Control method and device of automobile seat motor and medium

Abstract

The invention provides a control method and device for an automobile seat motor and a medium, and the method comprises the steps: calculating the predicted rotating speed of the seat motor based on the rotating speed deviation of the seat motor; wherein the rotating speed deviation represents the difference between the actual rotating speed and the target rotating speed of the seat motor, and the predicted rotating speed represents the output rotating speed predicted quantity of the seat motor; calculating an output duty ratio of a seat motor based on the predicted rotating speed; controlling the operation of a seat motor based on the output duty ratio; the predicted rotation speed is calculated according to the rotation speed deviation between the actual rotation speed and the target rotation speed of the seat motor, and the output duty ratio of the seat motor is calculated according to the predicted rotation speed, so that the output power of the seat motor is dynamically adjusted to approach the target rotation speed, and the adjustment precision of the seat motor is improved. The adjusting speed is increased on the basis of guaranteeing the adjusting stability, and meanwhile the comfort of passengers is improved.

Description

Technical Field

[0001] The present application relates to the technical field of automobile seat motor control, and in particular to a method, device and medium for controlling an automobile seat motor. Background Art

[0002] With the continuous development of automobile technology and the continuous improvement of automobile intelligence, more and more cars are equipped with electric seats. Electric seats not only bring the convenience of automatic adjustment to passengers, but also improve the comfort of passengers. However, the electric seat is driven by a motor during the adjustment process. The output mode of the motor is mostly full-stroke full-power output or fixed power output, which leads to low adjustment accuracy of the motor. The low adjustment accuracy of the motor will lead to slow response speed and poor stability, which in turn affects the comfort and safety of passengers. Therefore, a control method that can improve the adjustment accuracy of the electric seat motor is needed. Summary of the invention

[0003] In order to solve the above technical problems, the present application is proposed. The embodiments of the present application provide a control method, device and medium for a motor of a car seat.

[0004] According to one aspect of the present application, a control method for a car seat motor is provided, comprising: calculating a predicted speed of the seat motor based on a speed deviation of the seat motor; wherein the speed deviation represents a difference between an actual speed of the seat motor and a target speed, and the predicted speed represents a predicted amount of output speed of the seat motor; calculating an output duty cycle of the seat motor based on the predicted speed; and controlling the operation of the seat motor based on the output duty cycle.

[0005] In one embodiment, calculating the output duty cycle of the seat motor based on the predicted speed includes: calculating the output duty cycle based on the predicted speed, the current speed and the current duty cycle; wherein the output duty cycle is positively correlated with the current duty cycle and the predicted speed, and the output duty cycle is negatively correlated with the current speed.

[0006] In one embodiment, before calculating the output duty cycle based on the predicted speed, the current speed and the current duty cycle, the control method of the automobile seat motor also includes: calculating a voltage compensation coefficient and a temperature compensation coefficient of the seat motor; wherein the voltage compensation coefficient is determined based on the battery voltage, and the temperature compensation coefficient is determined based on the ambient temperature; calculating the output duty cycle based on the predicted speed, the current speed and the current duty cycle includes: calculating the output duty cycle based on the predicted speed, the current speed, the current duty cycle, the voltage compensation coefficient and the temperature compensation coefficient; wherein the output duty cycle is positively correlated with the voltage compensation coefficient and the temperature compensation coefficient.

[0007] In one embodiment, the calculation of the voltage compensation coefficient and the temperature compensation coefficient of the seat motor includes: calculating the voltage compensation coefficient based on the calibrated voltage and the current voltage of the battery; wherein the voltage compensation coefficient is positively correlated with the calibrated voltage, and the voltage compensation coefficient is negatively correlated with the current voltage; calculating the temperature compensation coefficient based on a reference temperature and the current ambient temperature; wherein the temperature compensation coefficient is positively correlated with the reference temperature, and the temperature compensation coefficient is negatively correlated with the current ambient temperature.

[0008] In one embodiment, the control method of the automobile seat motor also includes: calculating the operating condition compensation coefficient of the seat motor; wherein the operating condition compensation coefficient is determined based on the operating condition information; the calculation of the output duty cycle based on the predicted speed, the current speed, the current duty cycle, the voltage compensation coefficient and the temperature compensation coefficient includes: calculating the output duty cycle based on the predicted speed, the current speed, the current duty cycle, the voltage compensation coefficient, the temperature compensation coefficient and the operating condition compensation coefficient.

