Hall motor stalling judgment method and steering column adjusting motor

Abstract

The invention provides a Hall motor stalling judgment method and a steering column adjusting motor, and the method comprises the steps: detecting a Hall output signal, corresponding to reverse rotation, of a Hall motor when the Hall output signal, corresponding to forward rotation, of the Hall motor is not changed; if the Hall output signal, corresponding to the reverse rotation, of the Hall motor changes, it is determined that the Hall output signal of the Hall motor is output normally, and it is determined that the Hall motor is in a forward locked-rotor state when the Hall output signal, corresponding to the forward rotation, of the Hall motor is not changed; and if the Hall output signal, corresponding to the reverse rotation, of the Hall motor is not changed, determining that the Hall output signal of the Hall motor is lost. According to the above configuration, by monitoring the change condition of the Hall output signal of the Hall motor corresponding to forward and reverse bidirectional rotation, the loss of the Hall output signal and the real locked-rotor state can be distinguished, and the accuracy and robustness of locked-rotor judgment are effectively improved.

Description

Technical Field

[0001] The present invention relates to the field of automobile technology, and in particular to a method for judging a Hall motor stall and a steering column adjustment motor. Background Art

[0002] A Hall motor is a motor with a built-in Hall sensor. Hall motors generally need to be used in conjunction with corresponding controllers. The controller can determine the current motion state of the motor, such as the direction of rotation, angle of rotation, etc., through the Hall signal of the Hall sensor. The controller then controls the power supply of the motor based on the Hall signal to achieve drive control of the motor. Since Hall motors can achieve precise positioning, commutation, follow-up rotation angle and speed control, they are currently widely used in various actuator modules in the on-board electronic control unit of automobiles (for example, window adjustment modules, seat adjustment modules, steering column adjustment modules, etc.).

[0003] The steering column adjustment module includes an angle adjustment motor and a height adjustment motor. By controlling these two motors, the steering wheel can be adjusted up, down, extended and retracted to meet the personalized steering wheel control comfort needs of drivers of different heights and support the driver to obtain comfortable leg space and arm operation space.

[0004] However, the state in which the Hall motor stops rotating or is blocked for some reason is called a stalled state. In order to ensure the safe operation of the Hall motor and avoid the risk of burning of the Hall motor, it is necessary to detect and process the stalled state of the Hall motor. In the prior art, the Hall signal of the Hall motor is often directly used to identify the stalled state. However, when the Hall signal is lost, this method cannot distinguish it from a stall, resulting in a misjudgment. Furthermore, the steering column adjustment module can only rely on manual adjustment for inching operation, and its functions are limited. Summary of the invention

[0005] The purpose of the present invention is to provide a method for judging a Hall motor stall and a steering column adjustment motor, so as to solve the problem in the prior art that Hall motor stall is prone to misjudgment.

[0006] In order to solve the above technical problems, the present invention provides a method for judging whether a Hall motor is stalled, which comprises: when the Hall output signal corresponding to the forward rotation of the Hall motor remains unchanged, detecting the Hall output signal corresponding to the reverse rotation of the Hall motor; if there is a change in the Hall output signal corresponding to the reverse rotation of the Hall motor, determining that the Hall output signal of the Hall motor is output normally, and determining that the Hall output signal of the Hall motor is in a forward stalled state when the Hall output signal corresponding to the forward rotation remains unchanged; if the Hall output signal corresponding to the reverse rotation of the Hall motor also remains unchanged, determining that the Hall output signal of the Hall motor is lost.

[0007] Optionally, when it is determined that the Hall output signal of the Hall motor is lost, the Hall motor stall judgment method also includes: recovering the maximum value of the starting current of the Hall motor, and taking 65%~95% of the maximum value of the starting current as the current threshold, and monitoring the operating current of the Hall motor; if the duration for which the operating current is greater than the current threshold reaches the duration limit, it is determined that the Hall motor is in a stalled state.

[0008] Optionally, if the operating current is not greater than the current threshold, or the duration of being greater than the current threshold does not reach the duration limit, the Hall motor is driven to rotate according to the driving instruction.

[0009] Optionally, the step of recovering the maximum value of the starting current of the Hall motor includes: setting the starting period length according to the starting impact process of the Hall motor, and determining the maximum value of the current in the starting period length as the maximum value of the starting current.

