Anti-pinch control method and device for brushless motor

Abstract

The present invention relates to a brushless motor anti-pinch control method and device, which is applied to a controller, the controller is respectively connected to a power supply and a brushless motor, the brushless motor is connected to a vehicle component to drive the vehicle component to move, a Hall sensor is installed on the brushless motor, the controller is connected to the Hall sensor, and the power supply supplies power to the brushless motor and the Hall sensor through the controller; the method includes: after the brushless motor is running, obtaining the Hall signal output by the Hall sensor; determining the current speed of the brushless motor and the current position of the vehicle component according to the Hall signal; obtaining the current bus current of the brushless motor; judging whether the brushless motor is blocked according to the current speed and current bus current of the brushless motor; if so, performing anti-pinch measures according to the current position of the vehicle component. The brushless motor anti-pinch control method and device of the present invention realizes anti-pinch control through a Hall sensor, which can avoid the problems existing in the inductive FOC and reduce the cost.

Description

Technical Field

[0001] The present invention relates to the technical field of brushless motor control, and more specifically to an anti-pinch control method and device for a brushless motor. Background Art

[0002] With the continuous development of intelligent technology, vehicle components, such as windows, sunroofs, tailgates, etc., are usually opened and closed by brushless motors. The brushless motors are connected to controllers, which are used to control the operation of the brushless motors to automatically control the opening and closing of vehicle components. Due to the use of automatic control technology, the controller also performs anti-pinch control on the brushless motors to prevent vehicle components from pinching passengers during the opening and closing process (such as pinching fingers, arms, heads, etc.).

[0003] The methods of controlling brushless motors by controllers mainly include sensored FOC (sensor-based field-oriented control) and sensorless FOC (sensorless field-oriented control). Sensored FOC obtains the position and speed information of the brushless motor through multiple Hall sensors on the brushless motor, and then uses this information to accurately control the operation of the brushless motor. Sensorless FOC collects the phase current of the brushless motor and obtains the control feedback through a series of mathematical transformations and estimation algorithms, thereby achieving control of the brushless motor.

[0004] However, the existing sensory FOC method requires multiple Hall sensors (usually three), which is relatively expensive. Although the sensorless FOC is low-cost, it is prone to startup failure and inaccurate estimation when the brushless motor speed is low. These problems will lead to inaccurate position estimation of the brushless motor and cause problems such as triggering false anti-pinch. Summary of the invention

[0005] The object of the present invention is to provide a brushless motor anti-pinch control method and device, which realizes anti-pinch control by a Hall sensor, thereby avoiding the problems existing in the sensorless FOC and reducing the cost.

[0006] Based on the above purpose, the present invention provides, on one hand, a brushless motor anti-pinch control method, which is applied to a controller, wherein the controller is connected to a power supply and a brushless motor respectively, the brushless motor is connected to a vehicle component to drive the vehicle component to move, a Hall sensor is installed on the brushless motor, the controller is connected to the Hall sensor, and the power supply supplies power to the brushless motor and the Hall sensor through the controller; the method comprises:

[0007] After the brushless motor is running, obtaining a Hall signal output by the Hall sensor;

[0008] determining a current rotation speed of the brushless motor and a current position of the vehicle component according to the Hall signal;

[0009] Obtaining the current bus current of the brushless motor;

[0010] Determining whether the brushless motor is stalled according to the current speed of the brushless motor and the current bus current;

[0011] If so, anti-pinch measures are performed according to the current position of the vehicle component.

[0012] Furthermore, the rotation range of the brushless motor is divided into a plurality of Hall sectors, each Hall sector corresponds to a state of the Hall signal and a fixed rotation angle of the brushless motor, and whenever the brushless motor rotates from one Hall sector to another Hall sector, the Hall signal will change once;

[0013] Determining the current speed of the brushless motor according to the Hall signal specifically includes:

[0014] Get the time interval between the last two Hall signal changes;

[0015] The fixed rotation angle of the brushless motor corresponding to the Hall sector is divided by the time interval between the two most recent Hall signal changes to obtain the current rotation speed of the brushless motor.

