Control method and device of electric tail gate and medium

Abstract

The invention discloses a control method and device of an electric tail gate and a medium. The actual opening degree of the tail gate is accurately calculated by monitoring the length of the electric tail gate supporting rod and the Hall waveform variable quantity in real time, and the target torque is calculated through the speed adjusting algorithm based on the difference value between the actual motor rotating speed and the target rotating speed. Furthermore, the method further comprises the steps that when the Hall signal is lost, the consistency of the motion of the supporting rods is maintained by comparing the current difference value of the double supporting rods, and the motor control strategy is adjusted according to the difference value so as to maintain the motion stability of the tail gate and the robustness of the system. Besides, a double-closed-loop control strategy, namely a speed closed loop and a torque closed loop, is adopted in the technical means, so that accurate control over the motor of the electric tail gate is achieved, it is ensured that the tail gate smoothly moves according to the preset speed, and the responsiveness and stability of the system are improved.

Description

Technical Field

[0001] The present invention relates to the field of electric tailgate control, and in particular to a control method, device and medium for an electric tailgate. Background Art

[0002] With the development of automobile intelligence, electric tailgate has become a common configuration of modern cars. The traditional electric tailgate control method is to divide the tailgate movement area into multiple areas and calibrate each area to achieve the control of the tailgate. The main defects of this control method are:

[0003] 1) During the development phase of the vehicle, each control area needs to be dynamically calibrated and calibrated accurately. The entire calibration cycle is long, and the calibrated Hall rate is not intuitive data and cannot be simulated by model during the design phase;

[0004] 2) The speed control of the electric tailgate is closed-loop controlled based on the Hall speed. The long sampling period of the Hall signal will make the tailgate motor less responsive, which will easily cause a large impact during starting and emergency stopping, and increase the wear of the motor;

[0005] 3) This method is highly dependent on the Hall model of the support rod. When the Hall signal of any support rod is lost, the system will stop driving the tailgate because it cannot record the position change of the faulty support rod and cannot recognize the movement of the support rod. At this time, the tailgate can only be closed manually, which greatly affects the user experience.

[0006] These defects result in the inability of the prior art to accurately control the electric tailgate of a car. Summary of the invention

[0007] The invention provides a control method, a device and a medium for an electric tailgate, so as to solve the problem that the electric tailgate of a car cannot be accurately controlled in the prior art.

[0008] In a first aspect, the present application provides a method for controlling an electric tailgate, comprising:

[0009] Obtain the length of the electric tailgate support rod and the Hall waveform change of the electric tailgate;

[0010] The actual opening of the electric tailgate is calculated according to the length of the support rod and the change of the Hall waveform;

[0011] Calculating the actual motor speed of the electric tailgate according to the change in the actual opening;

[0012] Calculating a target torque according to the actual motor speed, the target speed and the speed adjustment algorithm;

[0013] The electric tailgate is controlled according to the target torque, the actual torque and a preset torque increment control algorithm.

[0014] The present application can calculate the actual opening of the electric tailgate by obtaining the length of the support rod of the electric tailgate and the change in the Hall waveform, and then determine its angular velocity according to the change in the opening. This method of determining the angular velocity based on the actual opening enables the actual motor speed of the electric tailgate to be accurately compared with the preset target speed, thereby calculating the required target torque. Furthermore, by comparing the target torque and the actual torque, the torque difference is obtained. Finally, using the torque difference and the preset torque increment PID control algorithm, the present application can adjust the torque increment of the motor and control the motor level to achieve precise control of the movement of the electric tailgate. This coherent control process improves the responsiveness and stability of the system, reduces the impact and wear of the motor, and ensures that the smoothness and consistency of the tailgate movement can be maintained under different working conditions, so as to solve the problem that the electric tailgate of the car cannot be accurately controlled in the prior art.

[0015] As a preferred embodiment of the first aspect, obtaining the Hall waveform change of the electric tailgate further includes:

[0016] When the Hall signal of the left support rod or the right support rod of the electric tailgate cannot be detected, obtaining a first current value of the left support rod and a second current value of the right support rod of the electric tailgate;

[0017] Calculating a difference between the first current value and the second current value according to the first current value and the second current value;

[0018] According to the difference and a preset threshold, the speed of the support rod of the electric tailgate is adjusted.