[0010] Optionally, the step of recovering the maximum value of the starting current of the Hall motor includes: calibrating the starting current of the Hall motor based on multiple calibrated ambient temperatures and / or driving voltage conditions of the Hall motor; and correcting the current maximum value of the starting current of the Hall motor according to the current ambient temperature and / or driving voltage.

[0011] Optionally, when it is determined that the Hall output signal of the Hall motor is normal, the Hall motor is driven to rotate according to a driving instruction, and the corresponding changes of the Hall output signal are monitored; if the Hall output signal does not change within the response limit corresponding to the driving instruction, it is determined that the Hall motor is in a stalled state.

[0012] Optionally, the forward rotation or reverse rotation of the Hall motor is achieved based on a drive instruction; or, the forward rotation of the Hall motor is achieved based on a drive instruction, and the reverse rotation of the Hall motor is achieved based on a mechanical follower.

[0013] Optionally, when the reverse rotation of the Hall motor is achieved based on mechanical servo, the Hall motor includes at least two Hall sensors with different phases, and at least two of the Hall sensors output corresponding Hall output signals according to the mechanical servo of the Hall motor.

[0014] Optionally, when it is determined that the Hall motor is in a stalled state, driving the Hall motor to rotate is stopped.

[0015] In order to solve the above technical problems, the present invention also provides a steering column adjustment motor, which includes a Hall motor and a controller, wherein the controller is configured to perform a stall determination on the Hall motor according to the Hall motor stall determination method as described above.

[0016] To sum up, in the Hall motor stall judgment method and steering column adjustment motor provided by the present invention, the Hall motor stall judgment method includes: when the Hall output signal corresponding to the forward rotation of the Hall motor remains unchanged, detecting the Hall output signal corresponding to the reverse rotation of the Hall motor; if there is a change in the Hall output signal corresponding to the reverse rotation of the Hall motor, it is determined that the Hall output signal of the Hall motor is output normally, and it is determined that the Hall output signal of the Hall motor is in a forward stall state when the Hall output signal corresponding to the forward rotation remains unchanged; if the Hall output signal of the Hall motor corresponding to the reverse rotation also remains unchanged, it is determined that the Hall output signal of the Hall motor is lost.

[0017] With such configuration, by monitoring the changes in the Hall output signal corresponding to the forward and reverse bidirectional rotation of the Hall motor, it is possible to distinguish between the loss of the Hall output signal and the actual stall state, effectively improving the accuracy and robustness of the stall judgment. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Those skilled in the art will appreciate that the drawings are provided for a better understanding of the present invention, but do not constitute any limitation on the scope of the present invention.

[0019] Figure 1 Schematic diagram of a steering column adjustment motor according to an embodiment of the present invention.

[0020] Figure 2 It is a flow chart of a method for determining a Hall motor stall according to an embodiment of the present invention.

[0021] Figure 3 It is a schematic diagram of current changes during the startup impact process of the Hall motor according to an embodiment of the present invention.

[0022] In the attached drawings: 1-Hall motor; 11-turbine; 12-worm; 13-screw; 14-nut; 2-controller. DETAILED DESCRIPTION

[0023] In order to make the purpose, advantages and features of the present invention clearer, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the drawings are all in a very simplified form and are not drawn to scale, and are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention. In addition, the structure shown in the drawings is often a part of the actual structure. In particular, the emphasis of each drawing is different, and sometimes different scales are used.

[0024] As used in the present invention, the singular forms "a", "an", "one" and "the" include plural objects, the term "or" is usually used to include the meaning of "and / or", the term "several" is usually used to include the meaning of "at least one", and the term "at least two" is usually used to include the meaning of "two or more". In addition, the terms "first", "second" and "third" are used only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined as "first", "second" and "third" may explicitly or implicitly include one or at least two of the features, "one end" and "the other end" as well as "proximal end" and "distal end" generally refer to two corresponding parts, which include not only endpoints. In addition, as used in the present invention, "installed", "connected", "connected", and one element "set" on another element should be understood in a broad sense, usually only indicating that there is a connection, coupling, cooperation or transmission relationship between the two elements, and the connection, coupling, cooperation or transmission between the two elements can be direct or indirect through an intermediate element, and cannot be understood as indicating or implying the spatial position relationship between the two elements, that is, one element can be in any orientation such as inside, outside, above, below or one side of another element, unless the content clearly indicates otherwise. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. In addition, directional terms such as above, below, up, down, upward, downward, left, right, etc. are used relative to the exemplary embodiments as shown in the figures, with the upward or upper direction toward the top of the corresponding figure, and the downward or lower direction toward the bottom of the corresponding figure.

