Vehicle body seat driving method and device, storage medium and electronic device

Abstract

The invention provides a vehicle body seat driving method and device, a storage medium and an electronic device.The method comprises the steps that a moving instruction for a vehicle body seat is detected; the moving instruction is responded, the set rotating speed of a first motor and the set rotating speed of a second motor in the current period are calculated according to the current position of the vehicle body seat, the first motor is used for driving the vehicle body seat to move along a first sliding rail, and the second motor is used for driving the vehicle body seat to move along a second sliding rail; and controlling the first motor and the second motor to synchronously drive the vehicle body seat by adopting the set rotating speed. According to the embodiment of the invention, the technical problem that the sliding rail component is locked due to asynchronous double motors in the related technology is solved, the user experience is optimized, and the running reliability of the double sliding rails is guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of motor technology, and in particular to a driving method and device for a vehicle body seat, a storage medium, and an electronic device. Background Art

[0002] In the related technologies, with the increasing intelligence of automobiles, users are experiencing the convenience brought by intelligence while also pursuing more improvements in the comfort of the car body. As a body part that comes into direct contact with the user, the body electric seat needs to be more sophisticated in terms of comfort and intelligence in order to significantly improve the user experience. The criteria for judging the comfort of the body electric seat are nothing more than noise, load-bearing capacity, adjustability, safety and other indicators. As an important component of the car electric seat, the dual slide rail is responsible for carrying the seat to move forward and backward, and it is more necessary to consider the parameters designed in the above comfort evaluation indicators. In order to reduce the noise caused by the movement of the dual slide rails and increase the service life of the dual slide rails, the brushless DC motor has become a cost-effective choice as the driving device for the dual slide rails of the electric seat.

[0003] The traditional brushless DC motor control strategy is implemented using a six-step commutation method. The six-step commutation method controls the output of three-phase different voltages by obtaining the combined value of the three-switch Hall sensors of the brushless DC motor (only two switches work at the same time, and only PWM (Pulse Width Modulation) is performed on the high side to establish the magnetic field direction of the next step of rotation, thereby pulling the permanent magnet of the brushless DC motor to the next position, thereby realizing the function of the brushless motor to rotate. However, since the magnetic field generated has only 6 directions, the direction is discontinuous when switching the magnetic field, the current changes suddenly during commutation, the torque pulsation is large, the iron loss is high, and the motor rotation jitter, speed stability, noise and other performance are all poor.

[0004] With respect to the above-mentioned problems existing in the related technologies, no efficient and accurate solutions have been found yet. Summary of the invention

[0005] The present invention provides a driving method and device for a vehicle body seat, a storage medium, and an electronic device to solve the technical problems in the related art.

[0006] According to one embodiment of the present invention, a method for driving a vehicle body seat is provided, comprising: detecting a movement instruction for the vehicle body seat; responding to the movement instruction, calculating a set rotational speed of a first motor and a second motor in a current cycle according to a current position of the vehicle body seat, wherein the first motor is used to drive the vehicle body seat to move along a first slide rail, and the second motor is used to drive the vehicle body seat to move along a second slide rail; and using the set rotational speed to control the first motor and the second motor to synchronously drive the vehicle body seat.

[0007] Optionally, using the set speed to control the first motor and the second motor to synchronously drive the body seat includes: obtaining the electrical angle difference between the first motor and the second motor in the current cycle; compensating the set speed based on the electrical angle difference to obtain the real-time speeds of the first motor and the second motor, so that the first motor and the second motor synchronously drive the body seat.

[0008] Optionally, obtaining the electrical angle difference between the first motor and the second motor in the current cycle includes: obtaining the first true speed of the first motor in the previous cycle, and obtaining the second true speed of the second motor in the previous cycle; using the first true speed and the historical accumulated electrical angle integral of the first motor to calculate the first cumulative electrical angle of the first motor in the current cycle, and using the second true speed and the historical accumulated electrical angle integral of the second motor to calculate the second cumulative electrical angle of the second motor in the current cycle; calculating the electrical angle difference between the first cumulative electrical angle and the second cumulative electrical angle.

[0009] Optionally, compensating the set speed based on the electrical angle difference to obtain the real-time speeds of the first motor and the second motor includes: multiplying the electrical angle difference by the first feedback coefficient of the first motor to obtain a first feedback value, and multiplying the electrical angle difference by the second feedback coefficient of the second motor to obtain a second feedback value; compensating the set speed based on the first feedback value and the second feedback value, respectively, to obtain the corresponding real-time speeds of the first motor and the second motor.

[0010] Optionally, after calculating the set speeds of the first motor and the second motor in the current cycle according to the current position of the vehicle body seat, the method further includes: monitoring the first motion parameter of the first motor, and monitoring the second motion parameter of the second motor; determining whether the first motor and the second motor fail according to the first motion parameter and the second motion parameter; if the first motor and / or the second motor fail, performing fault control on the first motor and / or the second motor.

[0011] Optionally, fault control of the first motor and / or the second motor includes: if the first motor and the second motor fail at the same time, controlling the first motor and the second motor to stop; if the first motor or the second motor fails, determining the faulty motor and the normal motor among the first motor and the second motor, obtaining a first position of the faulty motor, and controlling the normal motor to move to a second position synchronized with the first position.

[0012] Optionally, after calculating the set speeds of the first motor and the second motor in the current cycle according to the current position of the vehicle body seat, the method further includes: obtaining the first real-time position of the first motor, and obtaining the second real-time position of the second motor; determining whether the position error between the first real-time position and the second real-time position is within an error range; if the position error between the first real-time position and the second real-time position is not within the error range, performing redundant synchronous control on the first motor and the second motor to maintain the position error between the first motor and the second motor within the error range.

[0013] Optionally, redundant synchronous control of the first motor and the second motor includes: determining whether the position error is greater than the minimum allowable range of locking of the slide rail component; if the position error is greater than the minimum allowable range of locking of the slide rail component, controlling the leading motor of the first motor and the second motor to stop until the position error between the lagging motor and the leading motor is less than the error range; if the position error is less than the minimum allowable range of locking of the slide rail component, reducing the speed of the leading motor of the first motor and the second motor, and increasing the speed of the lagging motor at the same time.