[0019] In this preferred embodiment, the present application can maintain the consistency of the tailgate strut movement when the Hall signal is lost by obtaining the Hall waveform change of the left and right struts of the electric tailgate. When the Hall signal of any strut cannot be detected, the system switches to monitoring the current values ​​of the left and right struts, and uses these current values ​​to calculate the current difference between the two struts. This difference reflects the synchronization of the two struts in motion. If the difference exceeds the preset threshold, it indicates that the motion between the struts is inconsistent. The system will adjust the strut speed according to the compensation algorithm to correct the problem of inconsistent motion. This method based on current monitoring and difference adjustment improves the robustness of the electric tailgate control system and ensures that the tailgate can still operate smoothly and safely even when the sensor signal is lost. Through current monitoring and difference adjustment, the present application can dynamically respond to the movement differences between the struts, thereby maintaining the balance and coordination of the tailgate movement, improving the reliability of the system and the user experience.

[0020] As a preferred embodiment of the first aspect, adjusting the support rod speed of the electric tailgate according to the difference and the preset threshold value is specifically:

[0021] If the difference exceeds a preset threshold, the speed of the left or right strut is adjusted according to a preset weighting algorithm.

[0022] In this preferred embodiment, the present application monitors the current difference of the electric tailgate support rods and compares it with a preset threshold value. When it is detected that the difference exceeds the normal range, the preset weighted algorithm can be used to adjust the speed of the left support rod or the right support rod. When the current difference exceeds the preset threshold value, it indicates that the movement of the two support rods is inconsistent. This may be due to the load change of one side of the support rod or the loss of the Hall signal, resulting in uneven push and pull forces on the two sides of the support rod. By adjusting the speed through a weighted algorithm, this imbalance can be compensated, so that the two sides of the support rod can resume synchronous movement, thereby maintaining the smooth opening and closing of the electric tailgate. The present application not only improves the robustness of the electric tailgate in the face of sensor failures, but also enhances the adaptability and reliability of the system, ensures the safety and accuracy of the tailgate operation, and improves the user experience.

[0023] As a preferred embodiment of the first aspect, the actual opening of the electric tailgate is calculated based on the length of the support rod and the change in the Hall waveform, specifically:

[0024] The actual opening of the electric tailgate is calculated according to the length of the support rod, the change of the Hall waveform, the first preset formula and the second preset formula;

[0025] Wherein, the first preset formula is:

[0026] The second preset formula is: ∠cab=arccos((ac 2 +ab 2 -bc 2 ) / (2*ac*ab));

[0027] In the formula, bc x is the length of the Hall x position strut, Hall x is the Hall value x of the current position of the support rod, Hall max is the Hall maximum value, is the change of Hall waveform, bc offset is the shortest length of the brace, bc max is the maximum variable length of the brace; ∠cab x is the actual opening of the tailgate corresponding to the current Hall position, bc is the length of the support rod, ab and bc are preset values, and arccos is the inverse cosine function.

[0028] In this preferred embodiment, the present application can accurately determine the current position of the tailgate by calculating the actual opening of the electric tailgate using the length of the strut, the change in the Hall waveform and a preset formula. Since the opening of the electric tailgate is directly related to the change in the length of the strut, and the change in the Hall waveform reflects the relative position of the strut, the system can accurately calculate the opening of the tailgate by combining these data and a preset formula (involving the distance ac, ab from the shaft to the strut mounting point, the strut length bc and the tailgate opening ∠cab). This precise opening calculation is crucial to achieving precise control of the tailgate, because it allows the system to adjust the action of the motor according to the difference between the actual opening and the target opening, ensuring that the tailgate can be opened smoothly and accurately to the predetermined position. The present application improves the accuracy and responsiveness of the tailgate control, reduces excessive impact or wear caused by inaccurate opening, thereby improving the reliability and service life of the electric tailgate and enhancing the user experience.

[0029] As a preferred embodiment of the first aspect, the target torque is calculated according to the actual motor speed, the target speed and the speed adjustment algorithm, specifically:

[0030] Calculating a speed difference according to the actual motor speed and the target speed;

[0031] The target torque is calculated based on the rotational speed difference and the speed adjustment algorithm.

[0032] In this preferred embodiment, the present application monitors the real-time speed of the motor and compares it with the preset target speed to obtain the speed difference, which directly reflects the deviation between the current operating state of the motor and the expected state. Then, using a speed regulation algorithm, such as PID control, the system calculates the necessary torque adjustment amount based on the speed difference to compensate for the deviation and drive the motor closer to the target speed. This control strategy based on real-time feedback improves the response speed and regulation accuracy of the system, ensures the smoothness and accuracy of the electric tailgate during opening and closing, reduces the impact and wear caused by speed mismatch, thereby improving the overall performance and service life of the electric tailgate and enhancing the user experience.

