Anti-pinch control method, anti-pinch motor and storage medium

Abstract

The present application relates to an anti-pinch control method, an anti-pinch motor and a storage medium, the method comprising: obtaining a first voltage signal detected by at least one reluctance modulation sensor; obtaining a filter parameter corresponding to at least one reluctance modulation sensor that is preset, and using the filter parameter corresponding to at least one reluctance modulation sensor, filtering a second voltage signal in the first voltage signal to obtain a third voltage signal corresponding to at least one reluctance modulation sensor; determining the rotor position of the anti-pinch motor according to the third voltage signal corresponding to each reluctance modulation sensor; determining whether there is an obstacle based on the change in the rotor position of the anti-pinch motor, and triggering anti-pinch control when it is determined that there is an obstacle. In this way, the reluctance modulation sensor can be used instead of the Hall sensor to implement anti-pinch control, thereby improving the accuracy of the anti-pinch control.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle anti-pinch technology, and in particular to an anti-pinch control method, an anti-pinch motor and a storage medium. Background Art

[0002] At present, more and more components on vehicles (such as windows, sunroofs, tailgates, seats, etc.) use motors to control their working status to improve the degree of automation of the vehicle, but this also increases the risk of people in the vehicle being pinched.

[0003] In related technologies, Hall sensors are usually used to sense the magnetic field changes of the motor's rotor, and then sense the presence of obstacles to achieve anti-pinch control. However, due to the low sensitivity of the Hall sensor, it is difficult for it to sense the subtle changes in the motor's rotor magnetic field. Therefore, it can only identify and trigger anti-pinch control when the motor encounters obvious resistance, which makes it easy for people in the car to be pinched or hurt. Therefore, how to improve the accuracy of anti-pinch control has become a technical problem that needs to be solved urgently. Summary of the invention

[0004] The present application provides an anti-pinch control method, an anti-pinch motor and a storage medium to solve the problem that in the related art, anti-pinch control is usually achieved with the help of Hall sensors, which makes it easy for people in the car to be pinched or hurt.

[0005] In a first aspect, the present application provides an anti-pinch control method, which is applied to an anti-pinch motor, wherein at least one reluctance modulation sensor is provided on the anti-pinch motor, and the anti-pinch control method comprises:

[0006] Acquire a first voltage signal detected by the at least one reluctance modulation sensor, wherein the first voltage signal is a voltage signal converted from a magnetic field jointly generated by a rotor and a stator in the anti-pinch motor;

[0007] Acquire the preset filter parameters corresponding to the at least one reluctance modulation sensor, and use the filter parameters corresponding to the at least one reluctance modulation sensor to filter the second voltage signal in the first voltage signal to obtain a third voltage signal corresponding to the at least one reluctance modulation sensor, wherein the second voltage signal is a voltage signal converted from the magnetic field generated by the stator in the anti-pinch motor, and the third voltage signal is a voltage signal converted from the magnetic field generated by the rotor in the anti-pinch motor;

[0008] determining a rotor position of the anti-pinch motor according to a third voltage signal corresponding to the at least one reluctance modulation sensor;

[0009] Based on the change of the rotor position of the anti-pinch motor, it is determined whether there is an obstacle at present, and if it is determined that there is an obstacle at present, the anti-pinch control is triggered.

[0010] Optionally, the at least one magnetoresistive modulation sensor includes a first magnetoresistive modulation sensor, a second magnetoresistive modulation sensor, and a third magnetoresistive modulation sensor;

[0011] The step of determining the rotor position of the anti-pinch motor according to the third voltage signal corresponding to the at least one reluctance modulation sensor comprises:

[0012] Performing coordinate system conversion on a third voltage signal corresponding to the first magnetoresistive modulation sensor, a third voltage signal corresponding to the second magnetoresistive modulation sensor, and a third voltage signal corresponding to the third magnetoresistive modulation sensor to obtain a fourth voltage signal and a fifth voltage signal in a target coordinate system, wherein the fourth voltage signal and the fifth voltage signal are represented as a rotating vector in the target coordinate system;

[0013] Calculating a mechanical angle of a rotor of the anti-pinch motor based on the fourth voltage signal and the fifth voltage signal;

[0014] The mechanical angle of the rotor of the anti-pinch motor is determined as the rotor position of the anti-pinch motor.

[0015] Optionally, the calculating the mechanical angle of the rotor of the anti-pinch motor based on the fourth voltage signal and the fifth voltage signal includes:

[0016] Performing an inverse tangent calculation on the fourth voltage signal and the fifth voltage signal to obtain an electrical angle of the anti-pinch motor;

[0017] Obtain the number of pole pairs corresponding to the anti-pinch motor;

[0018] The ratio between the electrical angle of the anti-pinch motor and the number of pole pairs corresponding to the anti-pinch motor is calculated, and the ratio is determined as the mechanical angle of the rotor of the anti-pinch motor.

[0019] Optionally, before obtaining the preset filter parameters corresponding to the at least one magnetoresistive modulation sensor, the method further includes:

[0020] Establishing an interference signal model corresponding to the at least one reluctance modulation sensor, and determining an interference voltage signal corresponding to the at least one reluctance modulation sensor based on the interference signal model, wherein the interference signal model is used to characterize the nonlinear relationship between the interference voltage signal and the stator current signal, and the interference voltage signal is a voltage signal obtained by converting the magnetic field generated by the stator in the anti-pinch motor after removing the rotor in the anti-pinch motor;

[0021] Acquire a sixth voltage signal detected by the at least one reluctance modulation sensor of the anti-pinch motor under the action of the stator current signal, and determine an expected voltage signal based on the sixth voltage signal and the interference voltage signal, wherein the sixth voltage signal is a voltage signal converted from a magnetic field jointly generated by a stator and a rotor in the anti-pinch motor, and the expected voltage signal is a voltage signal converted from a magnetic field generated by a rotor in the anti-pinch motor;

[0022] The sixth voltage signal is input into a preset filter for adaptive filtering until the difference between the output voltage signal of the preset filter and the expected voltage signal gradually decreases and then tends to stabilize, thereby obtaining filter parameters corresponding to the at least one magnetoresistive modulation sensor, wherein the output voltage signal of the preset filter is determined based on the filter parameters of the preset filter and the voltage signal input into the preset filter.