[0009] In one embodiment, the calculation of the predicted speed of the seat motor based on the speed deviation of the seat motor includes: using a proportional-integral-differential formula to calculate the proportional value, integral value and differential value of the speed deviation; and calculating the predicted speed based on the proportional value, integral value and differential value of the speed deviation.

[0010] In one embodiment, the proportional value, integral value and differential value of the speed deviation are calculated using the proportional-integral-differential formula, including: if the integral value of the speed deviation is greater than a preset integral threshold, the integral threshold is used as the integral value of the speed deviation.

[0011] In one embodiment, the proportional value, integral value and differential value of the speed deviation calculated using the proportional-integral-differential formula include: using the most recent N speed deviation integrals to obtain the integral value of the speed deviation; wherein N is an integer greater than 1.

[0012] According to another aspect of the present application, a control device for a car seat motor is provided, comprising: a predicted speed calculation module, used to calculate the predicted speed of the seat motor based on the speed deviation of the seat motor; wherein the speed deviation represents the difference between the actual speed of the seat motor and the target speed, and the predicted speed represents the predicted output speed of the seat motor; a duty cycle calculation module, used to calculate the output duty cycle of the seat motor based on the predicted speed; and a motor operation control module, used to control the operation of the seat motor based on the output duty cycle.

[0013] According to another aspect of the present application, a computer-readable storage medium is provided, wherein the storage medium stores a computer program, and the computer program is used to execute any of the above methods.

[0014] The present application provides a control method, device and medium for a car seat motor, which calculates a predicted speed of the seat motor based on the speed deviation of the seat motor; wherein the speed deviation represents the difference between the actual speed of the seat motor and the target speed, and the predicted speed represents the predicted output speed of the seat motor; based on the predicted speed, the output duty cycle of the seat motor is calculated; based on the output duty cycle, the operation of the seat motor is controlled; that is, the predicted speed is calculated based on the speed deviation between the actual speed of the seat motor and the target speed, and the output duty cycle of the seat motor is calculated based on the predicted speed, so as to dynamically adjust the output power of the seat motor to approach the target speed, thereby improving the adjustment accuracy of the seat motor, improving the adjustment speed while ensuring the adjustment stability, and improving the comfort of the passengers. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] By describing the embodiments of the present application in more detail in conjunction with the accompanying drawings, the above and other purposes, features and advantages of the present application will become more apparent. The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0016] Figure 1 It is a flowchart of a method for controlling a car seat motor provided by an exemplary embodiment of the present application.

[0017] Figure 2 It is a logic diagram of a control method for a car seat motor provided by an exemplary embodiment of the present application.

[0018] Figure 3 It is a schematic diagram of the structure of a control device for a car seat motor provided by an exemplary embodiment of the present application.

[0019] Figure 4 It is a structural diagram of an electronic device provided by an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0020] Below, the exemplary embodiments according to the present application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application, and it should be understood that the present application is not limited to the exemplary embodiments described here.

[0021] Figure 1 FIG. 1 is a flow chart of a control method for a vehicle seat motor provided by an exemplary embodiment of the present application. Figure 1 As shown, the control method of the automobile seat motor includes the following steps: Step 110: Calculate the predicted rotation speed of the seat motor based on the rotation speed deviation of the seat motor.

[0022] The speed deviation indicates the difference between the actual speed and the target speed of the seat motor, and the predicted speed indicates the predicted output speed of the seat motor. The present application monitors the actual speed of the seat motor in real time, and calculates the speed deviation of the seat motor in combination with the actual speed and the target speed, that is, the difference between the actual speed and the target speed is obtained, and the predicted speed of the seat motor is calculated based on the difference, that is, negative feedback control of the seat motor is achieved, and closed-loop regulation is achieved to adjust the speed of the seat motor to be near the target speed, thereby improving the driving effect of the seat motor and the adjustment effect of the electric seat.

[0023] Step 120: Calculate the output duty cycle of the seat motor based on the predicted rotation speed.

[0024] After calculating the predicted speed, the present application further calculates the output duty cycle of the seat motor based on the predicted speed, that is, calculates the PWM duty cycle of the control signal (square wave, etc.) of the seat motor to improve the adjustment accuracy of the seat motor, thereby adjusting the speed of the seat motor to approach the target speed.

