Vehicle body opening and closing system control method, controller, vehicle, medium and product

Abstract

The invention relates to a control method of a vehicle body opening and closing system, a controller, a vehicle, a medium and a product. The method comprises the steps that environment information of the environment where the vehicle is located is determined; according to the environment information, target control parameters of a fuzzy PID controller are determined, and the fuzzy PID controller is used for controlling a vehicle body opening and closing system of the vehicle; and a vehicle body opening and closing system is controlled through a fuzzy PID controller according to the target control parameters. The control parameters of the fuzzy PID controller can be determined according to the environmental information, so that the control parameters of the fuzzy PID controller can be adaptively adjusted according to the environmental information, and the fuzzy PID controller can adaptively control the vehicle body opening and closing system according to the environmental condition when controlling the vehicle body opening and closing system, so that the vehicle body opening and closing system can be more accurately controlled. And therefore, the control accuracy and stability of the vehicle body opening and closing system are improved.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle technology, and in particular, to a control method, a controller, a vehicle, a medium and a product of a vehicle body opening and closing system. Background Art

[0002] The vehicle body opening and closing system is an important system in the vehicle system, which is used to control the opening and closing of doors and windows, etc. In the related art, the vehicle body opening and closing system is generally controlled based on the PID control algorithm, which has problems such as poor control effect. Summary of the invention

[0003] The purpose of the present disclosure is to provide a control method, a controller, a vehicle, a medium and a product of a vehicle body opening and closing system to solve the above-mentioned technical problems.

[0004] In order to achieve the above-mentioned object, the present disclosure provides a control method of a vehicle body opening and closing system in a first aspect, the control method comprising: Determine environmental information of the vehicle's environment; Determining target control parameters of a fuzzy PID controller according to the environmental information, wherein the fuzzy PID controller is used to control a body opening and closing system of the vehicle; The vehicle body opening and closing system is controlled by the fuzzy PID controller according to the target control parameter.

[0005] Optionally, determining a target control parameter of a fuzzy PID controller according to the environmental information includes: Determining, based on the environmental information, desired control information for a motor for driving the vehicle body opening and closing system, and determining operating parameters of the motor; According to the desired control information and the operating parameters, target control parameters of the fuzzy PID controller are determined.

[0006] Optionally, determining, according to the environmental information, desired control information for a motor driving the vehicle body opening and closing system includes: Determining, based on the environmental information, desired control parameters of the vehicle body opening and closing system; Desired control information of a motor for driving the vehicle body opening and closing system is determined based on the desired control parameters and a preset correspondence, wherein the preset correspondence is used to characterize the correspondence between the control parameters of the vehicle body opening and closing system and the control information of the motor.

[0007] Optionally, determining the desired control parameters of the vehicle body opening and closing system according to the environmental information includes: Determining torque information of the vehicle body opening and closing system according to the environmental information; In response to the torque information changing compared to historical torque information, a desired control parameter of the vehicle body opening and closing system is determined, wherein the historical torque information is used to represent the torque information of the vehicle body opening and closing system determined last time based on the environmental information.

[0008] Optionally, the operating parameters include motor speed, motor current and motor position, the desired control information includes a kinematic curve for describing a relationship between the motor position and the motor speed, and determining a target control parameter of the fuzzy PID controller according to the desired control information and the operating parameters includes: Determining a desired speed of the motor based on the motor position and the kinematic curve; Determining initial control parameters of the fuzzy PID controller according to the motor speed, the expected speed and a preset first fuzzy rule; Determining a reference current of the motor according to the initial control parameter, the motor speed and the desired speed; The target control parameter of the fuzzy PID controller is determined according to the motor current, the reference current and a preset second fuzzy rule.

[0009] Optionally, determining, based on the environmental information, desired control information for a motor driving the vehicle body opening and closing system includes: At least one of the following desired control information of the motor for driving the vehicle body opening and closing system is determined according to the environmental information: a rotor operation period of the motor, a rotor frequency of the motor, a dynamic curve of the motor, and a kinematic curve of the motor.