[0023] Optionally, inputting the sixth voltage signal into a preset filter for adaptive filtering until the difference between the output voltage signal of the preset filter and the expected voltage signal gradually decreases and then tends to be stable, and obtaining filter parameters corresponding to the at least one magnetoresistive modulation sensor includes:

[0024] Inputting the sixth voltage signal into the preset filter, and obtaining an actual output voltage output by the preset filter in response to the input sixth voltage signal;

[0025] An error signal is calculated based on the actual output voltage and the expected voltage signal, wherein the error signal is used to characterize the change in the difference between the output voltage and the expected voltage signal;

[0026] The weight vector of the preset filter is adjusted according to the change of the difference, and whether a preset condition is met according to the change of the difference, wherein the preset condition is that the difference between the output voltage signal and the expected voltage signal gradually decreases and then tends to be stable;

[0027] If it is determined that the difference change does not meet the preset condition, the new sixth voltage signal is used as the sixth voltage signal, and the process returns to the step of inputting the sixth voltage signal into the preset filter, and obtaining the actual output voltage output by the preset filter in response to the input sixth voltage signal;

[0028] When it is determined that the difference change meets the preset condition, the weight vector of the preset filter currently adjusted is determined as the filter parameter.

[0029] Optionally, establishing an interference signal model corresponding to the at least one magnetoresistive modulation sensor includes:

[0030] Acquiring the stator current signal and the interference voltage signal corresponding to the at least one reluctance modulation sensor at different times;

[0031] The nonlinear relationship between the stator current signal and the interference voltage signal corresponding to the at least one reluctance modulation sensor at different times is fitted to determine an interference signal model corresponding to the at least one reluctance modulation sensor.

[0032] Optionally, the determining whether there is an obstacle currently based on the change in the rotor position of the anti-pinch motor includes:

[0033] Determining the rotor speed of the anti-pinch motor at different times based on the change of the rotor position of the anti-pinch motor;

[0034] When the rotor speed of the anti-pinch motor is less than the preset speed for a duration longer than the preset time, determining that an obstacle currently exists;

[0035] When the duration that the rotor speed of the anti-pinch motor is less than the preset speed is less than or equal to the preset duration, it is determined that no obstacle currently exists.

[0036] In a second aspect, the present application further provides an anti-pinch motor, the anti-pinch motor comprising: a stator, a rotor, a motor controller and at least one reluctance modulation sensor, each of the at least one reluctance modulation sensor being electrically connected to the motor controller;

[0037] Wherein, each of the at least one reluctance modulation sensor is used to detect the magnetic field generated by the stator and the rotor, and convert the detected magnetic field into voltage information;

[0038] The motor controller is used to execute the anti-pinch control method described in the first aspect.

[0039] Optionally, the at least one magnetoresistive modulation sensor comprises: a first magnetoresistive modulation sensor, a second magnetoresistive modulation sensor and a third magnetoresistive modulation sensor;

[0040] The first magnetoresistance modulation sensor, the second magnetoresistance modulation sensor and the third magnetoresistance modulation sensor are evenly spaced, and the angle between the sensitive axis directions of any two adjacent magnetoresistance modulation sensors among the first magnetoresistance modulation sensor, the second magnetoresistance modulation sensor and the third magnetoresistance modulation sensor is 120 degrees.

[0041] In a third aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the anti-pinch control method described in the first aspect.

[0042] The above-mentioned technical solution provided by the present application has the following advantages over the prior art: the method provided by the present application obtains a first voltage signal detected by at least one reluctance modulation sensor, wherein the first voltage signal is a voltage signal obtained by converting the magnetic field jointly generated by the rotor and the stator in the anti-pinch motor; obtains the filter parameters corresponding to the at least one reluctance modulation sensor that are preset, and uses the filter parameters corresponding to the at least one reluctance modulation sensor to filter out the second voltage signal in the first voltage signal to obtain a third voltage signal corresponding to the at least one reluctance modulation sensor, wherein the second voltage signal is a voltage signal obtained by converting the magnetic field generated by the stator in the anti-pinch motor, and the third voltage signal is a voltage signal obtained by converting the magnetic field generated by the rotor in the anti-pinch motor; determines the rotor position of the anti-pinch motor according to the third voltage signal corresponding to the at least one reluctance modulation sensor; determines whether there is an obstacle at present based on the change in the rotor position of the anti-pinch motor, and triggers anti-pinch control when it is determined that there is an obstacle at present. Through the above method, since the sensitivity of the reluctance modulation sensor is relatively high, it can accurately sense the subtle changes in the magnetic field of the rotor in the motor. Therefore, the anti-pinch control can be realized by using the reluctance modulation sensor instead of the Hall sensor, which can make the anti-pinch control more accurate. Moreover, in the process of realizing anti-pinch control by using the reluctance modulation sensor, the second voltage signal obtained by converting the magnetic field generated by the stator in the anti-pinch motor is filtered out by the filter parameters corresponding to the reluctance modulation sensor, thereby avoiding the interference of the magnetic field generated by the stator in the anti-pinch motor with the magnetic field generated by the rotor, which further improves the accuracy of the anti-pinch control. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0044] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0045] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0046] Figure 1 A schematic flow chart of an anti-pinch control method provided in an embodiment of the present application;

[0047] Figure 2 A schematic flow chart of another anti-pinch control method provided in an embodiment of the present application;

[0048] Figure 3 A schematic diagram of the structure of an anti-pinch motor provided in an embodiment of the present application;

[0049] Figure 4 A schematic diagram of the structure of another anti-pinch motor provided in an embodiment of the present application;

[0050] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0052] The disclosure below provides many different embodiments or examples to implement different structures of the present invention. In order to simplify the disclosure of the present invention, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present invention. In addition, the present invention can repeat reference numbers and / or letters in different examples. This repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed.

[0053] In order to solve the problem that the related art usually uses Hall sensors to implement anti-pinch control, which makes people in the car easily pinched or painful, the present application provides an anti-pinch control method, an anti-pinch motor and a storage medium, which can improve the accuracy of anti-pinch control.

[0054] See also Figure 1 , Figure 1 A schematic diagram of a flow chart of an anti-pinch control method provided in an embodiment of the present application. Figure 1As shown, the anti-pinch control method is applied to an anti-pinch motor, and at least one magnetic resistance modulation sensor is provided on the anti-pinch motor. The anti-pinch control method may include the following steps:

[0055] Step S101: Acquire a first voltage signal detected by at least one reluctance modulation sensor, wherein the first voltage signal is a voltage signal converted from a magnetic field jointly generated by a rotor and a stator in an anti-pinch motor.