[0025] The purpose of the present invention is to provide a method for judging a Hall motor stall and a steering column adjustment motor to solve the problem of misjudgment of Hall motor stall in the prior art.

[0026] Please refer to Figure 1, an embodiment of the present invention provides a steering column adjustment motor, which includes a Hall motor 1 and a controller 2, and the controller 2 drives the Hall motor 1 by sending a driving instruction to the Hall motor 1. Further, the Hall motor 1 includes at least one Hall sensor (not shown), and its Hall output signal can be fed back to the controller 2. In some embodiments, the Hall output signal generated by the Hall sensor can participate in the generation and calculation of the drive signal, that is, the drive instruction of the controller 2 is obtained based on the Hall output signal. In other embodiments, the Hall output signal can also be used only as a monitoring of parameters such as motor direction, angle, speed, position, etc. without participating in the generation and calculation of the drive instruction, that is, the Hall sensor is equivalent to an external sensor independent of the motor at this time, and its Hall output signal is only used for motor monitoring and assisting the control of the motor. Further, the steering column adjustment motor also includes components such as a turbine 11, a worm 12, a screw 13 and a nut 14 connected in sequence. The Hall motor 1 can drive the nut 14 to move along the axial direction of the screw 13 by rotating in the forward or reverse direction, thereby adjusting the steering column. The specific structure and principle of the steering column adjustment motor can refer to the prior art, and this embodiment will not be described in detail.

[0027] It can be understood that by monitoring the Hall output signal, the parameters such as the rotation position (referring to the rotation angle position of the rotor) and the rotation direction of the Hall motor 1 can be directly known. Once the Hall motor 1 is in a stalled state, for example, the Hall motor 1 rotates in a certain direction to the stroke limit and is mechanically limited, the Hall output signal will no longer change. By directly monitoring the Hall output signal, it can be identified whether the Hall motor is in a stalled state. However, in the case of the loss of the Hall output signal, such as unexpected situations such as the transmission wire being disconnected and the Hall sensor failing, the Hall output signal reflected is also unchanged, which is similar to the performance of the Hall output signal when stalled and difficult to distinguish. Therefore, the prior art directly uses the Hall output signal of the Hall motor 1 to identify the stalled state, and it is impossible to distinguish the loss of the Hall signal from the stalled state, which will lead to misjudgment. Further, in the prior art, when the Hall output signal is detected to be unchanged, in order to protect the Hall motor 1, the controller 2 drives the Hall motor 1 to stop. In the case of the loss of the Hall signal, although the Hall motor 1 may not be stalled, it is impossible to drive the Hall motor 1 through the controller 2. At this time, it can only rely on manual adjustment to perform inching operation to adjust the position of the steering wheel, and the function is limited.

[0028] To distinguish between Hall signal loss and stall, please refer to Figure 2 The embodiment of the present invention provides a method for determining whether a Hall motor is stalled, which comprises: Step S1: When the Hall output signal of the Hall motor corresponding to forward rotation remains unchanged, detecting the Hall output signal of the Hall motor corresponding to reverse rotation; Step S1A: if the Hall output signal of the Hall motor corresponding to the reverse rotation changes, it is determined that the Hall output signal of the Hall motor is output normally, and it is determined that the Hall output signal of the Hall motor corresponding to the forward rotation does not change and is in the forward stalled state; Step S1B: If the Hall output signal of the Hall motor corresponding to the reverse rotation also remains unchanged, it is determined that the Hall output signal of the Hall motor is lost.

[0029] The Hall motor 1 of this embodiment has two rotation directions, forward and reverse. It should be noted that the forward and reverse here refer to a pair of opposite rotation directions, and it is not limited that a certain direction must correspond to counterclockwise or clockwise. For example, the forward direction corresponds to the counterclockwise direction, and the reverse direction corresponds to the clockwise direction; conversely, when the forward direction corresponds to the clockwise direction, the reverse direction corresponds to the counterclockwise direction.