[0016] Further, the controller is configured to count the changes of the Hall signal, wherein when the brushless motor rotates in a first direction, each time the Hall signal changes once, the count value of the change of the Hall signal is increased by one, and when the brushless motor rotates in a second direction opposite to the first direction, each time the Hall signal changes once, the count value of the change of the Hall signal is decreased by one;

[0017] Determining the current position of the vehicle component according to the Hall signal specifically includes:

[0018] Obtaining a current count value of the change of the Hall signal;

[0019] The current position of the vehicle component is determined according to the current count value of the change of the Hall signal and the pre-acquired mapping relationship between the count value of the change of the Hall signal and the position of the vehicle component.

[0020] Further, judging whether the brushless motor is stalled according to the current rotation speed and the current bus current of the brushless motor specifically includes:

[0021] If the current speed of the brushless motor decreases by a first preset threshold value compared with the speed at the previous moment, and the current bus current of the brushless motor increases by a second preset threshold value compared with the bus current at the previous moment, the brushless motor is stalled; otherwise, the brushless motor is not stalled.

[0022] Further, anti-pinch measures are performed according to the current position of the vehicle component, specifically including:

[0023] If the current position of the vehicle component is the preset position, causing the brushless motor to rotate in the reverse direction;

[0024] If the current position of the vehicle component is not the preset position, the brushless motor is stopped.

[0025] Furthermore, the method further comprises:

[0026] When the rotation speed of the brushless motor is higher than a preset upper limit or lower than a preset lower limit for a continuous preset time, the brushless motor is restarted.

[0027] Another aspect of the present invention provides an anti-pinch control device for a brushless motor, which is applied to a controller, wherein the controller is connected to a power supply and a brushless motor respectively, the brushless motor is connected to a vehicle component to drive the vehicle component to move, a Hall sensor is installed on the brushless motor, the controller is connected to the Hall sensor, and the power supply supplies power to the brushless motor and the Hall sensor through the controller; the device comprises:

[0028] A first acquisition module, used for acquiring a Hall signal output by the Hall sensor after the brushless motor is running;

[0029] a determination module, configured to determine a current rotation speed of the brushless motor and a current position of the vehicle component according to the Hall signal;

[0030] A second acquisition module is used to acquire the current bus current of the brushless motor;

[0031] A judgment module, used for judging whether the brushless motor is stalled according to the current rotation speed and the current bus current of the brushless motor;

[0032] The anti-pinch module is used to execute anti-pinch measures according to the current position of the vehicle component when the judgment result of the judgment module is yes.

[0033] Furthermore, the rotation range of the brushless motor is divided into a plurality of Hall sectors, each Hall sector corresponds to a state of the Hall signal and a fixed rotation angle of the brushless motor, and whenever the brushless motor rotates from one Hall sector to another Hall sector, the Hall signal will change once;

[0034] Determining the current speed of the brushless motor according to the Hall signal specifically includes:

[0035] Get the time interval between the last two Hall signal changes;

[0036] The fixed rotation angle of the brushless motor corresponding to the Hall sector is divided by the time interval between the two most recent Hall signal changes to obtain the current rotation speed of the brushless motor.

[0037] Further, the controller is configured to count the changes of the Hall signal, wherein when the brushless motor rotates in a first direction, each time the Hall signal changes once, the count value of the change of the Hall signal is increased by one, and when the brushless motor rotates in a second direction opposite to the first direction, each time the Hall signal changes once, the count value of the change of the Hall signal is decreased by one;

[0038] Determining the current position of the vehicle component according to the Hall signal specifically includes:

[0039] Obtaining a current count value of the change of the Hall signal;

[0040] The current position of the vehicle component is determined according to the current count value of the change of the Hall signal and the pre-acquired mapping relationship between the count value of the change of the Hall signal and the position of the vehicle component.

[0041] Further, judging whether the brushless motor is stalled according to the current rotation speed and the current bus current of the brushless motor specifically includes:

[0042] If the current speed of the brushless motor decreases by a first preset threshold value compared with the speed at the previous moment, and the current bus current of the brushless motor increases by a second preset threshold value compared with the bus current at the previous moment, the brushless motor is stalled; otherwise, the brushless motor is not stalled.