[0056] Specifically, the anti-pinch motor may refer to any motor provided with one or more Tunnel Magneto Resistance Sensors (TMR), such as a three-phase two-pole brushless DC motor, a three-phase four-pole brushless DC motor, a three-phase six-pole brushless DC motor, a three-phase eight-pole brushless DC motor, etc. The one or more Tunnel Magneto Resistance Sensors in the anti-pinch motor may be arranged at positions according to actual needs, such as evenly spaced or unevenly spaced.

[0057] Since the reluctance modulation sensor has high sensitivity, when the anti-pinch motor is in working state, the reluctance modulation sensor can not only sense the magnetic field generated by the rotor in the anti-pinch motor, but also sense the magnetic field generated by the stator in the anti-pinch motor (that is, the changing interference magnetic field generated when the stator changes phase). Therefore, the first voltage signal detected by at least one reluctance modulation sensor is a voltage signal obtained by converting the magnetic field jointly generated by the rotor and stator in the anti-pinch motor.

[0058] Step S102, obtain the filter parameters corresponding to at least one pre-set reluctance modulation sensor, and use the filter parameters corresponding to at least one reluctance modulation sensor to filter out the second voltage signal in the first voltage signal to obtain a third voltage signal corresponding to at least one reluctance modulation sensor, wherein the second voltage signal is a voltage signal converted from the magnetic field generated by the stator in the anti-pinch motor, and the third voltage signal is a voltage signal converted from the magnetic field generated by the rotor in the anti-pinch motor.

[0059] Specifically, the filter parameters refer to relevant parameters involved in the preset filter algorithm, such as the weight vector of the filter, etc. The filter parameters can be obtained by pre-modeling and calculation. The filter parameters corresponding to different reluctance modulation sensors can be the same or different, which needs to be determined according to the position of the at least one reluctance modulation sensor in the anti-pinch motor.

[0060] After obtaining the first voltage signal detected by at least one reluctance modulation sensor, the filter parameters corresponding to the at least one reluctance modulation sensor can be obtained, and the filter parameters corresponding to the at least one reluctance modulation sensor can be used to filter the second voltage signal converted from the magnetic field generated by the stator in the anti-pinch motor, so as to obtain the voltage signal (i.e., the third voltage signal) detected by at least one reluctance modulation sensor and converted from the magnetic field generated by the rotor in the anti-pinch motor. The number of filter parameters here corresponds to the number of first voltage signals, the number of second voltage signals, and the number of third voltage signals, respectively.

[0061] Step S103: determining the rotor position of the anti-pinch motor according to a third voltage signal corresponding to at least one reluctance modulation sensor.

[0062] After obtaining the third voltage signal corresponding to at least one reluctance modulation sensor, the rotor position of the anti-pinch motor can be determined according to the third voltage signal corresponding to at least one reluctance modulation sensor. Specifically, the third voltage signal corresponding to at least one reluctance modulation sensor can be converted into a signal in the target coordinate system by coordinate system conversion, and then the rotor position of the anti-pinch motor is calculated. For example, when the number of reluctance modulation sensors is 3, and the third voltage signals corresponding to the three reluctance modulation sensors form a three-phase voltage signal, the three-phase voltage signal can be converted into a signal in the target coordinate system by Clarke transformation; when the number of reluctance modulation sensors is 1 or 2, the third voltage signal corresponding to the one or two reluctance modulation sensors can be decomposed into a three-phase voltage signal, and then the three-phase voltage signal can be converted into a signal in the target coordinate system by Clarke transformation, etc. Of course, other algorithms can also be used to convert the third voltage signal corresponding to at least one reluctance modulation sensor into a signal in the target coordinate system according to the number and position of the reluctance modulation sensors.

[0063] Step S104: determining whether an obstacle currently exists based on the change in the rotor position of the anti-pinch motor, and triggering the anti-pinch control if it is determined that an obstacle currently exists.

[0064] After determining the rotor position of the anti-pinch motor, the change in the rotor speed of the anti-pinch motor can be determined based on the change in the rotor position of the anti-pinch motor, and then based on the change in the rotor speed of the anti-pinch motor, it can be determined whether there is an obstacle at present, and if it is determined that there is an obstacle at present, the anti-pinch control is triggered.

[0065] In this embodiment, since the reluctance modulation sensor has a high sensitivity and can accurately sense subtle changes in the magnetic field of the rotor inside the motor, the reluctance modulation sensor is used instead of the Hall sensor to implement anti-pinch control, which can make the anti-pinch control more accurate. Moreover, in the process of using the reluctance modulation sensor to implement anti-pinch control, the second voltage signal obtained by converting the magnetic field generated by the stator in the anti-pinch motor is filtered out by the filter parameters corresponding to the reluctance modulation sensor, thereby avoiding the interference of the magnetic field generated by the stator in the anti-pinch motor with the magnetic field generated by the rotor, which further improves the accuracy of the anti-pinch control.

[0066] Furthermore, the at least one reluctance modulation sensor includes a first reluctance modulation sensor, a second reluctance modulation sensor and a third reluctance modulation sensor; the above step S103, determining the rotor position of the anti-pinch motor according to the third voltage signal corresponding to the at least one reluctance modulation sensor, includes:

[0067] Performing coordinate system conversion on the third voltage signal corresponding to the first magnetoresistive modulation sensor, the third voltage signal corresponding to the second magnetoresistive modulation sensor, and the third voltage signal corresponding to the third magnetoresistive modulation sensor to obtain a fourth voltage signal and a fifth voltage signal in the target coordinate system, wherein the fourth voltage signal and the fifth voltage signal are represented as a rotating vector in the target coordinate system;

[0068] Calculating a mechanical angle of a rotor of the anti-pinch motor based on the fourth voltage signal and the fifth voltage signal;

[0069] The mechanical angle of the rotor of the anti-pinch motor is determined as the rotor position of the anti-pinch motor.

[0070] In one embodiment, three reluctance modulation sensors are arranged on the anti-pinch motor, namely, a first reluctance modulation sensor, a second reluctance modulation sensor and a third reluctance modulation sensor, wherein the three reluctance modulation sensors can be arranged at even intervals or at uneven intervals in the anti-pinch motor.