[0025] Step 130: Control the operation of the seat motor based on the output duty cycle.

[0026] After determining the output duty cycle, the present application outputs a control signal of the seat motor based on the output duty cycle to drive the operation of the seat motor, thereby realizing the driving of the electric seat.

[0027] The present application provides a control method for a car seat motor, which calculates a predicted speed of the seat motor based on the speed deviation of the seat motor; wherein the speed deviation represents the difference between the actual speed of the seat motor and the target speed, and the predicted speed represents the predicted output speed of the seat motor; based on the predicted speed, the output duty cycle of the seat motor is calculated; based on the output duty cycle, the operation of the seat motor is controlled; that is, the predicted speed is calculated according to the speed deviation between the actual speed of the seat motor and the target speed, and the output duty cycle of the seat motor is calculated according to the predicted speed, so as to dynamically adjust the output power of the seat motor to approach the target speed, thereby improving the adjustment accuracy of the seat motor, improving the adjustment speed on the basis of ensuring the adjustment stability, and improving the comfort of the passengers at the same time.

[0028] In one embodiment, the specific implementation method of the above step 120 can be: calculating the output duty cycle based on the predicted speed, the current speed and the current duty cycle; wherein the output duty cycle is positively correlated with the current duty cycle and the predicted speed, and the output duty cycle is negatively correlated with the current speed.

[0029] After calculating the predicted speed, the present application combines the predicted speed, the current speed (actual speed currently monitored) and the current duty cycle to comprehensively calculate the output duty cycle of the seat motor. In addition, the output duty cycle is positively correlated with the current duty cycle and the predicted speed, and negatively correlated with the current speed, wherein the larger the current duty cycle, the larger the output duty cycle, that is, the reduced gradient of the output duty cycle, thereby reducing the vibration of the seat motor to improve the stability of the adjustment; the larger the predicted speed, the larger the output duty cycle, that is, the larger the deviation between the actual speed and the target speed, the larger the output duty cycle, so as to quickly adjust the speed of the seat motor to the target speed and improve the efficiency of the seat motor speed adjustment; the larger the current speed, the smaller the output duty cycle, that is, when the current speed is too large, the output duty cycle is reduced to control the speed of the seat motor to avoid the speed of the seat motor from being out of control, so as to improve the safety of the seat motor adjustment.

[0030] In one embodiment, before calculating the output duty cycle, the control method of the above-mentioned automobile seat motor may further include: calculating the voltage compensation coefficient and the temperature compensation coefficient of the seat motor; wherein the voltage compensation coefficient is determined based on the battery voltage, and the temperature compensation coefficient is determined based on the ambient temperature; correspondingly, the specific implementation method of the above-mentioned step 120 may be: calculating the output duty cycle based on the predicted speed, the current speed, the current duty cycle, the voltage compensation coefficient and the temperature compensation coefficient; wherein the output duty cycle is positively correlated with the voltage compensation coefficient and the temperature compensation coefficient.

[0031] This application further considers the impact of the battery voltage and ambient temperature on the seat motor adjustment. Before calculating the output duty cycle, the voltage compensation coefficient and temperature compensation coefficient of the seat motor are calculated first, and the output duty cycle of the seat motor is calculated comprehensively in combination with the predicted speed, current speed and current duty cycle. Among them, the output duty cycle is positively correlated with the voltage compensation coefficient and the temperature compensation coefficient, that is, the larger the voltage compensation coefficient and the temperature compensation coefficient, the larger the output duty cycle. Specifically, this application can use the following formula to calculate the output duty cycle of the seat motor: D_out=D_now×(Vp / Vn)×Cv×Ct; Wherein, D_out is the output duty cycle, D_now is the current duty cycle, Vp is the predicted speed, Vn is the current speed, Cv is the voltage compensation coefficient, and Ct is the temperature compensation coefficient.

[0032] In one embodiment, the specific implementation method of the above step 120 can be: based on the calibrated voltage and current voltage of the battery, a voltage compensation coefficient is calculated; wherein the voltage compensation coefficient is positively correlated with the calibrated voltage, and the voltage compensation coefficient is negatively correlated with the current voltage; based on the reference temperature and the current ambient temperature, a temperature compensation coefficient is calculated; wherein the temperature compensation coefficient is positively correlated with the reference temperature, and the temperature compensation coefficient is negatively correlated with the current ambient temperature.