[0043] Further, anti-pinch measures are performed according to the current position of the vehicle component, specifically including:

[0044] If the current position of the vehicle component is the preset position, causing the brushless motor to rotate in the reverse direction;

[0045] If the current position of the vehicle component is not the preset position, the brushless motor is stopped.

[0046] Furthermore, the device also includes:

[0047] The restart module is used to restart the brushless motor when the rotation speed of the brushless motor is higher than a preset upper limit or lower than a preset lower limit for a continuous preset time.

[0048] The anti-pinch control method and device for a brushless motor of the present invention utilizes a sensorless FOC to control the brushless motor and utilizes the Hall signal of a Hall sensor to determine the rotation speed of the brushless motor and the position information of vehicle components. Anti-pinch control is performed based on the rotation speed of the brushless motor and the position information of vehicle components, which can not only solve the problems existing in the sensorless FOC, but also significantly reduce the cost compared to a solution with three Hall sensors. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 A schematic diagram of the structure of a brushless motor control system according to an embodiment of the present invention;

[0050] Figure 2 is a flow chart of an anti-pinch control method for a brushless motor according to an embodiment of the present invention;

[0051] Figure 3 A schematic diagram of the changing trend of the back electromotive force and current of the three phases of the brushless motor in one cycle according to an embodiment of the present invention;

[0052] Figure 4 4 is a structural block diagram of an anti-pinch control device for a brushless motor according to an embodiment of the present invention. DETAILED DESCRIPTION

[0053] The preferred embodiments of the present invention are given below in conjunction with the accompanying drawings and described in detail.

[0054] like Figure 1 As shown, the brushless motor control system of the embodiment of the present invention includes a power supply 10, a controller 20 and a brushless motor 30, a Hall sensor 40 is provided on the brushless motor 30, the power supply 10 is connected to the controller 20, the controller 20 is respectively connected to the brushless motor 30 and the Hall sensor 40, the power supply 10 supplies power to the brushless motor 30 and the Hall sensor 40 through the controller 20, the controller 20 can receive the Hall signal of the Hall sensor 40, and control the operation of the brushless motor 30, the brushless motor 30 is connected to the vehicle component to drive the movement of the vehicle component, the vehicle component can be a sunroof, a window, a tailgate or any other suitable component, and the vehicle component can be opened, closed or other functions through movement. For example, the controller 20 can control the phase current input to the brushless motor 30 through a preset control method, thereby controlling the speed, steering, torque and other parameters of the brushless motor 30.

[0055] like Figure 2 As shown, an embodiment of the present invention provides an anti-pinch control method for a brushless motor, which is applied to a controller 20 and includes the following steps:

[0056] S100 : After the brushless motor 30 is running, a Hall signal of the Hall sensor 40 is obtained.

[0057] As the brushless motor 30 runs, the Hall sensor 40 will output a periodic Hall signal, which is a high and low level signal. The Hall signal will be transmitted to the controller 20 in real time.

[0058] S200: Determine the current rotation speed of the brushless motor 30 and the current position of the vehicle component according to the Hall signal.

[0059] The brushless motor 30 includes a plurality of magnetic poles, which appear in pairs. Each pair of poles includes an N pole and an S pole. These magnetic poles are evenly and alternately distributed on the stator or rotor of the brushless motor 30. Each time a magnetic pole is passed, the state of the Hall signal will change. Each time a pair of poles is passed, the Hall sensor 40 will detect two different sectors. Therefore, the rotation range of the brushless motor 30 can be divided into a plurality of Hall sectors, and each Hall sector corresponds to a specific output state of the Hall sensor (for example, a high level or a low level).