[0071] When the rotor position of the anti-pinch motor is determined based on the third voltage signal corresponding to at least one reluctance modulation sensor, the third voltage signal corresponding to the first reluctance modulation sensor, the third voltage signal corresponding to the second reluctance modulation sensor, and the third voltage signal corresponding to the third reluctance modulation sensor can be converted into a coordinate system to obtain a fourth voltage signal and a fifth voltage signal in the target coordinate system. Specifically, when the three reluctance modulation sensors are evenly spaced in the anti-pinch motor, and the angle between the sensitive axis directions of any two adjacent reluctance modulation sensors among the three reluctance modulation sensors is 120 degrees (that is, the third voltage signals corresponding to the three reluctance modulation sensors constitute a three-phase voltage signal), the Clarke transformation can be used to perform coordinate system conversion to obtain the fourth voltage signal and the fifth voltage signal in the target coordinate system; when the three reluctance modulation sensors are unevenly spaced in the anti-pinch motor, or the angle between the sensitive axis directions of any two adjacent reluctance modulation sensors among the three reluctance modulation sensors is not 120 degrees, then three voltage signals with angles of 120 degrees to each other can be determined based on the positional relationship of the third voltage signals corresponding to the three reluctance modulation sensors, and then the Clarke transformation can be used to perform coordinate system conversion to obtain the fourth voltage signal and the fifth voltage signal in the target coordinate system. Next, based on the fourth voltage signal and the fifth voltage signal, the mechanical angle of the rotor of the anti-pinch motor is calculated, and then the rotor position of the anti-pinch motor can be accurately obtained according to the mechanical angle of the rotor of the anti-pinch motor, which facilitates subsequent anti-pinch control based on the change of the rotor position of the anti-pinch motor.

[0072] As an optional implementation, the first reluctance modulation sensor, the second reluctance modulation sensor and the third reluctance modulation sensor are evenly spaced in the anti-pinch motor, and the angle between the sensitive axis directions of any two adjacent reluctance modulation sensors among the three reluctance modulation sensors is 120 degrees (that is, the third voltage signals corresponding to the three reluctance modulation sensors constitute a three-phase voltage signal). In this way, the third voltage signal corresponding to the first reluctance modulation sensor, the third voltage signal corresponding to the second reluctance modulation sensor and the third voltage signal corresponding to the third reluctance modulation sensor can be transformed from a three-phase stationary coordinate system to a two-phase stationary coordinate system (that is, coordinate system), and obtain the fourth voltage signal and the fifth voltage signal , they are The fourth voltage signal represents a rotation vector in the coordinate system. and the fifth voltage signal It can be expressed by the following formula:

[0073] ;

[0074] ;

[0075] in, represents the fourth voltage value corresponding to time t, represents the fifth voltage value corresponding to time t, represents the third voltage signal corresponding to the first magnetoresistive modulation sensor at time t, represents the third voltage signal corresponding to the second magnetoresistive modulation sensor at time t, Represents the third voltage signal corresponding to the third magnetoresistive modulation sensor corresponding to time t.

[0076] Through the above method, the three-phase voltage signal composed of three reluctance modulation sensors can be directly transformed into a signal in a two-phase stationary coordinate system quickly and accurately using Clarke transformation, so as to facilitate the subsequent calculation of the mechanical angle of the rotor of the anti-pinch motor based on the transformed electrical signal.

[0077] Furthermore, the above step of calculating the mechanical angle of the rotor of the anti-pinch motor based on the fourth voltage signal and the fifth voltage signal includes:

[0078] Performing arc tangent calculation on the fourth voltage signal and the fifth voltage signal to obtain the electrical angle of the anti-pinch motor;

[0079] Get the number of pole pairs corresponding to the anti-pinch motor;

[0080] The ratio between the electrical angle of the anti-pinch motor and the number of pole pairs corresponding to the anti-pinch motor is calculated, and the ratio is determined as the mechanical angle of the rotor of the anti-pinch motor.

[0081] In one embodiment, when the mechanical angle of the rotor of the anti-pinch motor is calculated based on the fourth voltage signal and the fifth voltage signal, the fourth voltage signal and the fifth voltage signal may be subjected to an inverse tangent calculation to obtain the electrical angle of the anti-pinch motor. Specifically, the following formula may be used for calculation:

[0082] ;

[0083] in, Indicates the electrical angle of the anti-pinch motor, represents the four-quadrant inverse tangent function, represents the fourth voltage value corresponding to time t, represents the fifth voltage value corresponding to time t.

[0084] Before, after, or at the same time as calculating the electrical angle of the anti-pinch motor, the number of pole pairs corresponding to the anti-pinch motor can also be obtained. For example, the number of pole pairs in a three-phase four-pole brushless DC motor is 2, and the number of pole pairs in a three-phase six-pole brushless DC motor is 3. Then, the ratio between the electrical angle of the anti-pinch motor and the number of pole pairs corresponding to the anti-pinch motor can be calculated, and the ratio can be determined as the mechanical angle of the rotor of the anti-pinch motor. For example, the following formula can be used for calculation:

[0085] ;

[0086] in, Indicates the mechanical angle of the rotor of the anti-pinch motor, Indicates the electrical angle of the anti-pinch motor, Indicates the number of pole pairs corresponding to the anti-pinch motor.

[0087] Through the above method, the mechanical angle of the rotor of the anti-pinch motor can be accurately determined based on the fourth voltage signal and the fifth voltage signal, thereby facilitating subsequent accurate anti-pinch control based on the change in the rotor position of the anti-pinch motor.

[0088] Furthermore, before the above step S102 of obtaining the filter parameters corresponding to at least one preset magnetoresistive modulation sensor, the method further includes:

[0089] Establishing an interference signal model corresponding to at least one reluctance modulation sensor, and determining an interference voltage signal corresponding to at least one reluctance modulation sensor based on the interference signal model, wherein the interference signal model is used to characterize the nonlinear relationship between the interference voltage signal and the stator current signal, and the interference voltage signal is a voltage signal obtained by converting the magnetic field generated by the stator in the anti-pinch motor after removing the rotor in the anti-pinch motor;

[0090] Acquire a sixth voltage signal detected by at least one reluctance modulation sensor of the anti-pinch motor under the action of the stator current signal, and determine an expected voltage signal based on the sixth voltage signal and the interference voltage signal, wherein the sixth voltage signal is a voltage signal converted from a magnetic field jointly generated by a stator and a rotor in the anti-pinch motor, and the expected voltage signal is a voltage signal converted from a magnetic field generated by a rotor in the anti-pinch motor;

[0091] The sixth voltage signal is input into a preset filter for adaptive filtering until the difference between the output voltage signal of the preset filter and the expected voltage signal gradually decreases and then tends to stabilize, thereby obtaining filter parameters corresponding to at least one magnetoresistive modulation sensor, wherein the output voltage signal of the preset filter is determined based on the filter parameters of the preset filter and the voltage signal input to the preset filter.