[0033] The present application calculates the voltage compensation coefficient based on the current voltage of the battery and the calibrated voltage (for example, the rated voltage of the battery). The present application can calculate the voltage compensation coefficient using the following formula: Cv=Volt_ms / Volt_mn; Among them, Volt_ms is the calibrated voltage of the battery, and Volt_mn is the current voltage of the battery. This application uses the calibrated voltage of the battery as a reference to calculate the ratio of the calibrated voltage to the current voltage to determine the voltage compensation coefficient, that is, the smaller the current voltage, the larger the voltage compensation coefficient, and the corresponding output duty cycle is also larger, so that the seat motor speed drop caused by the low voltage can be compensated by increasing the duty cycle.

[0034] The application calculates the temperature compensation coefficient based on the reference temperature (such as the set temperature value) and the current ambient temperature. The application can use the following formula to calculate the temperature compensation coefficient: Ct=Temp_ms / Temp_mn; Among them, Temp_ms is the reference temperature, and Temp_mn is the current ambient temperature. This application uses the reference temperature value as a reference, calculates the ratio of the reference temperature to the current ambient temperature to determine the temperature compensation coefficient, that is, the lower the current ambient temperature, the greater the temperature compensation coefficient, and the corresponding output duty cycle is also greater, so that the seat motor speed drop caused by the low ambient temperature can be compensated by increasing the duty cycle.

[0035] In one embodiment, the control method of the above-mentioned automobile seat motor may further include: calculating the operating condition compensation coefficient of the seat motor; wherein the operating condition compensation coefficient is determined based on the operating condition information; correspondingly, the specific implementation method of the above-mentioned step 120 may be: calculating the output duty cycle based on the predicted speed, current speed, current duty cycle, voltage compensation coefficient, temperature compensation coefficient and operating condition compensation coefficient.

[0036] The present application can further consider the impact of the working condition information on the seat motor adjustment. Before calculating the output duty cycle, the working condition information is calculated first, and the output duty cycle of the seat motor is comprehensively calculated by combining the predicted speed, current speed, current duty cycle, voltage compensation coefficient and temperature compensation coefficient. Among them, the working condition compensation coefficient can be the slope of the vehicle's driving road, the humidity, altitude, magnetic field strength, etc. in the vehicle's environment. Specifically, the present application can use the following formula to calculate the output duty cycle of the seat motor: D_out=D_now×(Vp / Vn)×Cv×Ct×C0; Among them, C0 is the working condition compensation coefficient.

[0037] In one embodiment, the specific implementation method of the above step 110 can be: using the proportional-integral-differential formula to calculate the proportional value, integral value and differential value of the speed deviation; based on the proportional value, integral value and differential value of the speed deviation, calculate the predicted speed.

[0038] The present application uses the PID formula to calculate the proportional value, integral value and differential value of the speed deviation, wherein the speed deviation is multiplied by a proportional coefficient to obtain the proportional value, and the proportional value can quickly respond to the speed deviation; the speed deviation is accumulated and integrated and then multiplied by an integral coefficient to obtain the integral value, and the integral value can eliminate the steady-state error; the rate of change of the speed deviation is multiplied by a differential coefficient to obtain the differential value, and the differential value can predict the changing trend of the deviation, compensate in advance, and improve the response speed and stability of the system. After calculating the proportional value, integral value and differential value of the speed deviation, the predicted speed is obtained by comprehensive calculation based on the proportional value, integral value and differential value. Specifically, the present application can use the following formula to calculate the predicted speed: Vp=Kp×Ve+Ki×∫Vedt+Kd×dVe / dt; Among them, Kp, Ki and Kd are proportional coefficient, integral coefficient and differential coefficient respectively, Ve is the speed deviation, Ve=Vd-Vn, and Vd is the target speed.

[0039] For the proportional coefficient Kp: the larger the Kp, the faster the response speed, but it is easy to cause overshoot oscillation, and the smaller the Kp, the slower the response speed, but it is relatively stable. Therefore, this application sets the value range of Kp to 0.2~0.5.

[0040] For the integral coefficient Ki: the larger the Ki is, the faster the error converges, but it is easy to cause oscillation; the smaller the Ki is, the slower the error converges, and it can approach the steady state faster but the error is difficult to converge. Therefore, this application sets the value range of Ki to 0.02~0.2.