[0060] In order to determine the rotation speed of the brushless motor 30, the controller 20 can count the changes of the Hall signal (for example, it can be realized by a counter). When the brushless motor 30 rotates in a first direction, the controller 20 controls the count to increase by one each time the Hall signal changes. When the brushless motor 30 rotates in a second direction opposite to the first direction, the controller 20 controls the count to decrease by one each time the Hall signal changes. At the same time, the controller 20 can record the time between two changes of the Hall signal (for example, it can be realized by an internal clock), so that the rotation speed of the brushless motor 30 can be obtained. Specifically, assuming that the number of magnetic poles is N, the number of Hall sectors is also N, and the angle corresponding to each Hall sector is 360° / N. When the Hall signal changes, the controller 20 can obtain the time interval between this time and the last time the Hall signal changed, assuming it is t. Then the controller 20 can calculate that the speed of the brushless motor at this time is 360° / (Nt). If the current moment is not the moment when the Hall signal changes, the speed when the Hall signal changes closest to the current moment can be used as the speed at the current moment; that is, in the same Hall sector, the speed of the brushless motor 30 is the same, and is equal to the speed of the brushless motor 30 when it just enters the Hall sector.

[0061] The brushless motor 30 is usually connected to the vehicle component to be driven through a reducer and a transmission mechanism. The relationship between the rotation angle of the brushless motor 30 and the displacement of the vehicle component can be known through the reduction ratio of the reducer and the parameters of the transmission mechanism. The vehicle component usually moves between two positions. For example, the brushless motor 30 can drive the vehicle component to move between a first position and a second position. Since the brushless motor 30 rotates an angle corresponding to a Hall sector each time the Hall signal changes, and the angle is fixed, the displacement of the vehicle component corresponding to the angle is also fixed. It is assumed that at the initial moment (i.e., the moment when the controller 20 and the brushless motor 30 are started for the first time), the count value of the change in the Hall signal is 0, the brushless motor 30 is in the first Hall sector, and the vehicle component is in the first position. Then the brushless motor 30 rotates in the first direction, and the vehicle component will move from the first position to the second position. When the brushless motor 30 rotates to the second Hall sector, the count value of the change in the Hall signal will become 1. At this time, the brushless motor 30 rotates by an angle of a Hall sector, and the distance between the vehicle component and the first position is a displacement corresponding to the angle of a Hall sector, so the position of the vehicle component can also be obtained at this time; then the brushless motor 30 continues to rotate in the first direction, and when it rotates to the third Hall sector, the count value of the change in the Hall signal will become 2, and at this time the brushless motor 30 rotates by another angle of a Hall sector, and the distance between the vehicle component and the first position is a displacement corresponding to the angle of two Hall sectors, so the position of the vehicle component can also be obtained at this time; by analogy, the count value of the change in the Hall signal will continue to increase until the vehicle component moves to the second position. For convenience, it is assumed that the maximum value of the count value of the change in the Hall signal is M; then the brushless motor 30 will rotate in a second direction opposite to the first direction, and the vehicle component will move from the second position to the first position, and each time the Hall signal changes, the count value of the change in the Hall signal will be reduced by one, until the vehicle component returns to the first position, and the count value of the change in the Hall signal will become 0 again. That is to say, the range of the count value of the change in the Hall signal is an integer between 0 and M, and each count value of the change in the Hall signal corresponds to a position of the vehicle component. Therefore, in order to obtain the position of the vehicle component, the controller 20 can pre-calculate the mapping relationship between the count value of the change of the Hall signal and the position of the vehicle component according to the process described above, and then the controller 20 can obtain the count value of the current change of the Hall signal and obtain the current position of the vehicle component according to the above mapping relationship.

[0062] In some embodiments, the controller 20 may also obtain the back electromotive force of each phase of the brushless motor 30, and determine the rotation direction of the brushless motor 30 according to the back electromotive force of each phase of the brushless motor 30. Specifically, within a rotation cycle of the brushless motor 30, the back electromotive force of each phase has its own change trend, and it can be obtained in advance. Figure 3As shown, a rotation cycle of the brushless motor 30 can be divided into six areas (for example, the first to sixth areas, numbered 0-5 in sequence). When the brushless motor 30 rotates in the first direction, the brushless motor 30 will rotate from the first area to the sixth area in sequence, and when the brushless motor 30 rotates in the second direction, the brushless motor 30 will rotate from the sixth area to the first area. In each area, the three phases A, B, and C have their own back electromotive force, that is, in different areas, the back electromotive force combination of each phase is also different; therefore, through the current back electromotive force of each phase of the brushless motor 30, the area where the brushless motor 30 is located can be known, and then combined with the area where the brushless motor 30 was located at the last moment, the current rotation direction of the brushless motor 30 can be known. For example, when the current area where the brushless motor 30 is located is the fourth area, if the area where the brushless motor 30 was located at the last moment was the third area, the brushless motor 30 rotates in the first direction, and if the area where the brushless motor 30 was located at the last moment was the fifth area, the brushless motor 30 rotates in the second direction.