[0033] In a second aspect, the present application provides a control device for an electric tailgate. The control device for the electric tailgate includes an acquisition module, a calculation module, and a control module;

[0034] The acquisition module is used to acquire the length of the support rod of the electric tailgate and the change amount of the Hall waveform of the electric tailgate;

[0035] The calculation module is used to calculate the actual opening of the electric tailgate according to the length of the support rod and the change of the Hall waveform;

[0036] Calculating the actual motor speed of the electric tailgate according to the change in the actual opening;

[0037] Calculating a speed difference according to the actual motor speed and the target speed;

[0038] Calculating a target torque according to the actual motor speed, the target speed and the speed adjustment algorithm;

[0039] The control module is used to control the electric tailgate according to the target torque, the actual torque and a preset torque increment control algorithm.

[0040] This device uses three modules to divide the work and coordinate the work to more accurately control the electric tailgate. This application can calculate the actual opening of the electric tailgate by obtaining the length of the electric tailgate's support rod and the change in the Hall waveform, and then determine its angular velocity according to the change in the opening. This angular velocity determination method based on the actual opening allows the actual motor speed of the electric tailgate to be accurately compared with the preset target speed, thereby calculating the required target torque. Furthermore, by comparing the target torque and the actual torque, the torque difference is obtained. Finally, using the torque difference and the preset torque incremental PID control algorithm, the present application can adjust the torque increment of the motor and control the motor level to achieve precise control of the electric tailgate movement. This coherent control process improves the responsiveness and stability of the system, reduces the impact and wear of the motor, and ensures that the smoothness and consistency of the tailgate movement can be maintained under different working conditions, so as to solve the problem that the electric tailgate of the car cannot be accurately controlled in the prior art.

[0041] As a preferred embodiment of the second aspect, obtaining the Hall waveform change of the electric tailgate further includes:

[0042] When the Hall signal of the left support rod or the right support rod of the electric tailgate cannot be detected, obtaining a first current value of the left support rod and a second current value of the right support rod of the electric tailgate;

[0043] Calculating a difference between the first current value and the second current value according to the first current value and the second current value;

[0044] According to the difference and a preset threshold, the speed of the support rod of the electric tailgate is adjusted.

[0045] In this preferred embodiment, the present application can maintain the consistency of the tailgate strut movement when the Hall signal is lost by obtaining the Hall waveform change of the left and right struts of the electric tailgate. When the Hall signal of any strut cannot be detected, the system switches to monitoring the current values ​​of the left and right struts, and uses these current values ​​to calculate the current difference between the two struts. This difference reflects the synchronization of the two struts in motion. If the difference exceeds the preset threshold, it indicates that the motion between the struts is inconsistent. The system will adjust the strut speed according to the compensation algorithm to correct the problem of inconsistent motion. This method based on current monitoring and difference adjustment improves the robustness of the electric tailgate control system and ensures that the tailgate can still operate smoothly and safely even when the sensor signal is lost. Through current monitoring and difference adjustment, the present application can dynamically respond to the movement differences between the struts, thereby maintaining the balance and coordination of the tailgate movement, improving the reliability of the system and the user experience.

[0046] As a preferred embodiment of the second aspect, adjusting the speed of the support rod of the electric tailgate according to the difference and the preset threshold value is specifically:

[0047] If the difference exceeds a preset threshold, the speed of the left or right strut is adjusted according to a preset weighting algorithm.

[0048] In this preferred embodiment, the present application monitors the current difference of the electric tailgate support rods and compares it with a preset threshold value. When it is detected that the difference exceeds the normal range, the preset weighted algorithm can be used to adjust the speed of the left support rod or the right support rod. When the current difference exceeds the preset threshold value, it indicates that the movement of the two support rods is inconsistent. This may be due to the load change of one side of the support rod or the loss of the Hall signal, resulting in uneven push and pull forces on the two sides of the support rod. By adjusting the speed through a weighted algorithm, this imbalance can be compensated, so that the two sides of the support rod can resume synchronous movement, thereby maintaining the smooth opening and closing of the electric tailgate. The present application not only improves the robustness of the electric tailgate in the face of sensor failures, but also enhances the adaptability and reliability of the system, ensures the safety and accuracy of the tailgate operation, and improves the user experience.

[0049] As a preferred embodiment of the second aspect, the actual opening of the electric tailgate is calculated based on the length of the support rod and the change in the Hall waveform, specifically:

[0050] The actual opening of the electric tailgate is calculated according to the length of the support rod, the change of the Hall waveform, the first preset formula and the second preset formula;

[0051] Wherein, the first preset formula is:

[0052] The second preset formula is: ∠cab=arccos((ac 2 +ab2 -bc 2 ) / (2*ac*ab));

[0053] In the formula, bc x is the length of the Hall x position strut, Hall x is the Hall value x of the current position of the support rod, Hall max is the Hall maximum value, is the change of Hall waveform, bc offset is the shortest length of the brace, bc max is the maximum variable length of the brace; ∠cab x is the actual opening of the tailgate corresponding to the current Hall position, bc is the length of the support rod, ab and bc are preset values, and arccos is the inverse cosine function.

