the motor is started according to the motor motion command. After receiving the motor motion command, a motor control signal (such as a PWM signal) can be provided to the motor to control its start.

[0045] In step 130, during the stable operation phase of the motor, the driving force of the motor at at least one preset travel position is adjusted. Adjustment may include compensation and reduction. For example, during motor operation, resistance (e.g., due to mechanical structural characteristics) often affects the motor at certain fixed positions, leading to speed imbalances and generating audible noise. Therefore, the driving force of the motor can be compensated at these fixed positions to counteract the effects of resistance, and / or the driving force can be reduced at other fixed positions, thus ensuring that the motor maintains a generally balanced speed.

[0046] In step 140, it is determined that the motor has reached the target position and control of the motor is stopped. The motor movement command can indicate the target position of the motor. The target position may include, for example, the motor movement position (such as the target number of motor rotations) corresponding to the target movement position of electric functional components such as the fore-and-aft position of the seat, the vertical height, and the lifting position of the windows. After the motor has reached the target position, the output motor control signal is turned off to stop control of the motor.

[0047] In the above embodiments, adjusting the driving force of the motor achieves balanced motor speed, reduces noise generated by the electric functional components during adjustment, optimizes acoustic performance, and improves the user's subjective experience. Furthermore, the method of the present invention requires no additional hardware, is easy to implement, and is relatively inexpensive.

[0048] In some embodiments, the resistance experienced by the motor during operation varies periodically. For example, during the folding process of a seat back (from fully reclined to folded forward), the resistance experienced by the motor during movement varies periodically, causing the motor speed to also vary periodically with position changes. In these embodiments, a periodic function can be used to fit the motor's speed-position curve, and the fitted function can be used to calculate the PWM duty cycle adjustment to regulate the motor's driving force during operation, keeping its speed generally balanced. For example, this can be achieved through... Figure 2 The method 200 shown is used to adjust the driving force of the motor.

[0049] refer to Figure 2 In step 210, a first PWM duty cycle adjustment of the motor is calculated using trigonometric functions. The amplitude, period, and phase shift of these trigonometric functions are associated with at least one preset travel position. The amplitude, period, and phase shift of the trigonometric functions may be preset based on the driving force that needs to be adjusted at one (or more) preset travel positions.

[0050] In some embodiments, the trigonometric functions include sine and / or cosine functions. One or both of the sine and cosine functions can be used. The variable of the sine and / or cosine functions is the position of the motor, and the corresponding function value is a first PWM duty cycle adjustment. Calculating the first PWM duty cycle adjustment of the motor using trigonometric functions further includes: detecting the current position of the motor via a sensor, and calculating the first PWM duty cycle adjustment of the motor based on the current position of the motor using the sine and / or cosine functions. The sensor can be a Hall sensor disposed on or near the motor. The current position of the motor can be determined using the Hall signal generated by the Hall sensor, and the first PWM duty cycle adjustment can be calculated.

[0051] In step 220, the stable PWM duty cycle of the motor is adjusted using the first PWM duty cycle adjustment amount to obtain the output PWM duty cycle. The stable PWM duty cycle can be a preset duty cycle of the motor control signal, such as 80%, and can be set according to actual needs (such as motor performance, performance parameters of electric functional components, etc.).

[0052] In step 230, the motor motion is controlled based on the output PWM duty cycle.

[0053] It should be pointed out that, Figure 2 Method 200 is continuously executed during the stable operation phase of the motor. That is, during the stable operation phase, the first PWM duty cycle adjustment of the motor is calculated in real time (or at least at a fixed frequency), and the stable PWM duty cycle is adjusted using the first PWM duty cycle. The adjusted PWM duty cycle is then used to control the motor's movement. These steps continue until a certain condition is met, such as when the motor reaches a target position and control of the motor needs to be stopped; or when the motor needs to decelerate in the slow-stop zone before reaching the target position.