[0041] For the differential coefficient Kd: the larger the Kd is, the faster the predicted response is, but it is easy to cause oscillation, and the smaller the Kd is, the slower the predicted response is. Therefore, this application sets Kd to a smaller value, for example, the value range is 0.02~0.1.

[0042] In one embodiment, the specific implementation of step 110 may be: if the integral value of the rotational speed deviation is greater than a preset integral threshold, the integral threshold is used as the integral value of the rotational speed deviation.

[0043] Since the seat motor may have a large integral value due to long-term speed deviation integration during actual operation, in order to reduce the impact of cumulative errors, the present application sets an integral threshold. If the integral value of the speed deviation is less than or equal to the integral threshold, the predicted speed is calculated using the integral value actually calculated. If the integral value of the speed deviation is greater than the integral threshold, the predicted speed is calculated using the integral threshold as the integral value. In other words, if the integral value of the speed deviation ∫Ve(t)dt>Vir, let ∫Ve(t)dt=Vir; if ∫Ve(t)dt<-Vir, let ∫Ve(t)dt=-Vir, where Vir is the set integral threshold.

[0044] In one embodiment, the specific implementation of step 110 may be: using the most recent N rotation speed deviation integrations to obtain the integral value of the rotation speed deviation; wherein N is an integer greater than 1.

[0045] In order to reduce the impact of cumulative errors, this application uses the most recent N speed deviation integrals to calculate the integral value, so as to increase the calculation speed, enhance real-time performance, and reduce the interference of the preceding error, thereby improving the prediction accuracy. For example, N=3, that is, this application can take the most recent three speed deviation integrals to calculate the integral value of the speed deviation.

[0046] Figure 2 FIG. 1 is a logic diagram of a control method for a motor of a car seat provided by an exemplary embodiment of the present application. Figure 2As shown, the present application obtains the speed deviation between the actual speed and the target speed by collecting the actual speed at the output end of the seat motor and combining it with the target speed input at the input end. The speed deviation is calculated by the PID formula to obtain the predicted speed. The output duty cycle of the seat motor is calculated based on the predicted speed, and a corresponding control signal is generated based on the output duty cycle and sent to the actuator (controller of the seat motor) to control the seat motor to perform the corresponding action, thereby realizing the speed regulation of the seat motor.

[0047] Figure 3 FIG. 1 is a schematic diagram of a control device for a motor of a car seat provided by an exemplary embodiment of the present application. Figure 3 As shown, the control device 30 of the automobile seat motor includes: a predicted speed calculation module 31, used to calculate the predicted speed of the seat motor based on the speed deviation of the seat motor; wherein the speed deviation represents the difference between the actual speed of the seat motor and the target speed, and the predicted speed represents the predicted output speed of the seat motor; a duty cycle calculation module 32, used to calculate the output duty cycle of the seat motor based on the predicted speed; and a motor operation control module 33, used to control the operation of the seat motor based on the output duty cycle.

[0048] The present application provides a control device for a car seat motor, which calculates the predicted speed of the seat motor based on the speed deviation of the seat motor through a predicted speed calculation module 31; wherein the speed deviation represents the difference between the actual speed of the seat motor and the target speed, and the predicted speed represents the predicted output speed of the seat motor; the duty cycle calculation module 32 calculates the output duty cycle of the seat motor based on the predicted speed; the motor operation control module 33 controls the operation of the seat motor based on the output duty cycle; that is, the predicted speed is calculated according to the speed deviation between the actual speed of the seat motor and the target speed, and the output duty cycle of the seat motor is calculated according to the predicted speed, so as to dynamically adjust the output power of the seat motor to approach the target speed, thereby improving the adjustment accuracy of the seat motor, improving the adjustment speed on the basis of ensuring the adjustment stability, and improving the comfort of the passengers.

[0049] In one embodiment, the duty cycle calculation module 32 may be further configured to calculate the output duty cycle based on the predicted speed, the current speed and the current duty cycle; wherein the output duty cycle is positively correlated with the current duty cycle and the predicted speed, and the output duty cycle is negatively correlated with the current speed.

[0050] In one embodiment, the control device 30 of the above-mentioned car seat motor can be further configured to: calculate the voltage compensation coefficient and temperature compensation coefficient of the seat motor; wherein, the voltage compensation coefficient is determined based on the battery voltage, and the temperature compensation coefficient is determined based on the ambient temperature; correspondingly, the above-mentioned duty cycle calculation module 32 can be further configured to: calculate the output duty cycle based on the predicted speed, current speed, current duty cycle, voltage compensation coefficient and temperature compensation coefficient; wherein, the output duty cycle is positively correlated with the voltage compensation coefficient and the temperature compensation coefficient.