[0030] The forward rotation of the Hall motor 1 can be realized based on the driving instruction output by the controller 2, that is, the controller 2 sends a driving instruction corresponding to the forward rotation to the Hall motor 1, and the Hall motor 1 rotates forward in response to the driving instruction. In some embodiments, the forward rotation of the Hall motor 1 can also be mechanical servo, for example, the Hall motor 1 is driven to rotate forward by manual adjustment. Regardless of how the Hall motor 1 rotates, as long as it rotates in the forward direction, the Hall output signal of the Hall sensor should change accordingly.

[0031] In step S1, the Hall output signal corresponding to the forward rotation of the Hall motor 1 is detected. When the Hall output signal corresponding to the forward rotation of the Hall motor 1 remains unchanged, it can be considered that there are two possibilities: one is that the Hall motor 1 is blocked in the forward direction, and the other is that the Hall output signal is lost.

[0032] In particular, in step S1, the Hall output signal corresponding to the forward rotation of the Hall motor 1 is detected, which does not limit the Hall motor 1 to actually generate the forward rotation. In a special scenario, for example, when the Hall motor 1 is initially at the forward travel limit position and the controller 2 sends a driving instruction corresponding to the forward rotation to the Hall motor 1, the Hall motor 1 cannot actually generate the forward rotation. At this time, it should also be understood that the condition that the Hall output signal corresponding to the forward rotation of the Hall motor 1 remains unchanged is satisfied.

[0033] In order to distinguish between stalling and loss of Hall output signal, the Hall output signal corresponding to the reverse rotation of Hall motor 1 can be detected to further determine whether it is stalling or loss of Hall output signal. The reverse rotation here can be achieved based on the drive instruction output by controller 2, that is, controller 2 sends a drive instruction corresponding to the reverse rotation to Hall motor 1, and Hall motor 1 responds to the drive instruction and rotates in the reverse direction. The reverse rotation of Hall motor 1 can also be mechanical follow-up, such as driving the Hall motor 1 to rotate in the reverse direction by manual adjustment, or the rebound rotation caused by the Hall motor 1 touching the travel limit in the forward direction.

[0034] It is further understood that in step S1, when detecting the Hall output signal corresponding to the reverse rotation of the Hall motor 1, the Hall motor 1 must actually generate the corresponding reverse rotation. Otherwise, it is impossible to effectively distinguish the subsequent steps S1A and S1B. In particular, when the reverse rotation of the Hall motor 1 is based on mechanical servo, the Hall motor 1 includes at least two Hall sensors of different phases, and at least two of the Hall sensors output corresponding Hall output signals according to the mechanical servo of the Hall motor 1. It is understandable that in order to distinguish between the two situations of stalling and loss of the Hall output signal, the Hall motor 1 is required to actually generate the corresponding reverse rotation. If the reverse rotation of the Hall motor 1 is based on mechanical servo, the driver 2 does not know the real rotation direction of the Hall motor 1, but only knows whether the Hall motor 1 has actually generated rotation through the Hall output signal. If the Hall motor 1 only includes one Hall sensor at this time, it can only be known that the Hall motor 1 has generated rotation again at this time, but the rotation direction cannot be determined. When the Hall motor 1 includes at least two Hall sensors of different phases, the Hall output signals of the two Hall sensors of different phases can be used to determine the exact rotation direction of the Hall motor 1. In the case where the Hall motor 1 is driven to rotate in the opposite direction by the driving instruction of the driver 2, the driver 2 itself knows the rotation direction of the Hall motor 1, and the Hall motor 1 can be provided with only one Hall sensor.

[0035] Step S1A and step S1B are the judgment results corresponding to the two manifestations of the Hall output signal of the Hall motor 1 corresponding to the reverse rotation. In step S1A, the Hall output signal of the Hall motor 1 corresponding to the reverse rotation has changed, which can prove that the Hall output signal is normally output and not lost. Then it can be further determined that when the Hall output signal of the Hall motor 1 corresponding to the forward rotation in the previous step S1 does not change, the Hall motor 1 is in the forward stalled state.

[0036] In step S1B, the Hall output signal corresponding to the reverse rotation of the Hall motor 1 also remains unchanged. When there is no fault in the Hall motor 1 (the fault of the Hall motor 1 refers to the Hall motor 1 being stuck in both directions and unable to rotate, or the Hall motor 1 failing and being completely unable to respond to the drive of the controller 2, etc.), it can be determined that the Hall output signal is lost.