[0054] In some embodiments, during the stable operation phase of the motor, the PWM duty cycle of the motor control signal is adjusted according to the load driven by the motor. For example, in a seat adjustment scenario, the load driven by the motor dynamically changes as the occupant's posture changes. In these embodiments, the motor control method 300 may further include: during the stable operation phase, adjusting the driving force of the motor using a proportional-integral-derivative (PID) algorithm.

[0055] Combination Figure 3 and Figure 4 Please provide an explanation. Figure 3 A schematic diagram illustrating the proportional-integral-differential algorithm according to an embodiment of the present invention is shown. Figure 4 Another schematic flowchart of a motor control method according to an embodiment of the present invention is shown.

[0056] refer to Figure 3 The motor set speed Vref 310 is used as the algorithm input, and the speed difference between it and the actual motor speed Vact 360 is ΔV. Based on the speed difference ΔV, the proportional, integral, and derivative adjustments of the PWM duty cycle are performed, and a PWM duty cycle of 350 is output. This output PWM duty cycle of 350 is then used to control the motor to generate the actual motor speed Vact 360.

[0057] For example, the proportional control (P) 320 can calculate the proportional control amount using the following formula:

[0058] Proportional adjustment amount = Kp * Err hall-width

[0059] Among them, Err hall-width The target Hall pulse width is the current Hall pulse width (i.e., the current error of the Hall pulse width).

[0060] For example, the integral control (I) 330 can be calculated using the following formula:

[0061] Integral adjustment amount = Ki * Integral_hall_width

[0062] Where Integral_hall_width is the error integral (i.e., cumulative error) of the Hall pulse width.

[0063] For example, the differential adjustment (D) step 340 can be calculated as follows:

[0064] Differential adjustment amount = Kd * (Err) hall-width -Last_Err hall-width )

[0065] Among them, Err hall-width and Last_Err hall-width These represent the current error and the previous error (i.e., historical error) of the Hall pulse width, respectively. The adjustment parameters Kp, Ki, and Kd can be determined according to actual needs (such as the weight range of the load, the range of motion of the motor, etc.).

[0066] refer to Figure 4 In step 410, the current speed of the motor is detected via a sensor. The sensor can be a Hall sensor located on or near the motor. The current speed of the motor can be determined using the Hall signal generated by the Hall sensor. The current speed can be represented by the Hall pulse width, or the speed can be calculated using the Hall pulse width.

[0067] In step 420, the current error between the current speed and the target speed is determined. The current error can be represented by the pulse width error between the current Hall pulse width and the target Hall pulse width, or it can be the speed error.

[0068] In step 430, the second PWM duty cycle adjustment of the motor is calculated using a proportional-integral-derivative (PID) algorithm based on the current error, cumulative error, and historical error. The cumulative error and historical error can also be pulse width error or speed error. The historical error can be, for example, the previous error.

[0069] In some embodiments, step 430 further includes: calculating a proportional adjustment component of the second PWM duty cycle adjustment amount based on the current error; calculating an integral adjustment component of the second PWM duty cycle adjustment amount based on the cumulative error; calculating a derivative adjustment component of the second PWM duty cycle adjustment amount based on the current error and historical errors; and adding the proportional adjustment component, the integral adjustment component, and the derivative adjustment component to obtain the second PWM duty cycle adjustment amount.

[0070] In step 440, the stable PWM duty cycle of the motor is adjusted by the second PWM duty cycle adjustment amount to obtain the output PWM duty cycle. The stable PWM duty cycle can be a preset duty cycle of the motor control signal, such as 80%, and can be set according to actual needs (such as motor performance, performance parameters of electric functional components, etc.).

[0071] In step 450, the motor motion is controlled based on the output PWM duty cycle.

[0072] It should be pointed out that, Figure 4 Method 400 is continuously executed during the stable operation phase of the motor. That is, during the stable operation phase, the second PWM duty cycle adjustment of the motor is calculated in real time (or at least at a fixed frequency), and the stable PWM duty cycle is adjusted using the second PWM duty cycle. The adjusted PWM duty cycle is then used to control the motor's movement. These steps continue until a certain condition is met, such as when the motor reaches a target position and control of the motor needs to be stopped; or when the motor needs to decelerate in the slow-stop zone before reaching the target position.