[0092] In one embodiment, before obtaining the filter parameters corresponding to at least one preset reluctance modulation sensor, it is also necessary to predetermine the filter parameters corresponding to at least one reluctance modulation sensor. Specifically, an interference signal model corresponding to at least one reluctance modulation sensor can be established first, and based on the interference signal model, an interference voltage signal corresponding to at least one reluctance modulation sensor can be determined, and then the sixth voltage signal detected by at least one reluctance modulation sensor under the action of the stator current signal of the anti-pinch motor is obtained, and based on the sixth voltage signal and the interference voltage signal, the expected voltage signal is determined, and then the sixth voltage signal is input into the preset filter for adaptive filtering until the difference between the output voltage signal of the preset filter and the expected voltage signal gradually decreases and then tends to be stable, and the filter parameters corresponding to at least one reluctance modulation sensor are obtained, so as to facilitate the subsequent use of the filter parameters to filter out the second voltage signal corresponding to at least one reluctance modulation sensor.

[0093] Furthermore, in the above step, the sixth voltage signal is input into a preset filter for adaptive filtering until the difference between the output voltage signal of the preset filter and the expected voltage signal gradually decreases and then tends to be stable, and filter parameters corresponding to at least one magnetoresistive modulation sensor are obtained, including:

[0094] Inputting the sixth voltage signal into a preset filter, and obtaining an actual output voltage output by the preset filter in response to the input sixth voltage signal;

[0095] An error signal is calculated based on the actual output voltage and the expected voltage signal, wherein the error signal is used to characterize the change in the difference between the output voltage and the expected voltage signal;

[0096] The weight vector of the preset filter is adjusted according to the difference change, and whether the preset condition is met according to the difference change, wherein the preset condition is that the difference between the output voltage signal and the expected voltage signal gradually decreases and then tends to be stable;

[0097] If the difference change is determined not to satisfy the preset condition, the new sixth voltage signal is used as the sixth voltage signal, and the process returns to the step of inputting the sixth voltage signal into a preset filter, and obtaining an actual output voltage output by the preset filter in response to the input sixth voltage signal;

[0098] When it is determined that the difference change meets the preset condition, the weight vector of the preset filter obtained by the current adjustment is determined as the filter parameter.

[0099] The preset filter can select a least mean square error (Least Mean Square, referred to as LMS) adaptive filter, and adjust its coefficients in real time to eliminate the interference voltage signal in the voltage signal output by the magnetoresistive modulation sensor. Since the input signal of the LMS adaptive filter is the sixth voltage signal detected by the magnetoresistive modulation sensor , expected output voltage It is the voltage signal obtained by converting the magnetic field generated by the rotor in the anti-pinch motor detected by the reluctance modulation sensor. The actual output voltage is If it is expressed as:

[0100] ;

[0101] in, is the weight vector of the preset filter, is the order of the filter, represents the sixth voltage signal input to the preset filter for the kth time (the sixth voltage signal is a one-dimensional vector whose voltage varies with time), Represents the actual output voltage of the kth output of the preset filter (the actual output voltage is a one-dimensional vector of voltage varying with time).

[0102] Then according to the actual output voltage and the expected voltage signal Calculate the error signal, which It can be expressed by the following formula:

[0103] ;

[0104] in, represents the difference between the output voltage signal of the preset filter calculated for the kth time and the expected voltage signal, that is, the error signal (the error signal is a one-dimensional vector whose difference changes with time), is the weight vector of the preset filter, is the order of the filter, represents the sixth voltage signal input to the preset filter for the kth time, Indicates the expected voltage signal.

[0105] Since the goal of the preset filter is to minimize the error signal , in order to adjust the weight vector of the preset filter (equivalent to the filter parameters mentioned above) so that it gradually approaches the ideal signal output that eliminates the interference signal. Among them, the weight update rule can be expressed by sampling the following formula:

[0106] ;

[0107] in, is the learning rate, which is used to control the update speed of the weight vector. Usually a smaller value is selected to ensure the stability of the system. represents the weight vector of the preset filter calculated for the kth time, represents the weight vector of the preset filter calculated for the k+1th time, represents the error signal obtained by the k-th calculation, represents the sixth voltage signal input to the preset filter for the kth time.

[0108] The sixth voltage signal is continuously input into a preset filter for adaptive filtering until the difference between the output voltage signal of the preset filter and the expected voltage signal gradually decreases and then tends to stabilize, and finally the filter parameters corresponding to each reluctance modulation sensor are obtained. In this way, the output signal of the reluctance modulation sensor corrected by the preset filter retains the effective signal related to the rotor position and eliminates the magnetic field interference of the stator.

[0109] Furthermore, the above step of establishing an interference signal model corresponding to at least one magnetoresistive modulation sensor includes:

[0110] Acquire a stator current signal and an interference voltage signal corresponding to at least one reluctance modulation sensor at different times;

[0111] The nonlinear relationship between the stator current signal and the interference voltage signal corresponding to at least one reluctance modulation sensor at different times is fitted to determine an interference signal model corresponding to at least one reluctance modulation sensor.

[0112] In one embodiment, in the process of establishing the interference signal model corresponding to at least one reluctance modulation sensor, the stator current signal and the interference voltage signal corresponding to at least one reluctance modulation sensor at different times can be first obtained. Then, the nonlinear relationship between the stator current signal and the interference voltage signal corresponding to at least one reluctance modulation sensor at different times is fitted to determine the interference signal model corresponding to at least one reluctance modulation sensor. Specifically, the stator current signal can be extracted in real time from the drive current of the motor stator. , which can reflect the strength of the magnetic field generated by the stator. Since the stator current signal is periodic, its frequency is consistent with the frequency of the motor operation. The magnetic field detected by the reluctance modulation sensor contains the changing magnetic field generated by the rotor and the interfering magnetic field generated by the stator. Assuming the stator current signal Interference voltage signal measured by magnetoresistive modulation sensor There is a nonlinear relationship between them, and the following polynomial regression can be used to fit this nonlinear relationship:

[0113] ;

[0114] in, are the coefficients to be fitted, is the interference voltage signal at time t, is the stator current signal at time t.