[0014] Optionally, using the set speed to control the first motor and the second motor to synchronously drive the body seat includes: for the first motor, using a position estimator to obtain the actual speed of the first motor; judging whether there is a difference between the actual speed and the set speed; if there is a difference between the actual speed and the set speed, controlling the set current through proportional integral PI, wherein the set current includes a set direct-axis current and a set quadrature-axis current; calculating the current difference between the set current and the actual current; controlling the actual voltage of the first motor through PI based on the current difference, and controlling the first motor to drive the body seat based on the actual voltage, wherein the actual voltage is positively correlated with the current difference, and the The actual voltage includes an actual direct-axis voltage and an actual quadrature-axis voltage; for the second motor, a position estimator is used to obtain the actual speed of the second motor; it is determined whether there is a difference between the actual speed and the set speed; if there is a difference between the actual speed and the set speed, a set current is controlled through a proportional integral (PI) control, wherein the set current includes a set direct-axis current and a set quadrature-axis current; the current difference between the set current and the actual current is calculated; the actual voltage of the second motor is controlled through PI based on the current difference, and the second motor is controlled based on the actual voltage to drive the vehicle body seat, wherein the actual voltage is positively correlated with the current difference, and the actual voltage includes an actual direct-axis voltage and an actual quadrature-axis voltage.

[0015] Optionally, calculating the set speeds of the first motor and the second motor in the current cycle based on the current position of the vehicle body seat includes: obtaining a speed curve of the motor movement, wherein the speed curve is used to characterize the mapping relationship between the position of the vehicle body seat and the motor speed; and searching the speed curve for a set speed that matches the current position.

[0016] According to another embodiment of the present invention, a driving device for a vehicle body seat is provided, comprising: a detection module for detecting a movement instruction for the vehicle body seat; a calculation module for responding to the movement instruction and calculating a set rotational speed of a first motor and a second motor in a current cycle according to a current position of the vehicle body seat, wherein the first motor is used to drive the vehicle body seat to move along a first slide rail, and the second motor is used to drive the vehicle body seat to move along a second slide rail; and a first control module for controlling the first motor and the second motor to synchronously drive the vehicle body seat using the set rotational speed.

[0017] Optionally, the first control module includes: an acquisition unit, used to acquire the electrical angle difference between the first motor and the second motor in the current cycle; and a compensation unit, used to compensate the set speed based on the electrical angle difference to obtain the real-time speed of the first motor and the second motor, so that the first motor and the second motor can synchronously drive the body seat.

[0018] Optionally, the acquisition unit includes: an acquisition subunit, used to acquire a first true speed of the first motor in the previous cycle, and to acquire a second true speed of the second motor in the previous cycle; a first calculation subunit, used to use the first true speed and the historical accumulated electrical angle integral of the first motor to calculate the first cumulative electrical angle of the first motor in the current cycle, and to use the second true speed and the historical accumulated electrical angle integral of the second motor to calculate the second cumulative electrical angle of the second motor in the current cycle; a second calculation subunit, used to calculate the electrical angle difference between the first cumulative electrical angle and the second cumulative electrical angle.

[0019] Optionally, the compensation unit includes: an operation subunit, used to multiply the electrical angle difference by the first feedback coefficient of the first motor to obtain a first feedback value, and to multiply the electrical angle difference by the second feedback coefficient of the second motor to obtain a second feedback value; a compensation subunit, used to compensate the set speed based on the first feedback value and the second feedback value, respectively, to obtain the real-time speeds of the first motor and the second motor accordingly.

[0020] Optionally, the device also includes: a monitoring module, used to monitor the first motion parameter of the first motor and the second motion parameter of the second motor after the calculation module calculates the set speed of the first motor and the second motor in the current cycle according to the current position of the vehicle body seat; a first judgment module, used to judge whether the first motor and the second motor fail based on the first motion parameter and the second motion parameter; and a second control module, used to perform fault control on the first motor and / or the second motor if a fault occurs to the first motor and / or the second motor.

[0021] Optionally, the second control module includes: a first control unit, used to control the first motor and the second motor to stop if the first motor and the second motor fail at the same time; a second control unit, used to determine the faulty motor and the normal motor among the first motor and the second motor, obtain the first position of the faulty motor, and control the normal motor to move to a second position synchronized with the first position if the first motor or the second motor fails.

[0022] Optionally, the device also includes: an acquisition module, used to acquire the first real-time position of the first motor and the second real-time position of the second motor after the calculation module calculates the set speeds of the first motor and the second motor in the current cycle according to the current position of the vehicle body seat; a second judgment module, used to judge whether the position error between the first real-time position and the second real-time position is within an error range; and a third control module, used to perform redundant synchronous control of the first motor and the second motor if the position error between the first real-time position and the second real-time position is not within the error range, so as to maintain the position error between the first motor and the second motor within the error range.

[0023] Optionally, the third control module includes: a judgment unit, used to judge whether the position error is greater than the minimum allowable range for locking the slide rail component; a control unit, used to control the leading motor of the first motor and the second motor to stop if the position error is greater than the minimum allowable range for locking the slide rail component, until the position error between the lagging motor and the leading motor is less than the error range; if the position error is less than the minimum allowable range for locking the slide rail component, reduce the speed of the leading motor of the first motor and the second motor, and increase the speed of the lagging motor at the same time.