[0073] By using the proportional-integral-derivative algorithm to adjust the driving force of the motor during the stable operation phase, the impact of the dynamic load on the motor can be reduced, and the motor speed can be kept balanced overall.

[0074] In some embodiments, during the stable operation phase of the motor, in addition to adjusting the driving force of the motor at at least one preset travel position, the PWM duty cycle of the motor control signal is also adjusted according to the load driven by the motor (e.g., using a proportional-integral-derivative algorithm).

[0075] In some embodiments, during the stable operation phase of the motor, the driving force of the motor is adjusted only at at least one preset travel position, or the PWM duty cycle of the motor control signal is adjusted only according to the load driven by the motor (e.g., using a proportional-integral-derivative algorithm).

[0076] In some embodiments, a motor soft-start method is used during the motor startup phase to reduce noise generated during motor startup. (See reference) Figure 5 , Figure 5 Another schematic flowchart of a motor control method according to an embodiment of the present invention is shown.

[0077] In step 510, according to the motor motion command, the starting PWM duty cycle of the motor is used as the output PWM duty cycle to drive the motor to start. The starting PWM duty cycle can be a preset duty cycle of the motor control signal, such as 20%. The starting PWM duty cycle can be set according to actual needs (such as motor performance, performance parameters of electric functional components, etc.).

[0078] In step 520, during the motor startup phase, the output PWM duty cycle is gradually increased to control the motor's movement. After the motor starts, the initial value of the starting PWM duty cycle is the same as the initial value of the output PWM duty cycle, and the output PWM duty cycle is gradually increased.

[0079] In some embodiments, during the motor startup phase, gradually increasing the output PWM duty cycle to control the motor's movement further includes: determining the motor's current PWM duty cycle; if the motor's current PWM duty cycle has not reached the motor's stable PWM duty cycle, increasing the output PWM duty cycle by a preset acceleration value; otherwise, determining that the motor has entered the stable operation phase. That is, using the startup PWM duty cycle as the initial value and the preset acceleration value as the acceleration for the duty cycle increase, the output PWM duty cycle is gradually increased to control the motor's movement. The increase in the motor's output PWM duty cycle continues during the startup phase until the stable operation phase is reached.

[0080] In some embodiments, a motor slow-stop method is used when the motor is about to reach the target position to reduce the noise generated when the motor stops. (See reference) Figure 6 , Figure 6 Another schematic flowchart of a motor control method according to an embodiment of the present invention is shown.

[0081] In step 610, the current position of the motor is detected via a sensor. The sensor can be a Hall sensor located on or near the motor. The current position of the motor can be determined using the Hall signal generated by the Hall sensor.

[0082] In step 620, based on the motor's current position, it is determined whether the motor has reached the slow-stop zone before the target position. The slow-stop zone before the target position can be set according to actual needs.

[0083] In step 630, if the motor has not yet reached the slow-stop region, the motor is controlled to remain in the stable operation phase; otherwise, the output PWM duty cycle is gradually reduced to control the motor's movement. After the motor reaches the slow-stop region, the motor enters the deceleration phase.

[0084] In some embodiments, gradually reducing the output PWM duty cycle to control the motor's movement further includes: acquiring the motor's current PWM duty cycle; if the motor's current PWM duty cycle has not reached the motor's pre-stop PWM duty cycle, then reducing the output PWM duty cycle by a preset deceleration value; otherwise, determining that the motor has entered the pre-stop phase. That is, in the deceleration phase, using the output PWM duty cycle when the motor reaches the deceleration region as the initial value, and the preset deceleration value as the acceleration for duty cycle reduction, the output PWM duty cycle is gradually reduced to control the motor's movement. The reduction of the motor's output PWM duty cycle continues during the deceleration phase until the motor's current PWM duty cycle reaches or is less than the pre-stop PWM duty cycle. In the pre-stop phase, the pre-stop PWM duty cycle is used as the output PWM duty cycle to control the motor's movement.