[0063] S300 : Acquire the current bus current of the brushless motor 30 .

[0064] The controller 20 can detect the bus current of the brushless motor 30 through a current detection circuit. The current detection circuit can be provided on a connecting wire between the power source 10 and the controller 20 .

[0065] S400: Determine whether the brushless motor 30 is stalled according to the current rotation speed and the current bus current of the brushless motor 30 .

[0066] When the brushless motor 30 is stalled, the speed of the brushless motor 30 will decrease, and the bus current will increase. Therefore, whether the brushless motor 30 is stalled can be known through the current speed and current bus current of the brushless motor 30. Specifically, if the current speed of the brushless motor 30 decreases by a first preset threshold value (e.g., 5%) compared to the speed at the previous moment, and the current bus current increases by a second preset threshold value (e.g., 5%) compared to the bus current at the previous moment, then it can be determined that the brushless motor 30 is stalled; otherwise, the brushless motor 30 is not stalled.

[0067] S500: If yes, perform anti-pinch measures according to the current position of the vehicle component.

[0068] When the brushless motor 30 is blocked, it means that the vehicle component is blocked by a foreign object (such as a human hand). To avoid a pinching event, the controller 20 needs to perform anti-pinch measures. Specifically, when the current position of the vehicle component is the preset position, the controller 20 can control the brushless motor 30 to rotate in the opposite direction (i.e., change the rotation direction), and when the current position of the vehicle component is not the preset position, the controller 20 can control the brushless motor 30 to stop running. The preset position refers to a position where a pinching injury may occur. For example, when the vehicle component is a sunroof or a tailgate, assuming that the first position is the position when the vehicle component is fully opened, and the second position is the position when the vehicle component is fully closed, if the brushless motor 30 is blocked and the vehicle component 20 is at a position close to the second position, it means that the foreign object is between the vehicle component 20 and the second position and the vehicle component 20 is moving toward the second position. If the vehicle component 20 continues to move toward the second position, the foreign object will be clamped, resulting in a pinching injury. Therefore, the brushless motor 30 needs to be reversed to keep the vehicle component 20 away from the foreign object to prevent a pinching injury. When the brushless motor 30 is blocked, if the vehicle component 20 is at a position far away from the second position, there is still a distance between the foreign object and the second position, and a pinching injury will not occur. However, if the brushless motor 30 continues to run in the original direction at this time, the brushless motor may be burned out. Therefore, the brushless motor 30 can be controlled to stop rotating. From this, it can be seen that the preset position is a position near the second position, and the distance between this position and the second position can be set according to the size of the foreign object. For example, the foreign object is usually a hand, so the distance between the preset position and the second position can be set to the maximum size after the palm is unfolded.

[0069] In the present invention, the Hall signal of the Hall sensor 40 is only used for the controller 20 to count the changes of the Hall signal, thereby determining the speed of the brushless motor 30 and the position of the vehicle components, and does not participate in the magnetic field control. Therefore, although the present invention includes a Hall sensor 40, the controller 20 still uses a sensorless FOC instead of a sensory FOC to control the brushless motor 30. In order to avoid the problem of inaccurate position estimation of the brushless motor 30 in the sensorless FOC, the anti-pinch control method of the present invention may also include the following steps:

[0070] S600: When the rotation speed of the brushless motor 30 is higher than the preset upper limit or lower than the preset lower limit for a continuous preset time, the brushless motor 30 is controlled to restart.