[0024] Optionally, the first control module includes: a first control unit, used to obtain the actual speed of the first motor using a position estimator for the first motor; determine whether there is a difference between the actual speed and the set speed; if there is a difference between the actual speed and the set speed, control the set current through proportional integral PI, wherein the set current includes a set direct-axis current and a set quadrature-axis current; calculate the current difference between the set current and the actual current; control the actual voltage of the first motor through PI based on the current difference, and control the first motor to drive the vehicle body seat based on the actual voltage, wherein the actual voltage is positively correlated with the current difference, and the actual voltage includes an actual direct-axis voltage and actual quadrature-axis voltage; a second control unit, for obtaining the actual speed of the second motor by using a position estimator for the second motor; determining whether there is a difference between the actual speed and the set speed; if there is a difference between the actual speed and the set speed, controlling a set current by proportional integral (PI), wherein the set current includes a set direct-axis current and a set quadrature-axis current; calculating a current difference between the set current and the actual current; controlling the actual voltage of the second motor by PI based on the current difference, and controlling the second motor to drive the vehicle body seat based on the actual voltage, wherein the actual voltage is positively correlated with the current difference, and the actual voltage includes an actual direct-axis voltage and an actual quadrature-axis voltage.

[0025] Optionally, the calculation module includes: an acquisition unit, used to acquire a speed curve of the motor movement, wherein the speed curve is used to characterize the mapping relationship between the position of the vehicle body seat and the motor speed; and a search unit, used to search the speed curve for a set speed that matches the current position.

[0026] According to another aspect of an embodiment of the present application, a storage medium is further provided, which includes a stored program, and the above steps are executed when the program is run.

[0027] According to another aspect of an embodiment of the present application, there is also provided an electronic device, including a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; wherein: the memory is used to store computer programs; and the processor is used to execute the steps in the above method by running the program stored in the memory.

[0028] The embodiment of the present application also provides a computer program product including instructions, which, when executed on a computer, enables the computer to execute the steps in the above method.

[0029] Beneficial effects of the present invention:

[0030] 1. Aiming at the special application scenarios of dual slide rails, a dual-motor synchronization algorithm based on the improved FOC basic algorithm is proposed, which reduces the error at both ends of the dual slide rails during operation, improves the smoothness of the operation process, optimizes the user experience, and ensures the reliability of the dual slide rail operation;

[0031] 2. The use of sensorless control mechanism can reduce the electrical angle error caused by the installation of three Hall sensors and Hall discontinuity in the traditional three-Hall solution, ensure the operation accuracy during the operation process, and eliminate the risk of system failure caused by aging or failure of the Hall sensor, ensuring the reliable operation of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0033] Figure 1 is a hardware structure block diagram of a controller according to an embodiment of the present invention;

[0034] Figure 2 is a flow chart of a driving method of a vehicle body seat according to an embodiment of the present invention;

[0035] Figure 3 It is a schematic diagram of the mechanical principle of the dual-motor driven dual-slide rails involved in the present invention;

[0036] Figure 4 Schematic diagram of the arrangement of the double slide rail solution in an embodiment of the present invention;

[0037] Figure 5 is a schematic diagram of the FOC algorithm in an embodiment of the present invention;

[0038] Figure 6 It is a schematic diagram of a dual-motor synchronization algorithm of the FOC algorithm layer in an embodiment of the present invention;

[0039] Figure 7 It is a flow chart of a sensorless body seat dual slide rail control strategy based on magnetic field oriented control according to an embodiment of the present invention;

[0040] Figure 8 This is a schematic diagram of the sensorless body seat dual slide rail control strategy based on magnetic field oriented control proposed by the present invention;

[0041] Fig. 9 4 is a structural block diagram of a driving device for a vehicle body seat according to an embodiment of the present invention. DETAILED DESCRIPTION

[0042] In order to enable those skilled in the art to better understand the present application, the technical solutions 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 only embodiments of a part of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work should fall within the scope of protection of the present application. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0043] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0044] Example 1

[0045] The method embodiment provided in the first embodiment of the present application can be executed in a car, a controller (such as a domain controller), a processor, a car computer or a similar processing device. Taking running on a controller as an example, Figure 1 is a hardware structure block diagram of a controller according to an embodiment of the present invention. Figure 1 As shown, the controller may include one or more ( Figure 1 Only one is shown in the figure) a processor 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data. Optionally, the controller may also include a transmission device 106 and an input / output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the above controller. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations shown.

[0046] The memory 104 can be used to store controller programs, for example, software programs and modules of application software, such as a controller program corresponding to a driving method of a vehicle body seat of a controller in an embodiment of the present invention. The processor 102 executes various functional applications and data processing by running the controller program stored in the memory 104, that is, to implement the above method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories may be connected to the controller via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, a vehicle intranet, a local area network, a mobile communication network, and combinations thereof.

[0047] The transmission device 106 is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the controller. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 can be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0048] In this embodiment, a method for driving a vehicle body seat is provided. Figure 2 is a flow chart of a driving method of a vehicle body seat according to an embodiment of the present invention, such as Figure 2 As shown, the process includes the following steps:

[0049] Step S202, detecting a movement instruction for a vehicle body seat;

[0050] Step S204, responding to the movement instruction, calculating the set speeds of the first motor and the second motor in the current cycle according to the current position of the vehicle body seat, wherein the first motor is used to drive the vehicle body seat to move along the first slide rail, and the second motor is used to drive the vehicle body seat to move along the second slide rail;

[0051] Figure 3 The figure is a schematic diagram of the mechanical principle of the dual motor driven dual slide rails involved in the present invention. Figure 4 Schematic diagram of the layout of the dual-slide solution in the embodiment of the present invention, including two motors, two slide rails, two speed reduction mechanisms, and a domain controller for driving the dual-slide motor. The domain controller (the domain controller shown includes a domain controller and its execution layer controller, and its layout can be referred to in the attached Figure 4) A sensorless control algorithm based on magnetic field orientation is adopted to drive the dual-slide motor. The reduction mechanism 1 and the reduction mechanism 2 are connected to the dual-slide motor 1 and the dual-slide motor 2 respectively to achieve speed reduction and torque increase, thereby meeting the required maximum torque of the dual-slide drive. The reduction mechanism 1 and the reduction mechanism 2 drive the slide rails 1 and the slide rail 2 to move. During the movement, the positions of the slide rails 1 and the slide rails 2 need to be synchronized, otherwise the seat mechanism connected to the dual slide rails will be locked, resulting in failure of the seat movement function or even deformation of the mechanism.