[0085] It should be noted that since an electric functional component may have more than one motor (such as an electric seat), the motor slow start method, the motor drive force adjustment method at the preset travel position, the motor drive force adjustment method under dynamic load, and the motor slow stop method described above can be applied to each motor.

[0086] Furthermore, one or more of the motor slow-start method, the motor drive force adjustment method at the preset travel position, the motor dynamic load drive force adjustment method, and the motor slow-stop method described above can be executed individually or combined in any way. For example, only the motor slow-start method can be used; only the motor slow-stop method can be used; both the motor slow-start and slow-stop methods can be used; only the motor drive force at the preset travel position can be adjusted; only the motor dynamic load drive force can be adjusted; both the motor slow-start and slow-stop methods can be used, and the motor drive force at the preset travel position can be adjusted; both the motor slow-start and slow-stop methods can be used, and the motor drive force at the preset travel position can be adjusted, as well as the motor dynamic load drive force, etc.

[0087] The following is for reference. Figure 7 A specific embodiment of the present invention is described below. Figure 7 Method 700 employs a motor slow start and slow stop method, and adjusts the driving force of the motor at the preset travel position and the driving force of the motor dynamic load during the stable operation phase.

[0088] In step 710, a motor motion command is received. The motor motion command may be an adjustment command for an electric functional component, and can be received via vehicle control or a communication bus.

[0089] In step 711, the motor's starting PWM duty cycle is used as the output PWM duty cycle to drive the motor to start, according to the motor motion command. The starting PWM duty cycle can be set according to actual needs (such as motor performance, performance parameters of electric functional components, etc.).

[0090] In step 712, the output PWM duty cycle is increased by a preset acceleration value. In step 713, it is determined whether the current PWM duty cycle of the motor has reached a stable PWM duty cycle. If the current PWM duty cycle has not reached a stable PWM duty cycle, the process returns to step 712 and continues to increase the output PWM duty cycle by the preset acceleration value. Otherwise, it is determined that the motor has entered a stable operating stage, and the process proceeds to step 714, where the stable PWM duty cycle is used as the output PWM duty cycle.

[0091] In step 715, the first PWM duty cycle adjustment amount is calculated using a sine function and / or a cosine function based on the current position. In step 716, the second PWM duty cycle adjustment amount is calculated using a proportional-integral-differential algorithm based on the error between the current Hall pulse width and the target Hall pulse width. In step 717, the stable PWM duty cycle is adjusted using the first and second PWM duty cycle adjustment amounts to obtain the output PWM duty cycle. That is, during the stable operation phase of the motor, the driving force of the motor at the preset travel position and the driving force of the dynamic load are adjusted. In step 718, it is determined whether the motor has reached the slow-stop zone before the target position. If the motor has not reached the slow-stop zone before the target position, the process returns to step 715 to continue adjusting the output PWM duty cycle during the stable operation phase; otherwise, the motor is determined to have entered the deceleration phase, and the process proceeds to step 719 to reduce the output PWM duty cycle by a preset deceleration value.

[0092] In step 720, it is determined whether the current PWM duty cycle of the motor has reached the pre-stop PWM duty cycle. If the current PWM duty cycle has not reached the pre-stop PWM duty cycle, the process returns to step 719 and continues to reduce the output PWM duty cycle by a preset deceleration value. Otherwise, it is determined that the motor has entered the pre-stop stage, and the process proceeds to step 721, where the pre-stop PWM duty cycle is used as the output PWM duty cycle. In step 722, it is determined whether the motor has reached the target position. If the motor has not reached the target position, the process returns to step 721 and continues to control the motor's movement using the pre-stop duty cycle as the output PWM duty cycle. Otherwise, the process proceeds to step 723, where motor control is stopped.