[0051] In one embodiment, the duty cycle calculation module 32 can be further configured as follows: based on the rated voltage and current voltage of the battery, a voltage compensation coefficient is calculated; wherein the voltage compensation coefficient is positively correlated with the rated voltage, and the voltage compensation coefficient is negatively correlated with the current voltage; based on the reference temperature and the current ambient temperature, a temperature compensation coefficient is calculated; wherein the temperature compensation coefficient is positively correlated with the reference temperature, and the temperature compensation coefficient is negatively correlated with the current ambient temperature.

[0052] In one embodiment, the control device 30 of the above-mentioned automobile seat motor can be further configured to: calculate the operating condition compensation coefficient of the seat motor; wherein the operating condition compensation coefficient is determined based on the operating condition information; correspondingly, the above-mentioned duty cycle calculation module 32 can be further configured to: calculate the output duty cycle based on the predicted speed, current speed, current duty cycle, voltage compensation coefficient, temperature compensation coefficient and operating condition compensation coefficient.

[0053] In one embodiment, the predicted speed calculation module 31 can be further configured as follows: using the proportional-integral-differential formula to calculate the proportional value, integral value and differential value of the speed deviation; and based on the proportional value, integral value and differential value of the speed deviation, calculating the predicted speed.

[0054] In one embodiment, the predicted speed calculation module 31 may be further configured to: if the integral value of the speed deviation is greater than a preset integral threshold, then use the integral threshold as the integral value of the speed deviation.

[0055] In one embodiment, the predicted speed calculation module 31 may be further configured to: obtain an integral value of the speed deviation by integrating the most recent N speed deviations; wherein N is an integer greater than 1.

[0056] Below, reference Figure 4 The electronic device according to the embodiment of the present application is described. The electronic device may be any one or both of the first device and the second device, or a stand-alone device independent of them, and the stand-alone device may communicate with the first device and the second device to receive the collected input signal from them.

[0057] Figure 4 A block diagram of an electronic device according to an embodiment of the present application is illustrated.

[0058] like Figure 4 As shown, the electronic device 10 includes one or more processors 11 and a memory 12 .

[0059] The processor 11 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 10 to perform desired functions.

[0060] The memory 12 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, a random access memory (RAM) and / or a cache memory (cache), etc. The non-volatile memory may include, for example, a read-only memory (ROM), a hard disk, a flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 11 may run the program instructions to implement the methods of the various embodiments of the present application described above and / or other desired functions. Various contents such as input signals, signal components, noise components, etc. may also be stored in the computer-readable storage medium.

[0061] In one example, the electronic device 10 may further include: an input device 13 and an output device 14 , and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0062] When the electronic device is a stand-alone device, the input device 13 may be a communication network connector, which is used to receive the collected input signals from the first device and the second device.

[0063] In addition, the input device 13 may also include, for example, a keyboard, a mouse, and the like.

[0064] The output device 14 can output various information to the outside, including the determined distance information, direction information, etc. The output device 14 can include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, and the like.

[0065] Of course, to simplify, Figure 4 Only some of the components related to the present application in the electronic device 10 are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, according to specific application situations, the electronic device 10 may also include any other appropriate components.

[0066] In addition to the above-mentioned methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the method according to various embodiments of the present application described in the above-mentioned "Exemplary Method" section of this specification.

[0067] The computer program product may be written in any combination of one or more programming languages ​​to write program codes for performing the operations of the embodiments of the present application, including object-oriented programming languages, such as Java, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0068] In addition, an embodiment of the present application may also be a computer-readable storage medium on which computer program instructions are stored. When the computer program instructions are executed by a processor, the processor executes the steps of the method according to various embodiments of the present application described in the above "Exemplary Method" section of this specification.

[0069] The computer readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0070] The basic principles of the present application are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present application. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, not for limitation, and the above details do not limit the present application to being implemented by adopting the above specific details.

[0071] The block diagrams of the devices, apparatuses, equipment, and systems involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagram. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open words, referring to "including but not limited to", and can be used interchangeably with them. The words "or" and "and" used here refer to the words "and / or" and can be used interchangeably with them, unless the context clearly indicates otherwise. The words "such as" used here refer to the phrase "such as but not limited to", and can be used interchangeably with them.