[0052] Step S206: Use the set speed to control the first motor and the second motor to synchronously drive the vehicle body seat.

[0053] Through the above steps, a movement instruction for the vehicle body seat is detected; in response to the movement instruction, the set speeds of the first motor and the second motor in the current cycle are calculated according to the current position of the vehicle body seat, wherein the first motor is used to drive the vehicle body seat to move along the first slide rail, and the second motor is used to drive the vehicle body seat to move along the second slide rail; the set speed is used to control the first motor and the second motor to synchronously drive the vehicle body seat, and the dual motor synchronization is used to reduce the error at both ends of the dual slide rails during operation, improve the smoothness of the operation process, solve the technical problem of the slide rail component locking caused by the dual motor asynchronism in the related technology, optimize the user experience, and ensure the reliability of the dual slide rail operation.

[0054] In this embodiment, the speed of the first motor and the second motor is controlled based on a FOC (Field-Oriented Control) algorithm, and the first motor and the second motor are controlled to synchronously drive the vehicle body seat by using the set speed, including:

[0055] For the first motor, a position estimator is used to obtain the actual speed of the first motor; whether there is a difference between the actual speed and the set speed; if there is a difference between the actual speed and the set speed, a set current is controlled by proportional integral (PI), wherein the set current includes a set direct-axis current and a set quadrature-axis current; a current difference between the set current and the actual current is calculated; an actual voltage of the first motor is controlled by PI based on the current difference, and the first motor is controlled to drive the vehicle body seat based on the actual voltage, wherein the actual voltage is positively correlated with the current difference, and the actual voltage includes an actual direct-axis voltage and an actual quadrature-axis voltage;

[0056] For the second motor, a position estimator is used to obtain the actual speed of the second motor; determine whether there is a difference between the actual speed and the set speed; if there is a difference between the actual speed and the set speed, a set current is controlled through proportional integral (PI), wherein the set current includes a set direct-axis current and a set quadrature-axis current; the current difference between the set current and the actual current is calculated; based on the current difference, the actual voltage of the second motor is controlled through PI, and based on the actual voltage, the second motor is controlled to drive the vehicle body seat, wherein the actual voltage is positively correlated with the current difference, and the actual voltage includes an actual direct-axis voltage and an actual quadrature-axis voltage.

[0057] Figure 5 is a schematic diagram of the FOC algorithm in the embodiment of the present invention. The function of the field oriented control is to make the control mode of the brushless DC motor equivalent to that of the DC brush motor, that is, to linearly control the change of the motor speed or output torque by controlling the voltage size, such as Figure 5 The inverter controls the three-phase voltage output to the brushless DC motor by using a PWM (Pulse Width Modulation) wave modulated by two-level space vector modulation (Space Vector Pulse Width Modulation, SVPWM), and SVPWM is a PWM waveform modulation method that obtains a circular rotating magnetic field by switching the inverter space voltage vector. Since the three-phase voltage and current control is not convenient for theoretical derivation and calculation, the inverse Clarke transform (Clark transform, converting the stationary two-phase coordinate system parameters into a three-phase coordinate system) is used to convert the three-phase voltage into the stationary coordinate system α-β axis (the α axis and the β axis correspond to the phase of the sinusoidal voltage or current), thereby realizing the control of the brushless DC motor in the form of two coordinate axes. The rotor has an angle deviation from the actual mechanical angle during rotation, which is called the electrical angle θ (the angle value estimated by the position estimation sensor in the actual sensorless control engineering). For the convenience of calculation, the inverse Park change is used in the engineering to convert the control voltage under the α-β axis of the stationary coordinate system to the U under the dq axis of the synchronous rotating coordinate system (the d axis is the direct axis, representing the excitation component, and the q axis is the quadrature axis, representing the torque component). d , U q , thus achieving true motion control of the brushless DC motor through voltage control on the dq axis. q ,I d (obtained by Kirchhoff’s current law, Clarke transformation, and Park transformation of the two-phase sampling current of the motor) is directly related to the FOC algorithm. In order to ensure that the torque of the brushless DC motor is proportional to I q ,I dThe FOC algorithm ultimately achieves speed control, i.e., speed loop control. In this embodiment, the speed calculated by the angle value obtained by the position observer (Position Estimator) is used as the real speed (in actual engineering, the real speed can be directly estimated by the position estimator). When there is a difference between the set speed ω^ and the real speed, the dq axis is set I through PI (proportional integral). q ^, I d ^Current size, and then set I by comparing the dq axis q ^, I d ^Current size and actual I q ,I d The difference between the current magnitudes is controlled by PI q , U d The voltage size is used to control the change of the motor speed. The position estimator algorithm mentioned in the present invention includes but is not limited to FOC electrical angle observation algorithms such as high frequency injection, low frequency injection, and sliding film observer. In summary, the FOC algorithm can achieve speed following, torque following and low noise (continuous control) of the motor within the allowable range of the motor.

[0058] In one implementation of the present embodiment, using the set speed to control the first motor and the second motor to synchronously drive the body seat includes: obtaining the electrical angle difference between the first motor and the second motor in the current cycle; compensating the set speed based on the electrical angle difference to obtain the real-time speeds of the first motor and the second motor, so that the first motor and the second motor synchronously drive the body seat.

[0059] In one example, obtaining the electrical angle difference between the first motor and the second motor in the current cycle includes: obtaining the first true speed of the first motor in the previous cycle, and obtaining the second true speed of the second motor in the previous cycle; using the first true speed and the historical accumulated electrical angle integral of the first motor to calculate the first cumulative electrical angle of the first motor in the current cycle, and using the second true speed and the historical accumulated electrical angle integral of the second motor to calculate the second cumulative electrical angle of the second motor in the current cycle; calculating the electrical angle difference between the first cumulative electrical angle and the second cumulative electrical angle.

[0060] In one example, compensating the set speed based on the electrical angle difference to obtain the real-time speeds of the first motor and the second motor includes: multiplying the electrical angle difference by a first feedback coefficient of the first motor to obtain a first feedback value, and multiplying the electrical angle difference by a second feedback coefficient of the second motor to obtain a second feedback value; compensating the set speed based on the first feedback value and the second feedback value, respectively, to obtain the real-time speeds of the first motor and the second motor accordingly.