[0093] The present invention also proposes a seat adjustment system. Figure 8 A schematic block diagram of a seat adjustment system according to an embodiment of the present invention is shown. The seat adjustment system 800 includes a motor 810 and a control device 820. The motor is used to generate power to transmit power via a transmission device ( Figure 8(Not shown) Adjusts the position of the seat. The control device 820 is used to execute the motor control methods of the above embodiments, generating a motor control signal (such as a PWM signal) to control the movement of the motor. The seat adjustment system 800 may also include a sensor 830, such as a Hall sensor, disposed on or near the motor 810, for detecting the position and / or speed of the motor, and providing the detected signal to the control device 820, so that the control device 820 adjusts the motor control signal (such as the PWM duty cycle) according to the position and / or speed of the motor.

[0094] The present invention also proposes a computing device. Figure 9 A schematic diagram of a computing device according to an embodiment of the present invention is shown. The computing device 900 may, for example, be... Figure 8 Control device 820 in the middle. From Figure 9 As can be seen, the computing device 900 includes a processor (e.g., a central processing unit (CPU)) 901 and a memory 902 coupled to the processor 901. The memory 902 stores computer-executable instructions, which, when executed, cause the processor 901 to perform the methods described in the above embodiments. The processor 901 and the memory 902 are connected to each other via a bus, and an input / output (I / O) interface is also connected to the bus. The computing device 900 may further include multiple components connected to the I / O interface. Figure 8 (Not shown in the image), including but not limited to: input units, such as keyboards, mice, etc.; output units, such as various types of displays, speakers, etc.; storage units, such as disks, optical discs, etc.; and communication units, such as network interface cards, modems, wireless transceivers, etc. The communication units allow the computing device 900 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0095] The present invention also proposes a vehicle including the seat adjustment system proposed in the above embodiments.

[0096] Alternatively, the above methods can be implemented using a computer-readable storage medium. The computer-readable storage medium carries computer-readable program instructions for executing various embodiments of the present invention. The computer-readable storage medium can be a tangible device capable of holding and storing instructions used by an instruction execution device. The computer-readable storage medium can be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination thereof. More specific examples (not exhaustive) of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disc read-only memory (CD-ROM), digital multifunction disc (DVD), memory sticks, floppy disks, mechanical encoding devices, such as punch cards or recessed protrusions storing instructions thereon, and any suitable combinations thereof. The computer-readable storage medium used herein is not to be interpreted as a transient signal itself, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., light pulses through fiber optic cables), or electrical signals transmitted through wires.

[0097] Therefore, in another embodiment, the present invention provides a computer-readable storage medium having computer-executable instructions stored thereon for performing the methods of various embodiments of the present invention.

[0098] The present invention also proposes a computer program product tangibly stored on a computer-readable storage medium and comprising computer-executable instructions that, when executed, cause at least one processor to perform the methods of various embodiments of the present invention.

[0099] Generally, the various exemplary embodiments of the present invention can be implemented in hardware or dedicated circuitry, software, firmware, logic, or any combination thereof. Some aspects can be implemented in hardware, while others can be implemented in firmware or software that can be executed by a controller, microprocessor, or other computing device. When aspects of embodiments of the present invention are illustrated or described as block diagrams, flowcharts, or using some other graphical representation, it will be understood that the blocks, apparatuses, systems, techniques, or methods described herein can be implemented as non-limiting examples in hardware, software, firmware, dedicated circuitry or logic, general-purpose hardware or controllers or other computing devices, or some combination thereof.

[0100] Computer-readable program instructions or computer program products for executing various embodiments of the present invention can also be stored in the cloud. When needed, users can access the computer-readable program instructions stored in the cloud for executing an embodiment of the present invention via mobile internet, fixed network or other networks, thereby implementing the technical solutions disclosed in the various embodiments of the present invention.