[0071] When the rotation speed of the brushless motor 30 is higher than the preset upper limit or lower than the preset lower limit within a continuous preset time (for example, 500 milliseconds), it means that the brushless motor 30 is in a shaking state. In this state, the position will be lost and the anti-pinch misjudgment will be caused. At this time, the controller 20 can first stop the brushless motor 30 and then restart the brushless motor 30, that is, restart the brushless motor 30, thereby effectively avoiding the problem of position loss of the brushless motor 30.

[0072] The anti-pinch control method of the brushless motor in the embodiment of the present invention uses the sensorless FOC to control the brushless motor 30, and uses the Hall signal of the Hall sensor 40 to determine the rotation speed of the brushless motor 30 and the position information of the vehicle components. Anti-pinch control is performed based on the rotation speed of the brushless motor 30 and the position information of the vehicle components. This can not only solve the problems existing in the sensorless FOC, but also significantly reduce the cost compared to the solution with three Hall sensors.

[0073] like Figure 4 As shown, an embodiment of the present invention further provides an anti-pinch control device for a brushless motor, which is applied to a controller 20 and includes a first acquisition module 21 , a determination module 22 , a second acquisition module 23 , a judgment module 24 and an anti-pinch module 25 .

[0074] The first acquisition module 21 is used to acquire the Hall signal of the Hall sensor 40 after the brushless motor 30 is running.

[0075] The determination module 22 is used to determine the current rotation speed of the brushless motor 30 and the current position of the vehicle component according to the Hall signal.

[0076] In some embodiments, determining the current speed of the brushless motor according to the Hall signal specifically includes:

[0077] Get the time interval between the last two Hall signal changes;

[0078] The fixed rotation angle of the brushless motor corresponding to the Hall sector is divided by the time interval between the two most recent Hall signal changes to obtain the current speed of the brushless motor.

[0079] Determine the current position of vehicle components based on Hall signals, including:

[0080] Get the current count value of the Hall signal change;

[0081] The current position of the vehicle component is determined according to the current count value of the change of the Hall signal and the mapping relationship between the count value of the change of the Hall signal and the position of the vehicle component obtained in advance.

[0082] The second acquisition module 23 is used to acquire the current bus current of the brushless motor 30 .

[0083] The judgment module 24 is used to judge whether the brushless motor 30 is stalled according to the current rotation speed and the current bus current of the brushless motor 30 .

[0084] In some embodiments, judging whether the brushless motor is stalled according to the current speed of the brushless motor and the current bus current specifically includes:

[0085] If the current speed of the brushless motor decreases by a first preset threshold compared to the speed at the previous moment, and the current bus current of the brushless motor increases by a second preset threshold compared to the bus current at the previous moment, the brushless motor is stalled; otherwise, the brushless motor is not stalled.

[0086] The anti-pinch module 25 is used to execute anti-pinch measures according to the current position of the vehicle component when the judgment result of the judgment module 24 is yes.

[0087] In some embodiments, anti-pinch measures are performed according to the current position of the vehicle component, specifically including:

[0088] If the current position of the vehicle component is the preset position, the brushless motor is caused to rotate in the reverse direction;

[0089] If the current position of the vehicle component is not the preset position, the brushless motor is stopped.

[0090] In some embodiments, the anti-pinch control device for the brushless motor may further include a restart module, which is used to restart the brushless motor when the speed of the brushless motor is higher than a preset upper limit or lower than a preset lower limit for a continuous preset time.

[0091] The anti-pinch control device for the brushless motor in the embodiment of the present invention uses the sensorless FOC to control the brushless motor 30, and uses the Hall signal of the Hall sensor 40 to determine the rotation speed of the brushless motor 30 and the position information of the vehicle components. Anti-pinch control is performed based on the rotation speed of the brushless motor 30 and the position information of the vehicle components, which can not only solve the problems existing in the sensorless FOC, but also significantly reduce the cost compared to the solution with three Hall sensors.