[0010] Optionally, the determining of environmental information of the environment in which the vehicle is located includes: Determine the environmental information of the vehicle's environment in at least one of the following ways: Determining slope information of the location of the vehicle; Determining wind direction information and / or wind speed information at the location of the vehicle; Negative pressure information at the location of the vehicle is determined.

[0011] A second aspect of the present disclosure provides a controller, the controller comprising: processor; a memory for storing processor-executable instructions; Wherein, the processor is configured to: execute the steps of any method described in the first aspect.

[0012] A third aspect of the present disclosure provides a vehicle, comprising a vehicle body opening and closing system and the controller described in the second aspect.

[0013] A fourth aspect of the present disclosure provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any one of the methods described in the first aspect.

[0014] A fifth aspect of the present disclosure provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of any one of the methods in the first aspect.

[0015] Through the above technical solution, the target control parameters of the fuzzy PID controller can be determined according to the environmental information of the environment in which the vehicle is located, so that the fuzzy PID controller can control the vehicle body opening and closing system according to the target control parameters. Since the control parameters of the fuzzy PID controller can be determined according to the environmental information, the control parameters of the fuzzy PID controller can be adaptively adjusted according to the environmental information, so that when the fuzzy PID controller controls the vehicle body opening and closing system, it can adaptively control the vehicle body opening and closing system according to the environmental conditions, thereby improving the control accuracy and stability of the vehicle body opening and closing system. In addition, since the control parameters of the fuzzy PID controller can be adaptively adjusted according to the environmental information, the fuzzy PID controller can better adapt to the nonlinearity of the vehicle body opening and closing system, thereby being able to more effectively cope with the opening and closing requirements of complex curves of the vehicle body, further improving the control accuracy and stability of the vehicle body opening and closing system.

[0016] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings: Figure 1 is a flow chart showing a control method of a vehicle body opening and closing system according to an exemplary embodiment of the present disclosure; Figure 2 is a flow chart of a fuzzy magnetic field oriented control algorithm according to an exemplary embodiment of the present disclosure; Figure 3 is a flowchart showing a fuzzy controller implementation according to an exemplary embodiment of the present disclosure; Figure 4 is a flow chart showing a vehicle body opening and closing system controlled by a fuzzy magnetic field orientation according to an exemplary embodiment of the present disclosure; Figure 5 The invention is a block diagram of a control device of a vehicle body opening and closing system according to an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0018] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0019] In the present disclosure, unless otherwise stated, directional words such as "upper" and "lower" are defined according to the actual arrangement of the battery assembly, and directional words such as "inside" and "outside" are defined with respect to the outline of the corresponding component. The terms "first, second" and the like are used for the purpose of distinguishing different components and do not have order or importance. In addition, in the following description, when referring to the drawings, unless otherwise explained, the same figure numbers in different drawings represent the same or similar elements.

[0020] As mentioned in the background technology, in the related technology, the body opening and closing system is usually controlled by a PID (PropotionIntegration Derivation) control algorithm, which adjusts the output control signal according to the error, error integral and error differential of the body opening and closing system. Although this control method can convert the error into a driving force index and reduce the error by adjusting the driving force, the body opening and closing system has different characteristics in different environments, and the control parameters in the PID control algorithm are pre-set and unchanged, which makes it difficult for the PID control algorithm to adapt to the variability of the external environment, thereby affecting the accuracy and stability of the control.

[0021] In view of this, the embodiments of the present disclosure provide a control method, a controller, a vehicle, a medium and a product of a vehicle body opening and closing system to solve the above-mentioned technical problems.

[0022] The embodiments of the present disclosure are further explained below with reference to the accompanying drawings.

[0023] Figure 1 is a flow chart of a control method of a vehicle body opening and closing system according to an exemplary embodiment of the present disclosure, referring to Figure 1 , the control method may include the following steps: S101: Determine environmental information of the environment in which the vehicle is located.