[0101] While embodiments of the invention have been described with reference to several specific examples, it should be understood that the embodiments of the invention are not limited to the specific embodiments disclosed. The embodiments of the invention are intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. The scope of the claims is to be interpreted in the broadest sense, thereby encompassing all such modifications and equivalent structures and functions.

Claims

1. A motor control method, comprising: Receive motor movement commands; The motor is started according to the motor movement command; During the stable operation phase of the motor, the driving force of the motor at at least one preset travel position is adjusted; as well as Once the motor reaches the target position, control of the motor is stopped, wherein... During the stable operation phase, adjusting the driving force of the motor at at least one preset travel position further includes: The first PWM duty cycle adjustment of the motor is calculated using a preset trigonometric function. The trigonometric function is used to compensate for the periodic resistance changes experienced by the motor during operation, and its amplitude, period and phase shift are associated with the at least one preset travel position. The stable PWM duty cycle of the motor is adjusted using the first PWM duty cycle adjustment amount to obtain the output PWM duty cycle; and The motor's motion is controlled based on the output PWM duty cycle.

2. The motor control method according to claim 1, wherein, The trigonometric functions include sine and / or cosine functions, and calculating the first PWM duty cycle adjustment of the motor using trigonometric functions further includes: The current position of the motor is detected via a sensor; and Based on the current position of the motor, the first PWM duty cycle adjustment of the motor is calculated using the sine function and / or the cosine function.

3. The motor control method according to claim 1 further includes: During the stable operation phase, the driving force of the motor is adjusted using a proportional-integral-derivative algorithm.

4. The motor control method according to claim 3, wherein, During the stable operation phase, adjusting the driving force of the motor using a proportional-integral-derivative algorithm further includes: The following steps are performed during the stable operation phase: The current speed of the motor is detected via sensors; Determine the current error between the current speed and the target speed; Based on the current error, cumulative error, and historical error, the second PWM duty cycle adjustment of the motor is calculated using the proportional-integral-derivative algorithm. The stable PWM duty cycle of the motor is adjusted by the second PWM duty cycle adjustment amount of the motor to obtain the output PWM duty cycle; and The motor's motion is controlled based on the output PWM duty cycle.

5. The motor control method according to claim 4, wherein, The calculation of the second PWM duty cycle adjustment of the motor using the proportional-integral-derivative algorithm, based on the current error, cumulative error, and historical error, further includes: Calculate the proportional adjustment component of the second PWM duty cycle adjustment amount based on the current error; Calculate the integral adjustment component of the second PWM duty cycle adjustment based on the cumulative error; Calculate the derivative adjustment component of the second PWM duty cycle adjustment based on the current error and the historical error; and The proportional adjustment component, the integral adjustment component, and the derivative adjustment component are added together to obtain the second PWM duty cycle adjustment amount.

6. The motor control method according to claim 1, wherein, Controlling the motor to start according to the motor movement command further includes: According to the motor motion command, the starting PWM duty cycle of the motor is used as the output PWM duty cycle to drive the motor to start; and During the motor startup phase, the output PWM duty cycle is gradually increased to control the motor's movement.

7. The motor control method according to claim 6, wherein, During the motor startup phase, gradually increasing the output PWM duty cycle to control the motor's movement further includes: The following steps are performed during the startup phase: Determine the current PWM duty cycle of the motor; If the current PWM duty cycle of the motor does not reach the stable PWM duty cycle of the motor, the output PWM duty cycle is increased by a preset acceleration value; Otherwise, the motor is determined to have entered the stable operation phase.

8. The motor control method according to claim 1 or 6, wherein, Before determining that the motor has reached the target position and ceasing control of the motor, the method further includes: The current position of the motor is detected via sensors; Based on the current position of the motor, determine whether the motor has reached the slow-stop area before the target position; If the motor has not yet reached the slow-stop zone, then control the motor to remain in the stable operation phase; Otherwise, gradually reduce the output PWM duty cycle to control the movement of the motor.