[0092] It should be noted that the present invention (e.g., the inventive concept, etc.) has been described in the specification of this patent document and / or illustrated in the drawings according to the exemplary embodiments; the embodiments of the present invention are presented only by way of example and are not intended to limit the scope of the present invention. The structure and / or arrangement of the elements of the inventive concept embodied in the present invention as described in the specification and / or illustrated in the drawings is merely illustrative. Although the exemplary embodiments of the present invention have been described in detail in this patent document, it is readily understood by those of ordinary skill in the art that equivalents, modifications, variations, etc. of the subject matter of the exemplary embodiments and alternative embodiments are possible and are considered to be within the scope of the present invention; all of these subject matters (e.g., modifications, variations, embodiments, combinations, equivalents, etc.) are intended to be included within the scope of the present invention. It should also be noted that various / other modifications, changes, substitutions, equivalents, alterations, omissions, etc. may be made in the configuration and / or arrangement of the exemplary embodiments (e.g., in terms of concepts, designs, structures, devices, forms, assemblies, constructions, means, functions, systems, processes / methods, steps, the order of process / method steps, operations, operating conditions, performances, materials, compositions, combinations, etc.) without departing from the scope of the present invention; all of these subjects (e.g., modifications, changes, embodiments, combinations, equivalents, etc.) are intended to be included within the scope of the present invention. The scope of the present invention is not intended to be limited to the subject matter (e.g., details, structures, functions, materials, behaviors, steps, sequences, systems, results, etc.) described in the specification and / or drawings of this patent document. Considering that the claims of this patent document will be appropriately interpreted as covering the full scope of the subject matter of the present invention (e.g., including any and all such modifications, changes, embodiments, combinations, equivalents, etc.); it should be understood that the terms used in this patent document are intended to provide a description of the subject matter of the exemplary embodiments, rather than as a limitation on the scope of the present invention.

[0093] It should also be noted that, depending on the exemplary embodiment, the present invention may include conventional technologies (such as technologies implemented and / or integrated in exemplary embodiments, modifications, variations, combinations, equivalents), or may include any other applicable technologies (present and / or future) with the ability to perform the functions and processes / operations described in the specification and / or illustrated in the figures. All of these technologies (such as technologies implemented in embodiments, modifications, variations, combinations, equivalents, etc.) are considered to be within the scope of the present invention of this patent document.

Claims

1. A brushless motor anti-pinch control method, characterized in that: Applied to a controller, the controller is connected to a power supply and a brushless motor respectively, the brushless motor is connected to a vehicle component to drive the vehicle component to move, a Hall sensor is installed on the brushless motor, the controller is connected to the Hall sensor, and the power supply supplies power to the brushless motor and the Hall sensor through the controller; The method comprises: After the brushless motor is running, obtaining a Hall signal output by the Hall sensor; determining a current rotation speed of the brushless motor and a current position of the vehicle component according to the Hall signal; Obtaining the current bus current of the brushless motor; Determining whether the brushless motor is stalled according to the current speed of the brushless motor and the current bus current; If so, anti-pinch measures are performed according to the current position of the vehicle component.

2. The anti-pinch control method of the brushless motor according to claim 1, characterized in that: The rotation range of the brushless motor is divided into a plurality of Hall sectors, each Hall sector corresponds to a state of the Hall signal and a fixed rotation angle of the brushless motor, and whenever the brushless motor rotates from one Hall sector to another Hall sector, the Hall signal will change once; Determining the current speed of the brushless motor according to the Hall signal specifically includes: Get the time interval between the last two Hall signal changes; The fixed rotation angle of the brushless motor corresponding to the Hall sector is divided by the time interval between the two most recent Hall signal changes to obtain the current rotation speed of the brushless motor.

3. The anti-pinch control method of the brushless motor according to claim 2, characterized in that: The controller is configured to count the changes of the Hall signal, wherein when the brushless motor rotates in a first direction, each time the Hall signal changes once, the count value of the change of the Hall signal is increased by one, and when the brushless motor rotates in a second direction opposite to the first direction, each time the Hall signal changes once, the count value of the change of the Hall signal is decreased by one; Determining the current position of the vehicle component according to the Hall signal specifically includes: Obtaining a current count value of the change of the Hall signal; The current position of the vehicle component is determined according to the current count value of the change of the Hall signal and the pre-acquired mapping relationship between the count value of the change of the Hall signal and the position of the vehicle component.