[0072] It should also be noted that in the apparatus, device and method of the present application, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0073] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0074] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A control method for a car seat motor, characterized in that: include: Calculating a predicted speed of the seat motor based on a speed deviation of the seat motor; wherein the speed deviation represents a difference between an actual speed of the seat motor and a target speed, and the predicted speed represents a predicted amount of an output speed of the seat motor; calculating an output duty cycle of the seat motor based on the predicted rotation speed; Based on the output duty cycle, operation of the seat motor is controlled.

2. The control method of the automobile seat motor according to claim 1, characterized in that: Calculating the output duty cycle of the seat motor based on the predicted speed includes: The output duty cycle is calculated based on the predicted speed, the current speed and the current duty cycle; wherein the output duty cycle is positively correlated with the current duty cycle and the predicted speed, and the output duty cycle is negatively correlated with the current speed.

3. The control method of the automobile seat motor according to claim 2, characterized in that: Before calculating the output duty cycle based on the predicted speed, the current speed and the current duty cycle, the control method of the automobile seat motor further includes: Calculating a voltage compensation coefficient and a temperature compensation coefficient of the seat motor; wherein the voltage compensation coefficient is determined based on the battery voltage, and the temperature compensation coefficient is determined based on the ambient temperature; The calculating the output duty cycle based on the predicted speed, the current speed and the current duty cycle includes: The output duty cycle is calculated based on the predicted speed, the current speed, the current duty cycle, the voltage compensation coefficient and the temperature compensation coefficient; wherein the output duty cycle is positively correlated with the voltage compensation coefficient and the temperature compensation coefficient.

4. The control method of the automobile seat motor according to claim 3, characterized in that: The calculating of the voltage compensation coefficient and the temperature compensation coefficient of the seat motor includes: Calculating the voltage compensation coefficient based on the rated voltage and current voltage of the battery; wherein the voltage compensation coefficient is positively correlated with the rated voltage, and the voltage compensation coefficient is negatively correlated with the current voltage; The temperature compensation coefficient is calculated based on the reference temperature and the current ambient temperature; wherein the temperature compensation coefficient is positively correlated with the reference temperature and negatively correlated with the current ambient temperature.

5. The control method of the automobile seat motor according to claim 3, characterized in that: The control method of the automobile seat motor also includes: Calculating a working condition compensation coefficient of the seat motor; wherein the working condition compensation coefficient is determined based on working condition information; The calculating the output duty cycle based on the predicted speed, the current speed, the current duty cycle, the voltage compensation coefficient and the temperature compensation coefficient comprises: The output duty cycle is calculated based on the predicted speed, the current speed, the current duty cycle, the voltage compensation coefficient, the temperature compensation coefficient and the operating condition compensation coefficient.

6. The control method of the automobile seat motor according to claim 1, characterized in that: The calculating the predicted speed of the seat motor based on the speed deviation of the seat motor includes: The proportional value, integral value and differential value of the speed deviation are calculated using a proportional-integral-differential formula; The predicted speed is calculated based on the proportional value, the integral value and the differential value of the speed deviation.

7. The control method of the automobile seat motor according to claim 6, characterized in that: The proportional value, integral value and differential value of the speed deviation calculated by the proportional-integral-differential formula include: If the integral value of the rotational speed deviation is greater than a preset integral threshold, the integral threshold is used as the integral value of the rotational speed deviation.

8. The control method of the automobile seat motor according to claim 6, characterized in that: The proportional value, integral value and differential value of the speed deviation calculated by the proportional-integral-differential formula include: The integral value of the speed deviation is obtained by integrating the most recent N speed deviations, wherein N is an integer greater than 1.

9. A control device for a motor of a car seat, characterized in that: include: A predicted speed calculation module, used to calculate the predicted speed of the seat motor based on the speed deviation of the seat motor; wherein the speed deviation represents the difference between the actual speed of the seat motor and the target speed, and the predicted speed represents the predicted output speed of the seat motor; a duty cycle calculation module, configured to calculate an output duty cycle of the seat motor based on the predicted rotation speed; The motor operation control module is used to control the operation of the seat motor based on the output duty cycle.

10. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and the computer program is used to execute the method according to any one of claims 1 to 8.

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