9. The motor control method according to claim 8, wherein, Gradually reducing the output PWM duty cycle to control the movement of the motor further includes: Obtain the current PWM duty cycle of the motor; If the current PWM duty cycle of the motor does not reach the pre-stop PWM duty cycle of the motor, the output PWM duty cycle is reduced by a preset deceleration value; Otherwise, the motor is determined to have entered the pre-stop phase.

10. The motor control method according to claim 9, further comprising: During the pre-stop phase, the pre-stop PWM duty cycle is used as the output PWM duty cycle to control the movement of the motor.

11. A computing device, comprising: processor; as well as A memory for storing computer-executable instructions that, when executed, cause the processor to perform the motor control method according to any one of claims 1-10.

12. A seat adjustment system, comprising: An electric motor is used to generate power to adjust the position of the seat via a transmission mechanism; as well as Control equipment, including: Processor; and A memory for storing computer-executable instructions that, when executed, cause the processor to perform the following methods: Receive motor movement commands; The motor is started according to the motor movement command; During the stable operation phase of the motor, the driving force of the motor is adjusted at at least one preset travel position; and Once the motor reaches the target position, control of the motor is stopped, wherein... The following steps are performed during the stable operation phase: The first PWM duty cycle adjustment of the motor is calculated using a preset trigonometric function. The trigonometric function is used to compensate for the periodic resistance changes experienced by the motor during operation, and its amplitude, period and phase shift are associated with the at least one preset travel position. The stable PWM duty cycle of the motor is periodically adjusted using the first PWM duty cycle adjustment amount to obtain the output PWM duty cycle; and The motor's motion is controlled based on the output PWM duty cycle.

13. The seat adjustment system according to claim 12, wherein, The trigonometric functions include sine and / or cosine functions, and when the computer-executable instructions are executed, the processor calculates the first PWM duty cycle adjustment of the motor using the trigonometric functions by performing the following method: The current position of the motor is detected via sensors; as well as Based on the current position of the motor, the first PWM duty cycle adjustment of the motor is calculated using the sine function and / or the cosine function.

14. The seat adjustment system according to claim 12, wherein, When the computer-executable instructions are executed, the processor controls the motor to start according to the motor motion instructions by performing the following methods: According to the motor motion command, the starting PWM duty cycle of the motor is used as the output PWM duty cycle to drive the motor to start; as well as During the motor startup phase, the output PWM duty cycle is gradually increased to control the motor's movement.

15. The seat adjustment system according to claim 14, wherein, When the computer-executable instructions are executed, the processor controls the movement of the motor by gradually increasing the output PWM duty cycle during the motor's startup phase: The following steps are performed during the startup phase: Determine the current PWM duty cycle of the motor; If the current PWM duty cycle of the motor does not reach the stable PWM duty cycle of the motor, the output PWM duty cycle is increased by a preset acceleration value; as well as Otherwise, the motor is determined to have entered the stable operation phase.

16. The seat adjustment system according to claim 12 or 14, wherein, When the computer-executable instructions are executed, the processor further performs the following steps before determining that the motor has reached the target position and ceasing control of the motor: The current position of the motor is detected via sensors; Based on the current position of the motor, determine whether the motor has reached the slow-stop area before the target position; If the motor has not yet reached the slow-stop zone, then control the motor to remain in the stable operation phase; Otherwise, gradually reduce the output PWM duty cycle to control the movement of the motor.

17. The seat adjustment system according to claim 16, wherein, When the computer-executable instructions are executed, the processor performs the following steps to gradually reduce the output PWM duty cycle to control the movement of the motor: Obtain the current PWM duty cycle of the motor; If the current PWM duty cycle of the motor does not reach the pre-stop PWM duty cycle of the motor, the output PWM duty cycle is reduced by a preset deceleration value; Otherwise, the motor is determined to have entered the pre-stop phase.

18. A vehicle comprising the seat adjustment system according to claim 12.

19. A computer-readable storage medium having computer-executable instructions stored thereon for performing the motor control method according to any one of claims 1-10.

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