[0054] In this preferred embodiment, the present application can accurately determine the current position of the tailgate by calculating the actual opening of the electric tailgate using the length of the strut, the change in the Hall waveform and a preset formula. Since the opening of the electric tailgate is directly related to the change in the length of the strut, and the change in the Hall waveform reflects the relative position of the strut, the system can accurately calculate the opening of the tailgate by combining these data and a preset formula (involving the distance ac, ab from the shaft to the strut mounting point, the strut length bc and the tailgate opening ∠cab). This precise opening calculation is crucial to achieving precise control of the tailgate, because it allows the system to adjust the action of the motor according to the difference between the actual opening and the target opening, ensuring that the tailgate can be opened smoothly and accurately to the predetermined position. The present application improves the accuracy and responsiveness of the tailgate control, reduces excessive impact or wear caused by inaccurate opening, thereby improving the reliability and service life of the electric tailgate and enhancing the user experience.

[0055] In a third aspect, the present application provides a computer-readable storage medium, the computer-readable storage medium including a stored computer program, wherein when the computer program is executed, the device where the computer-readable storage medium is located is controlled to execute a control method for an electric tailgate as described. The beneficial effect is the same as the control method for an electric tailgate provided in the first aspect of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 : A flow chart of an embodiment of a method for controlling an electric tailgate provided in the present application;

[0057] Figure 2 : A flow chart of the tailgate support rod control compensation algorithm provided in this application;

[0058] Figure 3 : A schematic diagram of the structure for calculating the opening of the electric tailgate provided in this application;

[0059] Figure 4 : A flow chart of the closed-loop control of the tailgate motion control model provided in this application;

[0060] Figure 5 : A schematic structural diagram of an embodiment of the control device for the electric tailgate provided in the present application. DETAILED DESCRIPTION

[0061] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0062] Embodiment 1

[0063] Please refer to Figure 1 , which is a control method for an electric tailgate provided in an embodiment of the present invention.

[0064] In this embodiment, the process of the electric tailgate control method in this application is described in detail through steps S01-S05.

[0065] S01: Obtain the length of the support rod of the electric tailgate and the change amount of the Hall waveform of the electric tailgate.

[0066] As a preferred embodiment of the first embodiment, the obtaining of the Hall waveform variation of the electric tailgate further includes:

[0067] When the Hall signal of the left or right support rod of the electric tailgate cannot be detected, torque status monitoring is added to the tailgate control system. When the Hall signal of one end support rod is lost, such as Figure 2 As shown, the tailgate control system will continue to maintain the movement of the system through the dual strut current. When the system detects that the tailgate strut is operating normally but the Hall signal is lost, the compensation algorithm will calculate the difference between the current working currents of the left and right struts in real time. When the difference does not exceed the threshold range (the threshold is obtained through calibration), the system will perform closed-loop control with the signal of the strut on the side with normal Hall signal; if the difference is greater than the threshold range, the corresponding weighted processing will be performed: when the current of the left strut (the strut with normal signal) is greater than that of the right side, it is judged that the left side is pulling the right side to move, and the speed of the right strut needs to be increased; when the current of the left strut is less than that of the right side, it is judged that the left strut is pulling back the right side, and the speed of the right strut needs to be reduced to maintain the balance of movement.

[0068] The algorithm adjusts the operating current weight of the abnormal strut by the current difference between the struts on both sides, thereby maintaining the consistency of the strut movement.

[0069] In this preferred embodiment, the present application can maintain the consistency of the tailgate strut movement when the Hall signal is lost by obtaining the Hall waveform change of the left and right struts of the electric tailgate. When the Hall signal of any strut cannot be detected, the system switches to monitoring the current values ​​of the left and right struts, and uses these current values ​​to calculate the current difference between the two struts. This difference reflects the synchronization of the two struts in motion. If the difference exceeds the preset threshold, it indicates that the motion between the struts is inconsistent. The system will adjust the strut speed according to the compensation algorithm to correct the problem of inconsistent motion. This method based on current monitoring and difference adjustment improves the robustness of the electric tailgate control system and ensures that the tailgate can still operate smoothly and safely even when the sensor signal is lost. Through current monitoring and difference adjustment, the present application can dynamically respond to the movement differences between the struts, thereby maintaining the balance and coordination of the tailgate movement, improving the reliability of the system and the user experience.