[0061] In order to achieve the speed and position synchronization of the dual motors, this embodiment improves the FOC architecture. Figure 6 The schematic diagram of the FOC algorithm layer dual motor synchronization algorithm in the embodiment of the present invention is not only to control a single motor through a single speed loop, but also to use the electrical angle position difference of the dual motors for cross feedback compensation, so as to ensure that the dual motors are synchronized as much as possible in both position and speed dimensions. Figure 6 As shown, the complex drive algorithm logic layer updates the set speed ω^ that the dual slide rail needs to run as a whole in real time, and the FOC algorithm layer obtains the real speeds ω1 and ω2 corresponding to motor 1 and motor 2 in the previous cycle and the accumulated electrical angles θ1 and θ2 obtained by the integration (1 / s) process, and the current angle difference between the two motors is obtained by subtracting θ1 and θ2. The angle difference between the two motors is then multiplied by the feedback coefficients K1 and K2 set for different motors as the feedback value of the angle difference, which is synchronously substituted into the calculation of the speed loop, so that in the end, the motor driving force output by the motor with a longer path is smaller than the driving force output by the motor with a slower path, thereby adjusting the operating status of the dual slide rail motor function and ensuring the normal operation of the dual slide rail.

[0062] In an implementation scenario of the present embodiment, after calculating the set speeds of the first motor and the second motor in the current cycle according to the current position of the vehicle body seat, it also includes: monitoring the first motion parameter of the first motor, and monitoring the second motion parameter of the second motor; judging whether the first motor and the second motor fail according to the first motion parameter and the second motion parameter; if the first motor and / or the second motor fail, performing fault control on the first motor and / or the second motor.

[0063] Optionally, the first motion parameter may be the position and / or current of the first motor, and the second motion parameter may be the position and / or current of the second motor.

[0064] In one example, fault control of the first motor and / or the second motor includes: if the first motor and the second motor fail at the same time, controlling the first motor and the second motor to stop; if the first motor or the second motor fails, determining the faulty motor and the normal motor among the first motor and the second motor, obtaining a first position of the faulty motor, and controlling the normal motor to move to a second position synchronized with the first position.

[0065] Figure 7 This is a flow chart of the sensorless body seat dual slide control strategy based on magnetic field oriented control according to an embodiment of the present invention. When the program starts to execute, if the dual slide movement is required, the application layer sets the forward and backward commands, and the complex drive layer (complex algorithm logic control layer) sets the speed that the FOC algorithm layer should output according to the position calculated by the current position management, that is, the speed regulation function. The dual slide motor calculates the size of the parameters of the current position and current of each dual motor in real time during operation and compares them. If it is found that there is an abnormal current in the dual slide motor (sudden increase or sudden decrease) and the electrical angle curve also suddenly shakes or diverges, it is judged that the motor has failed. When both dual slide motors fail, the motors are immediately controlled to stop to prevent damage to the motors and mechanical components. A detection is performed at intervals to determine whether the faults are eliminated. If not, the drive output is shut down and the fault is reported at the same time. If only one motor fails, the non-faulty motor is synchronously adjusted to the same position of the faulty motor according to the position of the faulty motor, thereby preventing the slide rail from getting stuck. If the fault is eliminated, the dual motors are controlled to run at normal speed.

[0066] In an implementation scenario of the present embodiment, after calculating the set speeds of the first motor and the second motor in the current cycle according to the current position of the vehicle body seat, it also includes: obtaining the first real-time position of the first motor, and obtaining the second real-time position of the second motor; determining whether the position error between the first real-time position and the second real-time position is within an error range; if the position error between the first real-time position and the second real-time position is not within the error range, performing redundant synchronous control on the first motor and the second motor to maintain the position error between the first motor and the second motor within the error range.

[0067] In one example, redundant synchronous control of the first motor and the second motor includes: determining whether the position error is greater than the minimum allowable range of locking of the slide rail component; if the position error is greater than the minimum allowable range of locking of the slide rail component, controlling the leading motor of the first motor and the second motor to stop until the position error between the lagging motor and the leading motor is less than the error range; if the position error is less than the minimum allowable range of locking of the slide rail component, reducing the speed of the leading motor of the first motor and the second motor, and increasing the speed of the lagging motor.

[0068] like Figure 7 As shown, during operation, if the position error between the dual-slide motors exceeds the set range, that is, the dual-motor position synchronization strategy of the FOC algorithm layer fails, then the redundant dual-motor position synchronization strategy of the complex drive layer needs to be started, and the speeds of the two motors need to be controlled separately to ensure that the error between the slide motions will not cause the seat to tilt and the components to lock. If the dual-motor position error exceeds the maximum range that can be controlled by the FOC algorithm dual-motor position synchronization strategy, and is less than 95% of the minimum range of the dual-slide component locking (the minimum allowable range of the slide component locking), the dual-motor speed is adjusted to slow down the speed of the leading motor and speed up the speed of the lagging motor, so that the dual-motor position error re-enters the controllable range of the FOC algorithm position synchronization layer. If the dual-slide motor position error is greater than 95% of the minimum range of the dual-slide component locking, the algorithm immediately stops the movement of one of the motors (the leading motor in the same direction) and waits for the other motor to re-enter the controllable area. If the position error is too large during movement, causing the mechanism to lock, the two motors will be controlled to stop and the fault will be reported. If the application layer sends a stop command, the program will be stopped and the corresponding peripheral output will be turned off to reduce resource waste.

[0069] In this embodiment, calculating the set speeds of the first motor and the second motor in the current cycle according to the current position of the vehicle body seat includes: obtaining a speed curve of the motor movement, wherein the speed curve is used to characterize the mapping relationship between the position of the vehicle body seat and the motor speed; and searching the speed curve for a set speed that matches the current position.