[0037] Preferably, before step S1 or step S1B, it is possible to determine whether the Hall motor 1 is faulty, so as to eliminate the fault of the Hall motor 1. The specific fault determination steps of the Hall motor 1 can refer to the prior art, and this embodiment is not limited thereto.

[0038] Based on the above steps S1, S1A and S1B, by monitoring the changes in the Hall output signal corresponding to the forward and reverse bidirectional rotation of the Hall motor 1, it is possible to distinguish between the loss of the Hall output signal and the actual stall state, thereby effectively improving the accuracy and robustness of the stall judgment.

[0039] It can be understood that the above steps can only determine that the Hall motor 1 is in a forward stalled state when the Hall output signal corresponding to the forward rotation of the Hall motor 1 remains unchanged, but cannot determine whether the Hall motor 1 is in a stalled state at other rotation positions or other rotation directions (such as reverse rotation). In fact, the above steps S1, S1A and S1B determine the validity of the Hall output signal, based on which the reliable Hall output signal can be further used to expand the determination range of the stalled state.

[0040] Optionally, the Hall motor stall judgment method also includes step S2: when it is determined that the Hall output signal of the Hall motor 1 is normal, driving the Hall motor 1 to rotate according to a driving instruction, and monitoring the corresponding changes of the Hall output signal; if the Hall output signal does not change within the response limit corresponding to the driving instruction, it is determined that the Hall motor 1 is in a stalled state.

[0041] When it is determined that the output of the Hall output signal is normal, based on the reliable Hall output signal, it has the advantages of high stability in identifying stalling and is not affected by voltage and temperature, and can be directly used to judge the stalling state of the Hall motor 1. Specifically, when it is determined that the output of the Hall output signal is normal, the driver 2 can be used normally to drive the Hall motor 1 to rotate (including forward and reverse), that is, the steering column adjustment motor can be operated normally to adjust the position of the steering column, and the corresponding changes of the Hall output signal are monitored at the same time. Once it is detected that the Hall output signal does not change within the response limit, it is determined that the Hall motor 1 is in a stalled state. The response limit here refers to the maximum time limit of the time from the driver 2 issuing a drive instruction to the Hall output signal generating a corresponding feedback change, which can be set according to different drivers 2 and different Hall sensors, for example, it can be set to 500ms. The Hall output signal changes within the response limit, indicating that the Hall motor 1 responds to the drive instruction of the driver 2 and generates corresponding rotation. If the Hall output signal does not change within the response limit, it can be determined that the Hall motor 1 is in a stalled state.

[0042] It can be understood that step S2 is executed after step S1A, and can be applied to both the forward rotation and the reverse rotation of the Hall motor 1. It can monitor and judge the full stroke of the Hall motor 1, can adapt to the characteristics of different Hall motors 1, avoid consistency deviations caused by production processes, and has high universality.

[0043] Furthermore, the Hall motor stall determination method further includes step S3: when it is determined that the Hall motor 1 is in a stall state, stopping driving the Hall motor 1 to rotate. It can be understood that once it is detected that the Hall motor 1 is in a stall state, the driver 2 can stop issuing a driving instruction to the Hall motor 1 (or understand it as issuing an empty instruction, etc.), and stop the rotation of the Hall motor 1 to protect the Hall motor 1.

[0044] Optionally, when it is determined that the Hall output signal of the Hall motor 1 is lost, the Hall motor stall judgment method also includes step S4: retrieving the maximum value of the starting current of the Hall motor 1, and taking 65%~95% of the maximum value of the starting current as the current threshold, and monitoring the operating current of the Hall motor 1; if the duration of the operating current being greater than the current threshold reaches the duration limit, it is determined that the Hall motor 1 is in a stalled state.

[0045] In some embodiments, for application scenarios where the Hall output signal does not participate in the generation and calculation of the drive instruction, when it is determined that the Hall output signal of the Hall motor 1 is lost, the Hall output signal can be ignored and the monitoring of the operating current of the Hall motor 1 can be used to determine the stall state of the Hall motor 1. Those skilled in the art know that the stall current of the Hall motor 1 when it is stalled is generally greater than its working current when it rotates normally. Therefore, by setting a certain current threshold, the stall state of the Hall motor 1 can be determined. The time limit can be set according to the different Hall motors 1, and can be set to 100ms~500ms, for example, 150ms, 200ms, 250ms, 300ms.