[0024] Among possible ways, determining the environmental information of the environment in which the vehicle is located may include: Determine the environmental information of the vehicle's environment in at least one of the following ways: Determine the slope information of the vehicle's location; determine the wind direction information and / or wind speed information of the vehicle's location; determine the negative pressure information of the vehicle's location.

[0025] For example, a pendulum angular displacement sensor can be installed on the vehicle, so that the change in the inclination angle of the vehicle relative to the horizontal plane can be measured by the pendulum angular displacement sensor, so as to determine the slope information of the vehicle's location. Alternatively, the terrain parameters of the vehicle's location can be obtained through the network, so as to obtain the slope information of the vehicle's location. For example, the weather information of the vehicle's location can be obtained through the network, so as to obtain the wind direction information and / or wind speed information of the vehicle's location. Alternatively, a wind direction and anemometer can be installed on the vehicle, so as to determine the wind direction information and / or wind speed information of the vehicle's location in real time. For example, the driving speed of the vehicle can be obtained, and then the negative pressure information of the vehicle's location can be determined based on the driving speed and the aerodynamic characteristics of the vehicle.

[0026] S102: Determine target control parameters of a fuzzy PID controller according to environmental information, where the fuzzy PID controller is used to control a vehicle body opening and closing system.

[0027] In a possible manner, determining the target control parameters of the fuzzy PID controller according to the environmental information may include: According to the environmental information, the desired control information of the motor for driving the vehicle body opening and closing system is determined, and the operating parameters of the motor are determined; according to the desired control information and the operating parameters, the target control parameters of the fuzzy PID controller are determined.

[0028] In this embodiment, the desired control information can be determined according to actual conditions, and the embodiments of the present disclosure do not impose any restrictions on this. In a possible manner, the desired control information may include the rotor operation cycle of the motor, the rotor frequency of the motor, a dynamic curve for describing the relationship between the motor position and the motor speed, and / or a kinematic curve for describing the relationship between the motor acceleration and time. Accordingly, according to the environmental information, the desired control information of the motor used to drive the vehicle body opening and closing system may include: At least one of the following desired control information of a motor for driving the vehicle body opening and closing system is determined according to the environmental information: a rotor operation cycle of the motor, a rotor frequency of the motor, a dynamic curve of the motor, and a kinematic curve of the motor.

[0029] In this embodiment, the operating parameters of the motor may include motor position, motor speed, motor current, etc., which can be specifically determined according to the control variables of the fuzzy PID controller, and the embodiment of the present disclosure does not impose any limitation on this.

[0030] For example, when the control variable of the fuzzy PID controller includes the motor current, the operating parameter of the motor may include the motor current. When the control variable of the fuzzy PID controller includes the motor current and the motor speed, the operating parameter of the motor may include the motor current and the motor speed. When the control variable of the fuzzy PID controller includes the motor current and the motor position, the operating parameter of the motor may include the motor current and the motor position.

[0031] After the desired control information and operating parameters are determined, the target control parameters of the fuzzy PID controller can be determined based on the desired control information and operating parameters.

[0032] In a possible manner, the operating parameters may include motor speed, motor current and motor position, and the desired control information may include a kinematic curve for describing the relationship between the motor position and the motor speed. Accordingly, determining the target control parameters of the fuzzy PID controller according to the desired control information and the operating parameters may include: Determine the desired speed of the motor according to the motor position and kinematic curve; determine the initial control parameters of the fuzzy PID controller according to the motor speed, the desired speed and a preset first fuzzy rule; determine the reference current of the motor according to the initial control parameters, the motor speed and the desired speed; determine the target control parameters of the fuzzy PID controller according to the motor current, the reference current and a preset second fuzzy rule.

[0033] For example, Figure 2 and Figure 3 As shown, after determining the desired speed of the motor, the proportional coefficient Kp, the integral coefficient Ki and the differential coefficient Kd can be adjusted using the fuzzy magnetic field oriented control algorithm. That is, the speed difference between the desired speed and the motor speed can be calculated first; then the speed difference can be input into the fuzzy controller, so that the fuzzy controller can perform fuzzification processing on the speed difference according to the first fuzzy rule to obtain the speed difference fuzzy quantity, and then perform fuzzy reasoning processing on the speed difference fuzzy quantity to obtain the first fuzzy control quantity of the fuzzy PID controller, and finally perform defuzzification processing on the first fuzzy control quantity to obtain the initial control parameters.