[0070] In one example, the user inputs the memory adjustment function of the vehicle seat, adjusts the vehicle seat from the current position to the pre-memorized target position, and generates a speed curve from the current position to the target position. In another example, the user manually adjusts the vehicle seat (such as by using the seat adjustment button), the target position is unknown, and the total length of the slide rail is used as the path length to generate a speed curve from the start point of the slide rail to the end point of the slide rail.

[0071] This embodiment proposes a control strategy for sensorless body seat dual slides based on magnetic field oriented control, which can not only improve the user's comfort experience, but also reduce the cost increase caused by sensors and avoid potential dangers caused by sensor failure. Control strategy for sensorless body seat dual slides based on magnetic field oriented control. The system includes a hardware layer, a hardware driver layer, a FOC algorithm layer, a complex algorithm logic control layer, and an application logic layer. The dual slide motor in the hardware layer is a motor connected to different slides, and the rated torque of the dual slide motor should meet the maximum torque of the dual slide drive. The hardware driver layer needs to have the ability to sample current and output voltage PWM modulation, so as to realize the functions of real-time sampling of three-phase current and voltage output according to different duty cycles; the FOC algorithm layer needs to have the ability to extract the electrical angle by sampling the three-phase current and report it to the complex algorithm control layer, while ensuring that the motor speed and current can follow normally when the complex algorithm logic control layer sends the speed instruction; the complex algorithm logic control layer mainly realizes the ability of the application layer to send commands to drive to a fixed percentage position, and realizes functions such as speed regulation, anti-pinch, stall protection, self-learning, position management, and redundant dual-motor synchronization; the application layer realizes the function of driving the dual-slide motor to rotate to a fixed position through function definition or user setting.

[0072] Figure 8 This is the architecture diagram of the sensorless body seat dual slide rail control strategy based on magnetic field oriented control proposed in the present invention. The architecture involved is divided into 5 levels, namely application layer, complex algorithm logic control layer, FOC algorithm layer, hardware driver layer and hardware layer. The functions implemented by the application layer are position control and speed control, and the final position to be reached and the speed curve of the motor movement can be set according to functional requirements. The complex algorithm logic control layer includes self-learning, speed regulation, redundant dual motor synchronization, stall protection, overcurrent protection, missing item protection, anti-pinch protection, position management and other functions, which are mainly realized by the electrical angle and current reported by the FOC algorithm layer and the speed setting drive interface provided by the FOC algorithm layer. The function of the FOC algorithm layer is to implement the FOC algorithm, and its main functions are coordinate transformation, electrical angle estimation, current loop control, and speed loop control. As the lowest layer in the software architecture, the hardware driver layer mainly functions as the voltage output of the motor docking pin and the sampling of the current. The hardware layer is attached Figure 3The mechanical principle described above is used. In summary, the process of the sensorless body control strategy based on field-oriented control is that the application layer outputs the motor drive demand, and the complex algorithm logic control layer decouples the demand set by the application layer and judges the control state of the motor to timely implement the drive, synchronization and protection strategies. The FOC layer quickly responds to the control according to the parameters transmitted by the complex algorithm logic layer, requests the three-phase voltage change corresponding to the motor output, and uploads the calculated electrical angle to the complex algorithm logic control layer. The hardware control layer implements the sampling of the two-phase current of the motor and outputs the actual voltage to the three-phase interface of the motor according to the demand parameters transmitted by the FOC layer. The motor in the hardware layer rotates due to the output of the hardware drive layer, and passes through the deceleration mechanism to realize the forward and backward movement of the slide rail.

[0073] This embodiment provides a practical solution for the sensorless control of the dual slide rails of the vehicle body seat, and proposes a dual-motor synchronization algorithm based on the improved FOC basic algorithm for the special application scenarios of the dual slide rails, which reduces the error at both ends of the dual slide rails during operation, improves the smoothness during operation, optimizes the user experience, and ensures the reliability of the dual slide rail operation. At the same time, the present invention uses sensorless control (such as nonlinear flux observer to observe the electrical angle) to reduce the electrical angle error caused by the installation of three Halls, Hall discontinuity, etc. in the traditional three-Hall solution, ensure the operation accuracy during operation, and eliminate the risk of system failure caused by aging or failure of the Hall sensor, ensuring the reliable operation of the system.

[0074] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0075] Example 2

[0076] In this embodiment, a driving device for a vehicle body seat is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0077] Fig. 9is a structural block diagram of a driving device for a vehicle body seat according to an embodiment of the present invention, such as Fig. 9 As shown, the device comprises:

[0078] A detection module 90, used for detecting a movement instruction for a vehicle body seat;

[0079] a calculation module 92, for responding to the movement instruction, and calculating the set rotation speeds of the first motor and the second motor in the current cycle according to the current position of the vehicle body seat, wherein the first motor is used to drive the vehicle body seat to move along the first slide rail, and the second motor is used to drive the vehicle body seat to move along the second slide rail;

[0080] The first control module 94 is used to control the first motor and the second motor to synchronously drive the vehicle body seat by using the set speed.

[0081] Optionally, the first control module includes: an acquisition unit, used to acquire the electrical angle difference between the first motor and the second motor in the current cycle; and a compensation unit, used to compensate the set speed based on the electrical angle difference to obtain the real-time speed of the first motor and the second motor, so that the first motor and the second motor can synchronously drive the body seat.

[0082] Optionally, the acquisition unit includes: an acquisition subunit, used to acquire a first true speed of the first motor in the previous cycle, and to acquire a second true speed of the second motor in the previous cycle; a first calculation subunit, used to use the first true speed and the historical accumulated electrical angle integral of the first motor to calculate the first cumulative electrical angle of the first motor in the current cycle, and to use the second true speed and the historical accumulated electrical angle integral of the second motor to calculate the second cumulative electrical angle of the second motor in the current cycle; a second calculation subunit, used to calculate the electrical angle difference between the first cumulative electrical angle and the second cumulative electrical angle.