[0046] Optionally, if the operating current is not greater than the current threshold, or the duration of being greater than the current threshold does not reach the duration limit, the Hall motor 1 is driven to rotate according to the drive instruction. In some application scenarios, when the Hall output signal is lost, the driver 2 can ignore the Hall output signal. As long as the operating current is not greater than the current threshold, or the duration of being greater than the current threshold does not reach the duration limit, the Hall motor 1 can continue to be driven to rotate, avoiding the problem that once the Hall output signal is lost, the Hall motor 1 cannot be driven and manual adjustment must be used, and the function of the inching operation is limited.

[0047] However, the stall current of the Hall motor 1 will change greatly due to changes in factors such as the ambient temperature (referring to the temperature of the environment in which the Hall motor 1 is located) and the driving voltage, and often requires a large amount of test data for analysis, which is time-consuming and requires high resources. To this end, in this embodiment, by recovering the maximum value of the starting current of the Hall motor 1 and using 65% to 95% of the maximum value of the starting current as the current threshold, the current threshold can be adaptively adjusted, reducing or avoiding high and low temperature, high and low voltage stall calibration tests, greatly improving development efficiency, and reducing the cost of using temperature box resources.

[0048] In an alternative exemplary embodiment, the step of recovering the maximum value of the starting current of the Hall motor 1 includes: setting the starting period length according to the starting impact process of the Hall motor 1, and determining the maximum value of the current in the starting period length as the maximum value of the starting current. Figure 3, which exemplarily shows the current change of the starting impact process Q of a Hall motor 1. Based on the characteristics of the Hall motor 1, during the starting impact process, the current will roughly rise to an impact peak, and then roughly drop to near the normal working current. The current may also produce certain fluctuations or glitches during the starting impact process, which can be ignored here. The length of the starting period should be able to cover the entire starting impact process of the Hall motor 1, for example, it can be set to tens of milliseconds to hundreds of milliseconds, and can be set specifically according to the different Hall motors 1. The impact peak value reached by the current during the starting impact process is the maximum value of the current in the starting period length, that is, the maximum value of the starting current.

[0049] Further optionally, the recovery can be achieved by the controller 2 through a retrospective search of historical data, that is, the controller 2 can store the current data of the Hall motor 1 during the current working cycle, so that it is only necessary to find the current change corresponding to the starting impact process from the stored current data.

[0050] It can be understood that the normal operating current of the Hall motor 1 after starting will not exceed the maximum value of the starting current. In order to improve reliability, a certain discount can be given to the maximum value of the starting current as the current threshold. The discount can be selected as 65%~95%, such as 70%, 75%, 80%, 85%, 90%, etc. The solution of step S4 avoids the influence of voltage and temperature changes on the stall current. It is a relatively conservative strategy. Even if the Hall output signal is lost under uncertain environmental conditions, the stall state can be more accurately identified and processed.

[0051] In some embodiments, if the Hall motor 1 is in a slow start and slow fall condition, the current collected during the slow start process can be converted into a starting current at 100% drive according to a linear calculation, and then discounted to serve as the current threshold.

[0052] Optionally, the step of recovering the maximum value of the starting current of the Hall motor 1 includes: Step S51: calibrating the starting current of the Hall motor 1 based on the Hall motor 1 under multiple calibrated ambient temperatures and / or driving voltage conditions; Step S52: Correcting the current maximum value of the starting current of the Hall motor 1 according to the current ambient temperature and / or driving voltage.

[0053] Step S51 can be performed in advance, for example, in the production stage, by placing the Hall motor 1 in a temperature box and calibrating the starting current of the Hall motor 1 at different temperatures (such as normal temperature, low temperature, etc.) or different driving voltages. Then, step S52 can correct the current maximum value of the starting current of the Hall motor 1 according to the actual current ambient temperature and / or driving voltage. This can further improve the accuracy of the current threshold and the accuracy of the stall judgment.

[0054] In the steering column adjustment motor provided in this embodiment, the controller 2 is configured to perform stall determination on the Hall motor 1 according to the Hall motor stall determination method described above, thereby achieving the beneficial effects that can be achieved by the Hall motor stall determination method described above.

[0055] Furthermore, the Hall motor stall determination method provided in this embodiment is not limited to application in a steering column adjustment motor, but can also be applied to other types of Hall motors.