[0034] After obtaining the initial control parameters, the fuzzy PID controller can first obtain the reference current of the motor according to the initial control parameters and the speed difference; then, calculate the current difference between the reference current and the motor current, and input the current difference into the fuzzy PID controller so that the fuzzy PID controller performs fuzzy processing on the current difference according to the second fuzzy rule to obtain the current difference fuzzy quantity, and then performs fuzzy reasoning processing on the current difference fuzzy quantity to obtain the second fuzzy control quantity of the fuzzy PID controller; finally, the second fuzzy control quantity is defuzzified to obtain the target control parameters, namely the proportional coefficient Kp, integral coefficient Ki and differential coefficient Kd of the fuzzy PID controller.

[0035] That is to say, the input variables and output variables of the fuzzy PID controller can be determined, the fuzzy rule base can be determined, the input of the fuzzy PID controller can be obtained, the input can be fuzzified, the membership of the fuzzy rules can be calculated, the output of the rules can be calculated, the output of the rules can be aggregated, and the output can be defuzzified. In a possible way, the process can be as follows: Step S1: Determine the input variable (i.e., motor speed or motor current) and output variable (i.e., current regulation coefficient, i.e., proportional coefficient Kp, integral coefficient Ki and differential coefficient Kd) of the fuzzy PID controller; Step S2: Determine a fuzzy rule base, including fuzzy sets, membership functions and fuzzy rules; Step S3: Obtain the input of the fuzzy PID controller, i.e., speed difference or current difference; Step S4: fuzzify the input and map it to the fuzzy set; Step S5: Calculate the membership degree of each rule according to the fuzzy rule base; Step S6: Calculate the output of each rule; Step S7: Aggregate the output of the rules to obtain the output of the fuzzy PID controller; Step S8: Defuzzify the output to obtain the proportional coefficient Kp, integral coefficient Ki and differential coefficient Kd.

[0036] In the above manner, the fuzzy input can be converted into an accurate control signal through the processes of fuzzification, reasoning and defuzzification, thereby realizing the control of the vehicle body opening and closing system. In addition, since the fuzzy magnetic field oriented control combines fuzzification processing with the PID control algorithm, it can overcome the problems of high requirements on the system model and poor control effect on nonlinear systems in the traditional PID control method, thereby realizing high-precision control of magnetic field orientation.

[0037] S103: Controlling the vehicle body opening and closing system according to the target control parameters through the fuzzy PID controller.

[0038] For example, continue to refer to Figure 2As shown, after obtaining the target control parameters, the fuzzy PID controller can obtain the q-axis reference voltage and d-axis reference voltage of the motor according to the target control parameters and the current difference, and then perform Park inverse transformation on the q-axis reference voltage and the d-axis reference voltage respectively to obtain the α-axis reference voltage and the β-axis reference voltage, and then perform vector pulse width modulation on the α-axis reference voltage and the β-axis reference voltage to obtain the PWM waveform and input it into the three-phase inverter to obtain the three-phase voltage, namely: Va, Vb and Vc. The three-phase voltage is input into the motor to control the vehicle body opening and closing system. After that, on the one hand, the three-phase current of the motor, namely: Ia, Ib and Ic, can be collected through the current sensor, and then the three-phase current can be Clark transformed to obtain the α-axis current and the β-axis current, and the α-axis current and the β-axis current can be Park transformed to obtain the q-axis current and the d-axis current, that is, the motor current. On the other hand, the motor position can be obtained through the position sensor, and the motor speed and reference speed can be determined according to the motor position. Finally, the target control parameters of the fuzzy PID controller can be re-determined according to the motor speed, motor position, motor current and kinematic curve, and the vehicle body opening and closing system can be controlled by the fuzzy PID controller according to the target control parameters, thereby realizing adaptive adjustment of the vehicle body opening and closing system.