[0070] S02: Calculate the actual opening of the electric tailgate according to the length of the support rod and the change in the Hall waveform.

[0071] As a preferred embodiment of the first embodiment, the actual opening of the electric tailgate is calculated based on the length of the support rod and the change in the Hall waveform, specifically:

[0072] Use door closing speed control method instead of partition control algorithm, such as Figure 3 As shown, when the tailgate moves, only the length of the electric support rod changes, and the distance ab between the tailgate rotation axis point a and the support rod rotation axis point b and the distance bc between the tailgate rotation axis point a and the support rod support point c (c1, c2) remain unchanged. Therefore, it is only necessary to calibrate the support rod length (maximum / minimum) and the change in the Hall waveform to calculate the actual length value of each Hall waveform.

[0073] The current tailgate opening is calculated by inverse calculation using formula (1), and the angular velocity of the tailgate is obtained using the change in tailgate opening per unit time ∠c1ac2. The tailgate uses the average angular velocity for closed-loop speed control, and there is no need to zonal calibration of the tailgate motion area. The system can also be simulated and calibrated during the development phase.

[0074] ∠cab=arccos ((ac 2 +ab 2 -bc 2 ) / (2*ac*ab)) (1)

[0075] Where ac and ab are the distances from the two mounting points of the support rod, bc is the length of the support rod, and ∠cab is the tailgate opening.

[0076] In this preferred embodiment, the present application can accurately determine the current position of the tailgate by calculating the actual opening of the electric tailgate using the length of the strut, the change in the Hall waveform and a preset formula. Since the opening of the electric tailgate is directly related to the change in the length of the strut, and the change in the Hall waveform reflects the relative position of the strut, the system can accurately calculate the opening of the tailgate by combining these data and a preset formula (involving the distance ac, ab from the shaft to the strut mounting point, the strut length bc and the tailgate opening ∠cab). This precise opening calculation is crucial to achieving precise control of the tailgate, because it allows the system to adjust the action of the motor according to the difference between the actual opening and the target opening, ensuring that the tailgate can be opened smoothly and accurately to the predetermined position. The present application improves the accuracy and responsiveness of the tailgate control, reduces excessive impact or wear caused by inaccurate opening, thereby improving the reliability and service life of the electric tailgate and enhancing the user experience.

[0077] S03: Calculate the actual motor speed of the electric tailgate according to the change in the actual opening.

[0078] S04: Calculate the target torque according to the actual motor speed, the target speed and the speed adjustment algorithm.

[0079] As a preferred embodiment of the first embodiment, the target torque is calculated according to the actual motor speed, the target speed and the speed adjustment algorithm, specifically:

[0080] Calculating a speed difference according to the actual motor speed and the target speed;

[0081] The target torque is calculated based on the rotational speed difference and the speed adjustment algorithm.

[0082] In this preferred embodiment, the present application monitors the real-time speed of the motor and compares it with the preset target speed to obtain the speed difference, which directly reflects the deviation between the current operating state of the motor and the expected state. Then, using a speed regulation algorithm, such as PID control, the system calculates the necessary torque adjustment amount based on the speed difference to compensate for the deviation and drive the motor closer to the target speed. This control strategy based on real-time feedback improves the response speed and regulation accuracy of the system, ensures the smoothness and accuracy of the electric tailgate during opening and closing, reduces the impact and wear caused by speed mismatch, thereby improving the overall performance and service life of the electric tailgate and enhancing the user experience.

[0083] S05: Controlling the electric tailgate according to the target torque, the actual torque and a preset torque increment control algorithm.

[0084] As a preferred embodiment of the first embodiment, the electric tailgate is controlled according to the target torque, the actual torque and the preset torque increment control algorithm, specifically:

[0085] like Figure 4 As shown in the figure, the motion control model of the electric tailgate uses a dual closed-loop control strategy. During the movement of the tailgate, the model will compare the difference between the current motor speed and the target speed, and put the speed difference into the speed regulation algorithm for PID calculation to obtain the target torque. Since the torque sampling period can be much smaller than the Hall detection, the smoothing control uses a high-frequency control method (the running period of the smoothing control part is 1 / N of the total motion model). After obtaining the target torque value, the control model will run in the smoothing control model until the total model running time is reached. The smoothing control uses torque control as a closed loop, first calculates the difference between the target torque and the current torque, and puts the difference into the incremental PID calculation of the torque to adjust the level of the motor control.