[0056] In summary, in the Hall motor stall judgment method and steering column adjustment motor provided by the present invention, the Hall motor stall judgment method includes: when the Hall output signal corresponding to the forward rotation of the Hall motor remains unchanged, detecting the Hall output signal corresponding to the reverse rotation of the Hall motor; if there is a change in the Hall output signal corresponding to the reverse rotation of the Hall motor, it is determined that the Hall output signal of the Hall motor is output normally, and it is determined that the Hall output signal of the Hall motor is in a forward stall state when the Hall output signal corresponding to the forward rotation remains unchanged; if the Hall output signal corresponding to the reverse rotation of the Hall motor also remains unchanged, it is determined that the Hall output signal of the Hall motor is lost. With such a configuration, by monitoring the changes in the Hall output signal of the Hall motor corresponding to the forward and reverse bidirectional rotation, it is possible to distinguish between the loss of the Hall output signal and the actual stall state, thereby effectively improving the accuracy and robustness of the stall judgment.

[0057] It should be noted that the above embodiments can be combined with each other. The above description is only a description of the preferred embodiments of the present invention, and does not limit the scope of the present invention. Any changes and modifications made by ordinary technicians in the field of the present invention based on the above disclosure are within the protection scope of the present invention.

Claims

1. A method for determining whether a Hall motor is stalled, characterized in that: include: When the Hall output signal of the Hall motor corresponding to the forward rotation remains unchanged, detecting the Hall output signal of the Hall motor corresponding to the reverse rotation; If the Hall output signal of the Hall motor corresponding to the reverse rotation changes, it is determined that the Hall output signal of the Hall motor is output normally, and it is determined that the Hall output signal of the Hall motor corresponding to the forward rotation does not change when it is in the forward stalled state; If the Hall output signal of the Hall motor corresponding to the reverse rotation also remains unchanged, it is determined that the Hall output signal of the Hall motor is lost.

2. The Hall motor stall determination method according to claim 1, characterized in that: When it is determined that the Hall output signal of the Hall motor is lost, the Hall motor stall judgment method also includes: recovering the maximum value of the starting current of the Hall motor, and taking 65%~95% of the maximum value of the starting current as the current threshold, and monitoring the operating current of the Hall motor; if the duration of the operating current being greater than the current threshold reaches the duration limit, it is determined that the Hall motor is in a stalled state.

3. The Hall motor stall determination method according to claim 2, characterized in that: If the operating current is not greater than the current threshold, or the duration of being greater than the current threshold does not reach the duration limit, the Hall motor is driven to rotate according to the driving instruction.

4. The method for determining a Hall motor stall according to claim 2, characterized in that: The step of recovering the maximum value of the starting current of the Hall motor includes: setting the starting period length according to the starting impact process of the Hall motor, and determining the maximum value of the current in the starting period length as the maximum value of the starting current.

5. The method for determining a Hall motor stall according to claim 2, characterized in that: The step of recovering the maximum value of the starting current of the Hall motor includes: calibrating the starting current of the Hall motor based on multiple calibrated ambient temperatures and / or driving voltage conditions of the Hall motor; and correcting the current maximum value of the starting current of the Hall motor according to the current ambient temperature and / or driving voltage.

6. The Hall motor stall determination method according to claim 1, characterized in that: When it is determined that the Hall output signal of the Hall motor is normal, the Hall motor is driven to rotate according to the driving instruction, and the corresponding changes of the Hall output signal are monitored; if the Hall output signal does not change within the response limit corresponding to the driving instruction, it is determined that the Hall motor is in a stalled state.

7. The Hall motor stall determination method according to claim 1, characterized in that: The forward rotation or reverse rotation of the Hall motor is realized based on a driving instruction; or, the forward rotation of the Hall motor is realized based on a driving instruction, and the reverse rotation of the Hall motor is realized based on a mechanical follower.

8. The method for determining a Hall motor stall according to claim 7, characterized in that: When the reverse rotation of the Hall motor is realized based on mechanical servo, the Hall motor includes at least two Hall sensors with different phases, and at least two of the Hall sensors output corresponding Hall output signals according to the mechanical servo of the Hall motor.

9. The Hall motor stall determination method according to claim 1, characterized in that: When it is determined that the Hall motor is in a stalled state, the driving of the Hall motor to rotate is stopped.

10. A steering column adjustment motor, characterized in that: The method comprises a Hall motor and a controller, wherein the controller is configured to perform a stall judgment on the Hall motor according to the Hall motor stall judgment method according to any one of claims 1 to 9.

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