[0039] That is to say, the vehicle body opening and closing system may include a brushless motor, a current sensor, a position sensor, a fuzzy PID controller and an inverter. Among them, the brushless motor can obtain current information and position information through the current sensor and the position sensor respectively, and transmit them to the fuzzy PID controller. The fuzzy PID controller calculates the current command required for magnetic field oriented control based on the current information and position information, and converts it into a corresponding voltage command. The inverter receives the voltage command, converts the voltage of the DC power supply into the voltage of the AC power supply, and then inputs it into the stator winding of the brushless motor. According to the rotor position of the brushless motor, the switching state of the inverter is controlled to achieve precise control of the magnetic field orientation of the brushless motor. At the same time, the fuzzy PID controller can also adjust the current command according to the rotor position and magnetic field orientation of the brushless motor to achieve closed-loop control. In a possible manner, the control steps can be as follows: Step 1: Obtain the current data and position data of the brushless motor, which provides basic information of the real-time operating status for subsequent control; Step 2: Based on the collected current data and position data, the fuzzy PID controller is used to calculate the field-oriented control parameters required for the current state, namely, the current adjustment coefficients Kp, Ki and Kd; this calculation refers to the above steps S1 to S8 to ensure the accuracy and stability of the precise control of the motor; Step 3: Convert the calculated current command into a corresponding voltage command to provide a specific control signal for subsequent steps; Step 4: Using the inverter, adjust and convert the voltage of the DC power supply according to the voltage command to obtain the required AC power supply voltage to meet the needs of motor operation; Step 5: Input the regulated AC power voltage to the stator winding of the brushless motor to provide the motor with the power required for precise control; Step 6: According to the current position of the brushless motor rotor, control the switching state of the inverter to accurately adjust the magnetic field direction of the brushless motor to ensure the accuracy and stability of its operating state; Step 7: According to the position of the brushless motor rotor and the magnetic field orientation, adjust the current control coefficients Kp, Ki and Kd again to achieve closed-loop control and ensure that the motor runs in the best condition.

[0040] Through the above technical solution, the target control parameters of the fuzzy PID controller can be determined according to the environmental information of the environment in which the vehicle is located, so that the fuzzy PID controller can control the vehicle body opening and closing system according to the target control parameters. Since the control parameters of the fuzzy PID controller can be determined according to the environmental information, the control parameters of the fuzzy PID controller can be adaptively adjusted according to the environmental information, so that when the fuzzy PID controller controls the vehicle body opening and closing system, it can adaptively control the vehicle body opening and closing system according to the environmental conditions, thereby improving the control accuracy and stability of the vehicle body opening and closing system. In addition, since the control parameters of the fuzzy PID controller can be adaptively adjusted according to the environmental information, the fuzzy PID controller can better adapt to the nonlinearity of the vehicle body opening and closing system, thereby being able to more effectively cope with the opening and closing requirements of complex curves of the vehicle body, further improving the control accuracy and stability of the vehicle body opening and closing system.

[0041] In a possible manner, determining the desired control information for driving the motor of the vehicle body opening and closing system according to the environmental information may include: Based on the environmental information, the desired control parameters of the vehicle body opening and closing system are determined; based on the desired control parameters and the preset corresponding relationship, the desired control information of the motor used to drive the vehicle body opening and closing system is determined, wherein the preset corresponding relationship is used to characterize the corresponding relationship between the control parameters of the vehicle body opening and closing system and the control information of the motor.