[0086] The present application can calculate the actual opening of the electric tailgate by obtaining the length of the support rod of the electric tailgate and the change in the Hall waveform, and then determine its angular velocity according to the change in the opening. This method of determining the angular velocity based on the actual opening enables the actual motor speed of the electric tailgate to be accurately compared with the preset target speed, thereby calculating the required target torque. Furthermore, by comparing the target torque and the actual torque, the torque difference is obtained. Finally, using the torque difference and the preset torque increment PID control algorithm, the present application can adjust the torque increment of the motor and control the motor level to achieve precise control of the movement of the electric tailgate. This coherent control process improves the responsiveness and stability of the system, reduces the impact and wear of the motor, and ensures that the smoothness and consistency of the tailgate movement can be maintained under different working conditions, so as to solve the problem that the electric tailgate of the car cannot be accurately controlled in the prior art.

[0087] Embodiment 2

[0088] Please refer to Figure 5 , is a control device for an electric tailgate provided in an embodiment of the present application.

[0089] In this embodiment, the control device of the electric tailgate includes an acquisition module 10 , a calculation module 20 and a control module 30 .

[0090] The acquisition module 10 is used to acquire the length of the support rod of the electric tailgate and the change amount of the Hall waveform of the electric tailgate.

[0091] As a preferred embodiment of the second embodiment, the obtaining of the Hall waveform variation of the electric tailgate further includes:

[0092] When the Hall signal of the left or right support rod of the electric tailgate cannot be detected, torque status monitoring is added to the tailgate control system. When the Hall signal of one end support rod is lost, such as Figure 2 As shown, the tailgate control system will continue to maintain the movement of the system through the dual strut current. When the system detects that the tailgate strut is operating normally but the Hall signal is lost, the compensation algorithm will calculate the difference between the current working currents of the left and right struts in real time. When the difference does not exceed the threshold range (the threshold is obtained through calibration), the system will perform closed-loop control with the signal of the strut on the side with normal Hall signal; if the difference is greater than the threshold range, the corresponding weighted processing will be performed: when the current of the left strut (the strut with normal signal) is greater than that of the right side, it is judged that the left side is pulling the right side to move, and the speed of the right strut needs to be increased; when the current of the left strut is less than that of the right side, it is judged that the left strut is pulling back the right side, and the speed of the right strut needs to be reduced to maintain the balance of movement.

[0093] The algorithm adjusts the operating current weight of the abnormal strut by the current difference between the struts on both sides, thereby maintaining the consistency of the strut movement.

[0094] In this preferred embodiment, the present application can maintain the consistency of the tailgate strut movement when the Hall signal is lost by obtaining the Hall waveform change of the left and right struts of the electric tailgate. When the Hall signal of any strut cannot be detected, the system switches to monitoring the current values ​​of the left and right struts, and uses these current values ​​to calculate the current difference between the two struts. This difference reflects the synchronization of the two struts in motion. If the difference exceeds the preset threshold, it indicates that the motion between the struts is inconsistent. The system will adjust the strut speed according to the compensation algorithm to correct the problem of inconsistent motion. This method based on current monitoring and difference adjustment improves the robustness of the electric tailgate control system and ensures that the tailgate can still operate smoothly and safely even when the sensor signal is lost. Through current monitoring and difference adjustment, the present application can dynamically respond to the movement differences between the struts, thereby maintaining the balance and coordination of the tailgate movement, improving the reliability of the system and the user experience.

[0095] The calculation module 20 is used to calculate the actual opening of the electric tailgate according to the length of the support rod and the change in the Hall waveform.

[0096] As a preferred embodiment of the second embodiment, the actual opening of the electric tailgate is calculated based on the length of the support rod and the change in the Hall waveform, specifically:

[0097] Use door closing speed control method instead of partition control algorithm, such as Figure 3As shown, when the tailgate moves, only the length of the electric support rod changes, and the distance ab between the tailgate rotation axis point a and the support rod rotation axis point b and the distance bc between the tailgate rotation axis point a and the support rod support point c (c1, c2) remain unchanged. Therefore, it is only necessary to calibrate the support rod length (maximum / minimum) and the change in the Hall waveform to calculate the actual length value of each Hall waveform.

[0098] The current tailgate opening is calculated by inverse calculation using formula (1), and the angular velocity of the tailgate is obtained using the change in tailgate opening per unit time ∠c1ac2. The tailgate uses the average angular velocity for closed-loop speed control, and there is no need to zonal calibration of the tailgate motion area. The system can also be simulated and calibrated during the development phase.

[0099] ∠cab=arccos ((ac 2 +ab 2 -bc 2 ) / (2*ac*ab)) (1)

[0100] Where ac and ab are the distances from the two mounting points of the support rod, bc is the length of the support rod, and ∠cab is the tailgate opening.