[0115] When actually collecting data, it is necessary to remove the rotor in the anti-pinch motor and continuously apply a current with a certain frequency change to the stator winding (refer to the current operating current of the current motor application scenarios such as windows, tailgates, seats, etc. under standard working conditions) to simulate the stator commutation when the motor moves. At this time, due to the lack of the influence of the rotor, the magnetic field detected by the reluctance modulation sensor is equal to the interference magnetic field of the stator, so:

[0116] ;

[0117] Through the collection of multiple groups Value and The interference voltage signal can be fitted by With stator current signal The nonlinear relationship between the two can then be used to accurately determine the interference signal model corresponding to at least one magnetoresistive modulation sensor. , so as to facilitate the subsequent approximate estimation of the interference voltage signal based on the interference signal model.

[0118] Furthermore, the above step S104, determining whether there is an obstacle currently based on the change of the rotor position of the anti-pinch motor, includes:

[0119] Based on the change of the rotor position of the anti-pinch motor, the rotor speed of the anti-pinch motor at different times is determined;

[0120] When the rotor speed of the anti-pinch motor is less than the preset speed for a duration longer than the preset time, it is determined that an obstacle currently exists;

[0121] When the duration that the rotor speed of the anti-pinch motor is less than the preset speed is less than or equal to the preset time, it is determined that there is no obstacle currently.

[0122] In one embodiment, when determining whether there is an obstacle at present based on the change of the rotor position of the anti-pinch motor, the rotor speed of the anti-pinch motor at different times can be determined based on the change of the rotor position of the anti-pinch motor, which can be specifically expressed by the following formula:

[0123] ;

[0124] in, Indicates the rotor speed of the anti-pinch motor, Indicates the current mechanical angle of the anti-pinch motor's rotor. Indicates the mechanical angle of the rotor of the anti-pinch motor at the last moment. It indicates the time difference between the two acquisitions of the mechanical angle of the anti-pinch motor's rotor.

[0125] Then, according to the rotor speed of the anti-pinch motor, it is determined whether the duration of the rotor speed of the anti-pinch motor being less than the preset speed is greater than the preset time. Specifically, the preset speed may refer to a pre-calibrated speed threshold to which the motor speed drops when anti-pinch occurs. ,in, Indicates the pre-calibrated speed of the anti-pinch motor in normal working condition. is a coefficient, .

[0126] If it is determined that the duration of the anti-pinch motor rotor speed being less than the preset speed is greater than the preset time, it is determined that there is an obstacle at present; if it is determined that the duration of the anti-pinch motor rotor speed being less than the preset speed is less than or equal to the preset time, it is determined that there is no obstacle at present. For example, during the operation of the motor, the data can be collected every 1ms. , and compare and If the judgment is correct for 10 consecutive times within 10ms, , the anti-pinch control can be triggered and the motor will reverse.

[0127] Through the above-mentioned manner, whether there is an obstacle at present can be accurately determined based on the change of the rotor position of the anti-pinch motor, thereby improving the accuracy of the anti-pinch control.

[0128] In one embodiment, the anti-pinch control process provided by the embodiment of the present application is as follows: Figure 2 As shown, the following steps may be specifically included:

[0129] Step S201: Use three reluctance modulation sensors to detect the magnetic field inside the motor and obtain three voltage signals, namely, V TMRA 、V TMRB and V TMRC .

[0130] The internal magnetic field of the motor may include the magnetic field generated by the rotor and the interfering magnetic field generated by the stator.

[0131] Step S202: Filter the voltage signal obtained by converting the magnetic field generated by the stator using the filter parameters to obtain the voltage signal obtained by converting the magnetic field generated by the rotor, which are V A 、V B and V C .

[0132] The filter parameters are obtained after processing by an adaptive filtering algorithm based on periodic interference modeling and real-time compensation.

[0133] Step S203: V A 、V B and V C Clarke transformation is performed to obtain a fourth voltage signal and a fifth voltage signal in the target coordinate system.

[0134] Step S204: perform arctangent calculation on the fourth voltage signal and the fifth voltage signal to obtain the electrical angle of the anti-pinch motor.

[0135] Step S205 : determining the mechanical angle of the rotor of the anti-pinch motor, that is, the rotor position of the anti-pinch motor, according to the electrical angle of the anti-pinch motor.

[0136] Step S206: determining whether an obstacle currently exists based on the change in the rotor position of the anti-pinch motor, and triggering anti-pinch control if it is determined that an obstacle currently exists.

[0137] In this embodiment, the anti-pinch control method has the following beneficial effects:

[0138] 1. Due to the high sensitivity of the reluctance modulation sensor, the use of the reluctance modulation sensor can improve the accuracy of the rotor position detection of the anti-pinch motor.

[0139] 2. Considering the high sensitivity of the magnetoresistive modulation sensor, an adaptive filtering algorithm based on periodic interference modeling and real-time compensation is designed, which can filter out the interference of the stator magnetic field in the motor and give full play to the sensitivity advantage of the magnetoresistive modulation sensor in magnetic field detection.

[0140] 3. By utilizing the high sensitivity of the magnetoresistive modulation sensor, it is possible to detect subtle abnormal movements of the motor that cannot be detected by traditional Hall motors. It has application prospects in the field of anti-pinch and abnormal motor state detection.

[0141] See also Figure 3 , Figure 3 This is a schematic diagram of the structure of an anti-pinch motor provided in an embodiment of the present application. Figure 3 As shown, the anti-pinch motor includes: a stator 310, a rotor 320, a motor controller (not shown in the figure) and at least one reluctance modulation sensor 330, each reluctance modulation sensor in the at least one reluctance modulation sensor 330 is electrically connected to the motor controller;

[0142] Each of the at least one reluctance modulation sensor 330 is used to detect the magnetic field generated by the stator 310 and the rotor 320, and convert the detected magnetic field into voltage information;

[0143] The motor controller is used to execute the anti-pinch control method in the above embodiment.

[0144] Specifically, the above-mentioned anti-pinch motor can refer to any motor equipped with one or more Tunnel Magneto Resistance Sensor (TMR), such as a three-phase two-pole brushless DC motor, a three-phase four-pole brushless DC motor, a three-phase six-pole brushless DC motor, a three-phase eight-pole brushless DC motor, etc. Figure 3 The motor shown is a three-phase four-pole brushless DC motor with a total of 2 pole pairs. If the anti-pinch motor is another type of motor, it is only necessary to change the number of pole pairs in the rotor. The location of the at least one magnetic resistance modulation sensor 330 in the anti-pinch motor can be set according to actual needs, such as evenly spaced or unevenly spaced.