[0083] Optionally, the compensation unit includes: an operation subunit, used to multiply the electrical angle difference by the first feedback coefficient of the first motor to obtain a first feedback value, and to multiply the electrical angle difference by the second feedback coefficient of the second motor to obtain a second feedback value; a compensation subunit, used to compensate the set speed based on the first feedback value and the second feedback value, respectively, to obtain the real-time speeds of the first motor and the second motor accordingly.

[0084] Optionally, the device also includes: a monitoring module, used to monitor the first motion parameter of the first motor and the second motion parameter of the second motor after the calculation module calculates the set speed of the first motor and the second motor in the current cycle according to the current position of the vehicle body seat; a first judgment module, used to judge whether the first motor and the second motor fail based on the first motion parameter and the second motion parameter; and a second control module, used to perform fault control on the first motor and / or the second motor if a fault occurs to the first motor and / or the second motor.

[0085] Optionally, the second control module includes: a first control unit, used to control the first motor and the second motor to stop if the first motor and the second motor fail at the same time; a second control unit, used to determine the faulty motor and the normal motor among the first motor and the second motor, obtain the first position of the faulty motor, and control the normal motor to move to a second position synchronized with the first position if the first motor or the second motor fails.

[0086] Optionally, the device also includes: an acquisition module, used to acquire the first real-time position of the first motor and the second real-time position of the second motor after the calculation module calculates the set speeds of the first motor and the second motor in the current cycle according to the current position of the vehicle body seat; a second judgment module, used to judge whether the position error between the first real-time position and the second real-time position is within an error range; and a third control module, used to perform redundant synchronous control of the first motor and the second motor if the position error between the first real-time position and the second real-time position is not within the error range, so as to maintain the position error between the first motor and the second motor within the error range.

[0087] Optionally, the third control module includes: a judgment unit, used to judge whether the position error is greater than the minimum allowable range for locking the slide rail component; a control unit, used to control the leading motor of the first motor and the second motor to stop if the position error is greater than the minimum allowable range for locking the slide rail component, until the position error between the lagging motor and the leading motor is less than the error range; if the position error is less than the minimum allowable range for locking the slide rail component, reduce the speed of the leading motor of the first motor and the second motor, and increase the speed of the lagging motor at the same time.

[0088] Optionally, the first control module includes: a first control unit, used to obtain the actual speed of the first motor using a position estimator for the first motor; determine whether there is a difference between the actual speed and the set speed; if there is a difference between the actual speed and the set speed, control the set current through proportional integral PI, wherein the set current includes a set direct-axis current and a set quadrature-axis current; calculate the current difference between the set current and the actual current; control the actual voltage of the first motor through PI based on the current difference, and control the first motor to drive the vehicle body seat based on the actual voltage, wherein the actual voltage is positively correlated with the current difference, and the actual voltage includes an actual direct-axis voltage and actual quadrature-axis voltage; a second control unit, for obtaining the actual speed of the second motor by using a position estimator for the second motor; determining whether there is a difference between the actual speed and the set speed; if there is a difference between the actual speed and the set speed, controlling a set current by proportional integral (PI), wherein the set current includes a set direct-axis current and a set quadrature-axis current; calculating a current difference between the set current and the actual current; controlling the actual voltage of the second motor by PI based on the current difference, and controlling the second motor to drive the vehicle body seat based on the actual voltage, wherein the actual voltage is positively correlated with the current difference, and the actual voltage includes an actual direct-axis voltage and an actual quadrature-axis voltage.

[0089] Optionally, the calculation module includes: an acquisition unit, used to acquire a speed curve of the motor movement, wherein the speed curve is used to characterize the mapping relationship between the position of the vehicle body seat and the motor speed; and a search unit, used to search the speed curve for a set speed that matches the current position.

[0090] It should be noted that the above modules can be implemented by software or hardware. For the latter, it can be implemented in the following ways, but not limited to: the above modules are all located in the same processor; or the above modules are located in different processors in any combination.

[0091] Example 3

[0092] An embodiment of the present invention further provides a storage medium, in which a computer program is stored, wherein the computer program is configured to execute the steps of any of the above method embodiments when running.

[0093] Optionally, in this embodiment, the storage medium may be configured to store a computer program for performing the following steps:

[0094] S1, detecting a movement instruction for a vehicle body seat;

[0095] S2, in response to the movement instruction, calculating the set speeds of the first motor and the second motor in the current cycle according to the current position of the vehicle body seat, wherein the first motor is used to drive the vehicle body seat to move along the first slide rail, and the second motor is used to drive the vehicle body seat to move along the second slide rail;

[0096] S3, using the set speed to control the first motor and the second motor to synchronously drive the vehicle body seat.

[0097] Optionally, in this embodiment, the above-mentioned storage medium may include but is not limited to: a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and other media that can store computer programs.

[0098] An embodiment of the present invention further provides an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0099] Optionally, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0100] Optionally, in this embodiment, the processor may be configured to perform the following steps through a computer program:

[0101] S1, detecting a movement instruction for a vehicle body seat;

[0102] S2, in response to the movement instruction, calculating the set speeds of the first motor and the second motor in the current cycle according to the current position of the vehicle body seat, wherein the first motor is used to drive the vehicle body seat to move along the first slide rail, and the second motor is used to drive the vehicle body seat to move along the second slide rail;

[0103] S3, using the set speed to control the first motor and the second motor to synchronously drive the vehicle body seat.

[0104] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation modes, and this embodiment will not be described in detail here.

[0105] 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.

[0106] 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 is essentially or the part that contributes to the relevant technology can be embodied in the form of a software product, and the computer software product 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 embodiments.

[0107] 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.

[0108] 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. A method for driving a vehicle body seat, characterized in that: include: Detect movement instructions for vehicle body seats; In response to the movement instruction, the set rotation speeds of the first motor and the second motor in the current cycle are calculated according to the current position of the vehicle body seat, wherein the first motor is used to drive the vehicle body seat to move along the first slide rail, and the second motor is used to drive the vehicle body seat to move along the second slide rail; The set speed is used to control the first motor and the second motor to synchronously drive the vehicle body seat.