[0101] In this preferred embodiment, the present application can accurately determine the current position of the tailgate by calculating the actual opening of the electric tailgate using the length of the strut, the change in the Hall waveform and a preset formula. Since the opening of the electric tailgate is directly related to the change in the length of the strut, and the change in the Hall waveform reflects the relative position of the strut, the system can accurately calculate the opening of the tailgate by combining these data and a preset formula (involving the distance ac, ab from the shaft to the strut mounting point, the strut length bc and the tailgate opening ∠cab). This precise opening calculation is crucial to achieving precise control of the tailgate, because it allows the system to adjust the action of the motor according to the difference between the actual opening and the target opening, ensuring that the tailgate can be opened smoothly and accurately to the predetermined position. The present application improves the accuracy and responsiveness of the tailgate control, reduces excessive impact or wear caused by inaccurate opening, thereby improving the reliability and service life of the electric tailgate and enhancing the user experience.

[0102] The calculation module 20 is also used to calculate the actual motor speed of the electric tailgate according to the change in the actual opening;

[0103] The target torque is calculated based on the actual motor speed, the target speed and the speed adjustment algorithm.

[0104] As a preferred embodiment of the second embodiment, the target torque is calculated according to the actual motor speed, the target speed and the speed adjustment algorithm, specifically:

[0105] Calculating a speed difference according to the actual motor speed and the target speed;

[0106] The target torque is calculated based on the rotational speed difference and the speed adjustment algorithm.

[0107] In this preferred embodiment, the present application monitors the real-time speed of the motor and compares it with the preset target speed to obtain the speed difference, which directly reflects the deviation between the current operating state of the motor and the expected state. Then, using a speed regulation algorithm, such as PID control, the system calculates the necessary torque adjustment amount based on the speed difference to compensate for the deviation and drive the motor closer to the target speed. This control strategy based on real-time feedback improves the response speed and regulation accuracy of the system, ensures the smoothness and accuracy of the electric tailgate during opening and closing, reduces the impact and wear caused by speed mismatch, thereby improving the overall performance and service life of the electric tailgate and enhancing the user experience.

[0108] The control module 30 is used to control the electric tailgate according to the target torque, the actual torque and a preset torque increment control algorithm.

[0109] As a preferred embodiment of the second embodiment, the electric tailgate is controlled according to the target torque, the actual torque and the preset torque increment control algorithm, specifically:

[0110] like Figure 4 As shown in the figure, the motion control model of the electric tailgate uses a dual closed-loop control strategy. During the movement of the tailgate, the model will compare the difference between the current motor speed and the target speed, and put the speed difference into the speed regulation algorithm for PID calculation to obtain the target torque. Since the torque sampling period can be much smaller than the Hall detection, the smoothing control uses a high-frequency control method (the running period of the smoothing control part is 1 / N of the total motion model). After obtaining the target torque value, the control model will run in the smoothing control model until the total model running time is reached. The smoothing control uses torque control as a closed loop, first calculates the difference between the target torque and the current torque, and puts the difference into the incremental PID calculation of the torque to adjust the level of the motor control.

[0111] The present application can calculate the actual opening of the electric tailgate by obtaining the length of the support rod of the electric tailgate and the change in the Hall waveform, and then determine its angular velocity according to the change in the opening. This method of determining the angular velocity based on the actual opening enables the actual motor speed of the electric tailgate to be accurately compared with the preset target speed, thereby calculating the required target torque. Furthermore, by comparing the target torque and the actual torque, the torque difference is obtained. Finally, using the torque difference and the preset torque increment PID control algorithm, the present application can adjust the torque increment of the motor and control the motor level to achieve precise control of the movement of the electric tailgate. This coherent control process improves the responsiveness and stability of the system, reduces the impact and wear of the motor, and ensures that the smoothness and consistency of the tailgate movement can be maintained under different working conditions, so as to solve the problem that the electric tailgate of the car cannot be accurately controlled in the prior art.

[0112] Embodiment three:

[0113] An embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium includes a stored computer program, wherein when the computer program is executed, the device where the computer-readable storage medium is located is controlled to execute the control method of an electric tailgate;

[0114] Wherein, the control method of an electric tailgate, if implemented in the form of a software functional unit and used as an independent product, can be stored in a computer-readable storage medium. Based on such an understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Wherein, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium, etc.

[0115] The specific embodiments described above further describe the purpose, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. It is particularly pointed out that for those skilled in the art, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of protection of the present invention.