4. The anti-pinch control method of the brushless motor according to claim 1, characterized in that: Determining whether the brushless motor is stalled according to the current speed of the brushless motor and the current bus current specifically includes: If the current speed of the brushless motor decreases by a first preset threshold value compared with the speed at the previous moment, and the current bus current of the brushless motor increases by a second preset threshold value compared with the bus current at the previous moment, the brushless motor is stalled; otherwise, the brushless motor is not stalled.

5. The anti-pinch control method of the brushless motor according to claim 1, characterized in that: Anti-pinch measures are performed according to the current position of the vehicle component, specifically including: If the current position of the vehicle component is the preset position, causing the brushless motor to rotate in the reverse direction; If the current position of the vehicle component is not the preset position, the brushless motor is stopped.

6. The anti-pinch control method of the brushless motor according to claim 1, characterized in that: Also includes: When the rotation speed of the brushless motor is higher than a preset upper limit or lower than a preset lower limit for a continuous preset time, the brushless motor is restarted.

7. An anti-pinch control device for a brushless motor, characterized in that: Applied to a controller, the controller is connected to a power supply and a brushless motor respectively, the brushless motor is connected to a vehicle component to drive the vehicle component to move, a Hall sensor is installed on the brushless motor, the controller is connected to the Hall sensor, and the power supply supplies power to the brushless motor and the Hall sensor through the controller; The device comprises: A first acquisition module, used for acquiring a Hall signal output by the Hall sensor after the brushless motor is running; a determination module, configured to determine a current rotation speed of the brushless motor and a current position of the vehicle component according to the Hall signal; A second acquisition module, used for acquiring the current bus current of the brushless motor; A judgment module, used for judging whether the brushless motor is stalled according to the current rotation speed and the current bus current of the brushless motor; The anti-pinch module is used to execute anti-pinch measures according to the current position of the vehicle component when the judgment result of the judgment module is yes.

8. The anti-pinch control device for a brushless motor according to claim 7, characterized in that: The rotation range of the brushless motor is divided into a plurality of Hall sectors, each Hall sector corresponds to a state of the Hall signal and a fixed rotation angle of the brushless motor, and whenever the brushless motor rotates from one Hall sector to another Hall sector, the Hall signal will change once; Determining the current speed of the brushless motor according to the Hall signal specifically includes: Get the time interval between the last two Hall signal changes; The fixed rotation angle of the brushless motor corresponding to the Hall sector is divided by the time interval between the two most recent Hall signal changes to obtain the current rotation speed of the brushless motor.

9. The anti-pinch control device for a brushless motor according to claim 8, characterized in that: The controller is configured to count the changes of the Hall signal, wherein when the brushless motor rotates in a first direction, each time the Hall signal changes once, the count value of the change of the Hall signal is increased by one, and when the brushless motor rotates in a second direction opposite to the first direction, each time the Hall signal changes once, the count value of the change of the Hall signal is decreased by one; Determining the current position of the vehicle component according to the Hall signal specifically includes: Obtaining a current count value of the change of the Hall signal; The current position of the vehicle component is determined according to the current count value of the change of the Hall signal and the pre-acquired mapping relationship between the count value of the change of the Hall signal and the position of the vehicle component.

10. The anti-pinch control device for a brushless motor according to claim 7, characterized in that: Determining whether the brushless motor is stalled according to the current speed of the brushless motor and the current bus current specifically includes: If the current speed of the brushless motor decreases by a first preset threshold value compared with the speed at the previous moment, and the current bus current of the brushless motor increases by a second preset threshold value compared with the bus current at the previous moment, the brushless motor is stalled; otherwise, the brushless motor is not stalled.

11. The anti-pinch control device for a brushless motor according to claim 7, characterized in that: Anti-pinch measures are performed according to the current position of the vehicle component, specifically including: If the current position of the vehicle component is the preset position, causing the brushless motor to rotate in the reverse direction; If the current position of the vehicle component is not the preset position, the brushless motor is stopped.

12. The anti-pinch control device for a brushless motor according to claim 7, characterized in that: Also includes: The restart module is used to restart the brushless motor when the rotation speed of the brushless motor is higher than a preset upper limit or lower than a preset lower limit for a continuous preset time.

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