2. The method according to claim 1, characterized in that Using the set speed to control the first motor and the second motor to synchronously drive the vehicle body seat includes: Obtaining an electrical angle difference between the first motor and the second motor in a current cycle; The set rotation speed is compensated based on the electrical angle difference to obtain the real-time rotation speeds of the first motor and the second motor, so that the first motor and the second motor synchronously drive the vehicle body seat.

3. The method according to claim 2, characterized in that Obtaining the electrical angle difference between the first motor and the second motor in the current cycle includes: Acquire a first real rotation speed of the first motor in the previous cycle, and acquire a second real rotation speed of the second motor in the previous cycle; Calculate a first cumulative electrical angle of the first motor in a current cycle by using the first real speed and the historical cumulative electrical angle integral of the first motor, and calculate a second cumulative electrical angle of the second motor in the current cycle by using the second real speed and the historical cumulative electrical angle integral of the second motor; An electrical angle difference between the first accumulated electrical angle and the second accumulated electrical angle is calculated.

4. The method according to claim 2, characterized in that: Compensating the set speed based on the electrical angle difference to obtain the real-time speeds of the first motor and the second motor includes: A first feedback value is obtained by multiplying the electrical angle difference by a first feedback coefficient of the first motor, and a second feedback value is obtained by multiplying the electrical angle difference by a second feedback coefficient of the second motor; The set rotation speed is compensated based on the first feedback value and the second feedback value respectively, and the real-time rotation speed of the first motor and the second motor is obtained accordingly.

5. The method according to claim 1, characterized in that After calculating the set rotation speeds of the first motor and the second motor in the current cycle according to the current position of the vehicle body seat, the method further includes: monitoring a first motion parameter of the first motor, and monitoring a second motion parameter of the second motor; determining whether the first motor and the second motor fail according to the first motion parameter and the second motion parameter; If the first motor and / or the second motor fails, fault control is performed on the first motor and / or the second motor.

6. The method according to claim 5, characterized in that Performing fault control on the first motor and / or the second motor includes: If the first motor and the second motor fail at the same time, control the first motor and the second motor to stop rotating; If the first motor or the second motor fails, the faulty motor and the normal motor of the first motor and the second motor are determined, a first position of the faulty motor is acquired, and the normal motor is controlled to move to a second position synchronized with the first position.

7. The method according to claim 1, characterized in that After calculating the set rotation speeds of the first motor and the second motor in the current cycle according to the current position of the vehicle body seat, the method further includes: Acquire a first real-time position of the first motor, and acquire a second real-time position of the second motor; Determining whether a position error between the first real-time position and the second real-time position is within an error range; If the position error between the first real-time position and the second real-time position is not within an error range, redundant synchronous control is performed on the first motor and the second motor to maintain the position error between the first motor and the second motor within the error range.

8. The method according to claim 7, characterized in that The redundant synchronous control of the first motor and the second motor includes: Determining whether the position error is greater than a minimum allowable range for locking of the slide rail member; If the position error is greater than the minimum allowable range of locking of the slide rail component, the leading motor among the first motor and the second motor is controlled to stop until the position error between the lagging motor and the leading motor is less than the error range; if the position error is less than the minimum allowable range of locking of the slide rail component, the speed of the leading motor among the first motor and the second motor is reduced, and the speed of the lagging motor is increased at the same time.

9. The method according to claim 1, characterized in that: Using the set speed to control the first motor and the second motor to synchronously drive the vehicle body seat includes: For the first motor, a position estimator is used to obtain the actual speed of the first motor; whether there is a difference between the actual speed and the set speed; if there is a difference between the actual speed and the set speed, a set current is controlled by proportional integral (PI), wherein the set current includes a set direct-axis current and a set quadrature-axis current; a current difference between the set current and the actual current is calculated; based on the current difference, an actual voltage of the first motor is controlled by PI, and based on the actual voltage, the first motor is controlled to drive the vehicle body seat, wherein the actual voltage is positively correlated with the current difference, and the actual voltage includes an actual direct-axis voltage and an actual quadrature-axis voltage; For the second motor, a position estimator is used to obtain the actual speed of the second motor; determine whether there is a difference between the actual speed and the set speed; if there is a difference between the actual speed and the set speed, a set current is controlled through proportional integral PI, wherein the set current includes a set direct-axis current and a set quadrature-axis current; the current difference between the set current and the actual current is calculated; based on the current difference, the actual voltage of the second motor is controlled through PI, and based on the actual voltage, the second motor is controlled to drive the vehicle body seat, wherein the actual voltage is positively correlated with the current difference, and the actual voltage includes an actual direct-axis voltage and an actual quadrature-axis voltage.

10. The method according to claim 1, characterized in that Calculating the set speeds of the first motor and the second motor in the current cycle according to the current position of the vehicle body seat includes: Acquire a speed curve of the motor movement, wherein the speed curve is used to represent a mapping relationship between the position of the vehicle body seat and the motor speed; A set rotation speed matching the current position is searched in the speed curve.

11. A driving device for a vehicle body seat, characterized in that: include: A detection module, used for detecting a movement instruction for a vehicle body seat; a calculation module, configured to respond to the movement instruction and calculate the set rotation speeds of the first motor and the second motor in the current cycle according to the current position of the vehicle body seat, wherein the first motor is configured to drive the vehicle body seat to move along the first slide rail, and the second motor is configured to drive the vehicle body seat to move along the second slide rail; The first control module is used to control the first motor and the second motor to synchronously drive the vehicle body seat by using the set speed.

12. The device according to claim 11, characterized in that The first control module comprises: An acquisition unit, used to acquire an electrical angle difference between the first motor and the second motor in a current cycle; A compensation unit is used to compensate the set speed based on the electrical angle difference to obtain the real-time speeds of the first motor and the second motor, so that the first motor and the second motor synchronously drive the vehicle body seat.

13. A storage medium, characterized in that: The storage medium stores a computer program, wherein the computer program is configured to execute the method according to any one of claims 1 to 10 when executed.

14. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to run the computer program to perform the method according to any one of claims 1 to 10.

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