[0145] Each reluctance modulation sensor can be used to detect the magnetic field generated by the stator and the rotor, and convert the detected magnetic field into voltage information. Since each reluctance modulation sensor is electrically connected to the motor controller, the motor controller can obtain a first voltage signal detected by each reluctance modulation sensor in at least one reluctance modulation sensor, wherein the first voltage signal is a voltage signal converted from the magnetic field jointly generated by the rotor and the stator in the anti-pinch motor; obtain the filter parameters corresponding to each reluctance modulation sensor that are preset, and use the filter parameters corresponding to each reluctance modulation sensor to filter the second voltage signal in the first voltage signal to obtain a third voltage signal corresponding to each reluctance modulation sensor, wherein the second voltage signal is a voltage signal converted from the magnetic field generated by the stator in the anti-pinch motor, and the third voltage signal is a voltage signal converted from the magnetic field generated by the rotor in the anti-pinch motor; determine the rotor position of the anti-pinch motor according to the third voltage signal corresponding to each reluctance modulation sensor; determine whether there is an obstacle based on the change in the rotor position of the anti-pinch motor, and trigger the anti-pinch control if it is determined that there is an obstacle.

[0146] In this embodiment, since the reluctance modulation sensor has a high sensitivity and can accurately sense subtle changes in the magnetic field of the rotor inside the motor, the reluctance modulation sensor is used instead of the Hall sensor to implement anti-pinch control, which can make the anti-pinch control more accurate. Moreover, in the process of using the reluctance modulation sensor to implement anti-pinch control, the second voltage signal obtained by converting the magnetic field generated by the stator in the anti-pinch motor is filtered out by the filter parameters corresponding to the reluctance modulation sensor, thereby avoiding the interference of the magnetic field generated by the stator in the anti-pinch motor with the magnetic field generated by the rotor, which further improves the accuracy of the anti-pinch control.

[0147] Further, see Figure 4, at least one magnetoresistive modulation sensor 330 includes: a first magnetoresistive modulation sensor 331, a second magnetoresistive modulation sensor 332 and a third magnetoresistive modulation sensor 333;

[0148] Among them, the first magnetoresistance modulation sensor 331, the second magnetoresistance modulation sensor 332 and the third magnetoresistance modulation sensor 333 are evenly spaced, and the angle between the sensitive axis directions of any two adjacent magnetoresistance modulation sensors among the first magnetoresistance modulation sensor 331, the second magnetoresistance modulation sensor 332 and the third magnetoresistance modulation sensor 333 is 120 degrees.

[0149] In one embodiment, the first reluctance modulation sensor 331, the second reluctance modulation sensor 332 and the third reluctance modulation sensor 333 are evenly spaced in the anti-pinch motor, and the angle between the sensitive axis directions of any two adjacent reluctance modulation sensors among the three reluctance modulation sensors is 120 degrees. In this way, the three-phase voltage signal composed of the three reluctance modulation sensors can be directly transformed into a signal in a two-phase stationary coordinate system by Clarke transformation, so as to facilitate the subsequent calculation of the mechanical angle of the rotor of the anti-pinch motor based on the transformed electrical signal.

[0150] like Figure 5 As shown, the embodiment of the present application further provides an electronic device, including a processor 511, a communication interface 512, a memory 513 and a communication bus 514, wherein the processor 511, the communication interface 512, and the memory 513 communicate with each other through the communication bus 514.

[0151] Memory 513, used for storing computer programs;

[0152] In one embodiment of the present application, the processor 511 is used to implement the anti-pinch control method provided by any one of the aforementioned method embodiments when executing the program stored in the memory 513.

[0153] It should be noted that the electronic device may be a device including the anti-pinch motor, or may be an electronic device connected to the anti-pinch motor, etc., through which the anti-pinch control of the motor-controlled components may be achieved.

[0154] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the anti-pinch control method provided by any one of the aforementioned method embodiments is implemented.

[0155] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0156] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a general hardware platform, and of course, by hardware. Based on this understanding, the above technical solution, in essence, or the part that contributes to the relevant technology, can be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiment.

[0157] It should be understood that the terms used herein are only for the purpose of describing specific example embodiments and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "one", "an" and "said" as used herein may also be meant to include plural forms. The terms "include", "comprise", "contain", and "have" are inclusive, and therefore specify the existence of stated features, steps, operations, elements and / or parts, but do not exclude the existence or addition of one or more other features, steps, operations, elements, parts, and / or combinations thereof. The method steps, processes, and operations described herein are not interpreted as necessarily requiring them to be performed in the specific order described or illustrated, unless the execution order is clearly indicated. It should also be understood that additional or alternative steps may be used.

[0158] The foregoing is merely a specific embodiment of the present invention, which enables those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features claimed herein.

Claims

1. An anti-pinch control method, characterized in that: Applied to an anti-pinch motor, the anti-pinch motor is provided with at least one magnetic resistance modulation sensor, and the anti-pinch control method includes: Acquire a first voltage signal detected by the at least one reluctance modulation sensor, wherein the first voltage signal is a voltage signal converted from a magnetic field jointly generated by a rotor and a stator in the anti-pinch motor; Obtaining the preset filter parameters corresponding to the at least one reluctance modulation sensor, and using the filter parameters corresponding to the at least one reluctance modulation sensor, filtering the second voltage signal in the first voltage signal to obtain a third voltage signal corresponding to the at least one reluctance modulation sensor, wherein the second voltage signal is a voltage signal converted from the magnetic field generated by the stator in the anti-pinch motor, and the third voltage signal is a voltage signal converted from the magnetic field generated by the rotor in the anti-pinch motor, and the filter parameters corresponding to the at least one reluctance modulation sensor are obtained by inputting the sixth voltage signal into a preset filter for adaptive filtering until the difference between the output voltage signal of the preset filter and the expected voltage signal gradually decreases and tends to be stable, and the sixth voltage signal includes the expected voltage signal and an interference voltage signal, and the interference voltage signal is determined based on an interference signal model corresponding to the at least one reluctance modulation sensor; determining a rotor position of the anti-pinch motor according to a third voltage signal corresponding to the at least one reluctance modulation sensor; Based on the change of the rotor position of the anti-pinch motor, it is determined whether there is an obstacle at present, and if it is determined that there is an obstacle at present, the anti-pinch control is triggered.