Claims

1. A control method for an electric tailgate, characterized in that: include: Obtain the length of the electric tailgate support rod and the Hall waveform change of the electric tailgate; The actual opening of the electric tailgate is calculated according to the length of the support rod and the change of the Hall waveform; Calculating the actual motor speed of the electric tailgate according to the change in the actual opening; Calculating a target torque according to the actual motor speed, the target speed and the speed adjustment algorithm; The electric tailgate is controlled according to the target torque, the actual torque and a preset torque increment control algorithm.

2. The control method of the electric tailgate according to claim 1, characterized in that: The step of obtaining the Hall waveform variation of the electric tailgate further includes: When the Hall signal of the left support rod or the right support rod of the electric tailgate cannot be detected, obtaining a first current value of the left support rod and a second current value of the right support rod of the electric tailgate; Calculating a difference between the first current value and the second current value according to the first current value and the second current value; According to the difference and a preset threshold, the speed of the support rod of the electric tailgate is adjusted.

3. The control method of the electric tailgate according to claim 2, characterized in that: The adjusting the prop speed of the electric tailgate according to the difference and the preset threshold value is specifically as follows: If the difference exceeds a preset threshold, the speed of the left or right strut is adjusted according to a preset weighting algorithm.

4. The control method of the electric tailgate according to claim 1, characterized in that: The actual opening of the electric tailgate is calculated based on the length of the support rod and the change in the Hall waveform, specifically: The actual opening of the electric tailgate is calculated according to the length of the support rod, the change of the Hall waveform, the first preset formula and the second preset formula; Wherein, the first preset formula is: The second preset formula is: ∠cab=arccos((ac 2 +ab 2 -bc 2 ) / (2*ac*ab)); In the formula, bc x is the length of the Hall x position strut, Hall x is the Hall value x of the current support rod, Hall max is the Hall maximum value, is the change of Hall waveform, bc offset is the shortest length of the brace, bc max is the maximum variable length of the brace; ∠cab x is the actual opening of the tailgate corresponding to the current Hall position, bc is the length of the support rod, ab and bc are preset values, and arccos is the inverse cosine function.

5. The control method of the electric tailgate according to claim 1, characterized in that: The target torque is calculated according to the actual motor speed, the target speed and the speed adjustment algorithm, specifically: Calculating a speed difference according to the actual motor speed and the target speed; The target torque is calculated based on the rotational speed difference and the speed adjustment algorithm.

6. A control device for an electric tailgate, characterized in that: It includes an acquisition module, a calculation module and a control module; The acquisition module is used to acquire the length of the support rod of the electric tailgate and the change amount of the Hall waveform of the electric tailgate; The calculation module is used to calculate the actual opening of the electric tailgate according to the length of the support rod and the change of the Hall waveform; Calculating the actual motor speed of the electric tailgate according to the change in the actual opening; Calculating a speed difference according to the actual motor speed and the target speed; Calculating a target torque according to the actual motor speed, the target speed and the speed adjustment algorithm; The control module is used to control the electric tailgate according to the target torque, the actual torque and a preset torque increment control algorithm.

7. The control device for an electric tailgate according to claim 6, characterized in that: The step of obtaining the Hall waveform variation of the electric tailgate further includes: When the Hall signal of the left support rod or the right support rod of the electric tailgate cannot be detected, obtaining a first current value of the left support rod and a second current value of the right support rod of the electric tailgate; Calculating a difference between the first current value and the second current value according to the first current value and the second current value; According to the difference and a preset threshold, the speed of the support rod of the electric tailgate is adjusted.

8. The control device for the electric tailgate according to claim 7, characterized in that: The adjusting the prop speed of the electric tailgate according to the difference and the preset threshold value is specifically as follows: If the difference exceeds a preset threshold, the speed of the left or right strut is adjusted according to a preset weighting algorithm.

9. The control device for an electric tailgate according to claim 6, characterized in that: The actual opening of the electric tailgate is calculated based on the length of the support rod and the change in the Hall waveform, specifically: The actual opening of the electric tailgate is calculated according to the length of the support rod, the change of the Hall waveform, the first preset formula and the second preset formula; Wherein, the first preset formula is: The second preset formula is: ∠cab=arccos((ac 2 +ab 2 -bc 2 ) / (2*ac*ab)); In the formula, bc x is the length of the Hall x position strut, Hall x is the Hall value x of the current support rod, Hall max is the Hall maximum value, is the change of Hall waveform, bc offset is the shortest length of the brace, bc max is the maximum variable length of the brace; ∠cab x is the actual opening of the tailgate corresponding to the current Hall position, bc is the length of the support rod, ab and bc are preset values, and arccos is the inverse cosine function.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored computer program, wherein when the computer program is executed, the device where the computer-readable storage medium is located is controlled to execute the control method of the electric tailgate according to any one of claims 1 to 5.

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