2. The anti-pinch control method according to claim 1, characterized in that: The at least one magnetoresistive modulation sensor includes a first magnetoresistive modulation sensor, a second magnetoresistive modulation sensor, and a third magnetoresistive modulation sensor; The step of determining the rotor position of the anti-pinch motor according to the third voltage signal corresponding to the at least one reluctance modulation sensor comprises: Performing coordinate system conversion on a third voltage signal corresponding to the first magnetoresistive modulation sensor, a third voltage signal corresponding to the second magnetoresistive modulation sensor, and a third voltage signal corresponding to the third magnetoresistive modulation sensor to obtain a fourth voltage signal and a fifth voltage signal in a target coordinate system, wherein the fourth voltage signal and the fifth voltage signal are represented as a rotating vector in the target coordinate system; Calculating a mechanical angle of a rotor of the anti-pinch motor based on the fourth voltage signal and the fifth voltage signal; The mechanical angle of the rotor of the anti-pinch motor is determined as the rotor position of the anti-pinch motor.

3. The anti-pinch control method according to claim 2, characterized in that: The calculating and obtaining the mechanical angle of the rotor of the anti-pinch motor based on the fourth voltage signal and the fifth voltage signal includes: Performing an inverse tangent calculation on the fourth voltage signal and the fifth voltage signal to obtain an electrical angle of the anti-pinch motor; Obtain the number of pole pairs corresponding to the anti-pinch motor; The ratio between the electrical angle of the anti-pinch motor and the number of pole pairs corresponding to the anti-pinch motor is calculated, and the ratio is determined as the mechanical angle of the rotor of the anti-pinch motor.

4. The anti-pinch control method according to claim 1, characterized in that: Before obtaining the preset filter parameters corresponding to the at least one magnetoresistive modulation sensor, the method further includes: Establishing an interference signal model corresponding to the at least one reluctance modulation sensor, and determining an interference voltage signal corresponding to the at least one reluctance modulation sensor based on the interference signal model, wherein the interference signal model is used to characterize the nonlinear relationship between the interference voltage signal and the stator current signal, and the interference voltage signal is a voltage signal obtained by converting the magnetic field generated by the stator in the anti-pinch motor after removing the rotor in the anti-pinch motor; Acquire a sixth voltage signal detected by the at least one reluctance modulation sensor of the anti-pinch motor under the action of the stator current signal, and determine an expected voltage signal based on the sixth voltage signal and the interference voltage signal, wherein the sixth voltage signal is a voltage signal converted from a magnetic field jointly generated by a stator and a rotor in the anti-pinch motor, and the expected voltage signal is a voltage signal converted from a magnetic field generated by a rotor in the anti-pinch motor; The sixth voltage signal is input into a preset filter for adaptive filtering until the difference between the output voltage signal of the preset filter and the expected voltage signal gradually decreases and then tends to stabilize, thereby obtaining filter parameters corresponding to the at least one magnetoresistive modulation sensor, wherein the output voltage signal of the preset filter is determined based on the filter parameters of the preset filter and the voltage signal input into the preset filter.

5. The anti-pinch control method according to claim 4, characterized in that: Inputting the sixth voltage signal into a preset filter for adaptive filtering until the difference between the output voltage signal of the preset filter and the expected voltage signal gradually decreases and then tends to be stable, and obtaining filter parameters corresponding to the at least one magnetoresistive modulation sensor, comprises: Inputting the sixth voltage signal into the preset filter, and obtaining an actual output voltage output by the preset filter in response to the input sixth voltage signal; An error signal is calculated based on the actual output voltage and the expected voltage signal, wherein the error signal is used to characterize the change in the difference between the output voltage and the expected voltage signal; The weight vector of the preset filter is adjusted according to the change of the difference, and whether a preset condition is met according to the change of the difference, wherein the preset condition is that the difference between the output voltage signal and the expected voltage signal gradually decreases and then tends to be stable; If it is determined that the difference change does not meet the preset condition, the new sixth voltage signal is used as the sixth voltage signal, and the process returns to the step of inputting the sixth voltage signal into the preset filter, and obtaining the actual output voltage output by the preset filter in response to the input sixth voltage signal; When it is determined that the difference change meets the preset condition, the weight vector of the preset filter currently adjusted is determined as the filter parameter.

6. The anti-pinch control method according to claim 4, characterized in that: The establishing of the interference signal model corresponding to the at least one magnetoresistive modulation sensor comprises: Acquiring the stator current signal and the interference voltage signal corresponding to the at least one reluctance modulation sensor at different times; The nonlinear relationship between the stator current signal and the interference voltage signal corresponding to the at least one reluctance modulation sensor at different times is fitted to determine an interference signal model corresponding to the at least one reluctance modulation sensor.

7. The anti-pinch control method according to claim 1, characterized in that: The determining whether there is an obstacle currently based on the change in the rotor position of the anti-pinch motor includes: Determining the rotor speed of the anti-pinch motor at different times based on the change of the rotor position of the anti-pinch motor; When the rotor speed of the anti-pinch motor is less than the preset speed for a duration greater than a preset time, determining that an obstacle currently exists; When the duration that the rotor speed of the anti-pinch motor is less than the preset speed is less than or equal to the preset duration, it is determined that no obstacle currently exists.

8. An anti-pinch motor, characterized in that: The anti-pinch motor comprises: a stator, a rotor, a motor controller and at least one reluctance modulation sensor, each of the at least one reluctance modulation sensor being electrically connected to the motor controller; Wherein, each of the at least one reluctance modulation sensor is used to detect the magnetic field generated by the stator and the rotor, and convert the detected magnetic field into voltage information; The motor controller is used to execute the anti-pinch control method according to any one of claims 1 to 7.

9. The anti-pinch motor according to claim 8, characterized in that: The at least one magnetoresistive modulation sensor comprises: a first magnetoresistive modulation sensor, a second magnetoresistive modulation sensor, and a third magnetoresistive modulation sensor; The first magnetoresistance modulation sensor, the second magnetoresistance modulation sensor and the third magnetoresistance modulation sensor are evenly spaced, and the angle between the sensitive axis directions of any two adjacent magnetoresistance modulation sensors among the first magnetoresistance modulation sensor, the second magnetoresistance modulation sensor and the third magnetoresistance modulation sensor is 120 degrees.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the anti-pinch control method according to any one of claims 1 to 7 is implemented.

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