[0042] It should be understood that the control parameters of the vehicle body opening and closing system generally include opening and closing time, opening and closing speed, and opening and closing stroke, and thus, the expected control parameters may include expected opening and closing time, expected opening and closing speed, and expected opening and closing stroke. In this embodiment, the expected opening and closing speed can be used to characterize the opening and closing speed of the vehicle in the current environment, and can be obtained by a position sensor, such as a Hall sensor, to obtain the position change of the motor in the time period T, and then determined according to the position change and the time period T. The expected opening and closing stroke can be used to characterize the opening and closing stroke of the vehicle in the current environment, and can be obtained by counting the Hall sensor, that is: for every rotation of the motor, the Hall sensor will have 4 high potentials. By calculating the number of high potentials, the number of rotations of the motor can be determined, and the opening and closing stroke can be obtained according to the corresponding relationship between the number of rotations, the reduction ratio of the rear-end reduction box and the structure. The expected opening and closing time can be used to characterize the opening and closing time of the vehicle in the current environment, and can be determined according to the expected opening and closing stroke and the expected opening and closing speed.

[0043] After the desired control parameters are determined according to the environmental information, the desired control information of the motor for driving the vehicle body opening and closing system can be determined according to the desired control parameters and the preset corresponding relationship.

[0044] In a possible manner, determining the desired control parameters of the vehicle body opening and closing system according to the environmental information may include: Based on environmental information, determine the torque information of the vehicle body opening and closing system; in response to the torque information changing compared with historical torque information, determine the desired control parameters of the vehicle body opening and closing system, wherein the historical torque information is used to characterize the torque information of the vehicle body opening and closing system determined last time based on environmental information.

[0045] In this embodiment, the torque information may include the torque magnitude. Therefore, in response to the change in the torque information compared with the historical torque information, the desired control parameters of the vehicle body opening and closing system may be determined by: detecting a change in the torque magnitude, determining the desired control parameters of the vehicle body opening and closing system, or detecting a change in the torque magnitude, and the magnitude of the change in the torque magnitude is greater than a preset magnitude of the change, determining the desired control parameters of the vehicle body opening and closing system, and of course, other methods may be used, and the disclosed embodiment does not impose any restrictions on this.

[0046] It should be understood that when the vehicle body opening and closing system is subjected to external forces, the torque information of the vehicle body opening and closing system will change. Therefore, in order to ensure that the door can be opened and closed smoothly and safely, this embodiment determines the torque information of the vehicle body opening and closing system, and when the torque information changes, it can dynamically adjust the desired control parameters of the vehicle body opening and closing system, and can dynamically adjust the desired control information according to the desired control parameters, and can dynamically adjust the target control parameters of the fuzzy PID controller according to the desired control information, so that the fuzzy PID controller can adaptively control the vehicle body opening and closing system according to the environmental conditions when controlling the vehicle body opening and closing system, thereby improving the control accuracy and stability of the vehicle body opening and closing system.

[0047] To facilitate understanding of the control method of the vehicle body opening and closing system provided by the present disclosure, a possible implementation of the control method is described below in combination with various steps: Reference Figure 4 As shown, the vehicle body opening and closing system in this embodiment may include a domain control system, a brushless DC motor and a vehicle body opening and closing system based on fuzzy magnetic field oriented control. Among them, the domain control system is located inside the vehicle and communicates with the entire vehicle through the CAN bus. It is used to process the task of electric opening and closing action signals of the vehicle body opening and closing system, and at the same time provide power output for the electric limiter motor to perform the opening or closing action of the door. The brushless DC motor is an electromagnetic device that operates based on the law of electromagnetic induction. Its core function is to generate driving torque as a power source for various electrical appliances or machinery. In the vehicle body opening and closing system, these brushless DC motors are mainly used to drive the opening and closing movements of components such as vehicle side doors, sunroofs, back doors, wiper systems, and lifting systems.

[0048] When the vehicle body opening and closing system starts to be controlled, the domain controller in the domain control system can first give control information (such as kinematic curves, dynamic curves, cycles and frequencies, etc.) according to the historical movement of the vehicle body opening and closing system, so as to control the DC brushless motor to move according to the control information through the fuzzy PID controller in the domain control system, and feed back the motor speed and motor position to the fuzzy PID controller. The DC brushless motor drives the opening and closing parts to move, forming a closed-loop system. When the system balance is destroyed (for example, manual assistance during opening and closing, collision or object clamping during opening and closing, up and down slopes during opening and closing, high-speed driving during opening and closing, and / or crosswind during opening and closing, etc.), the movement of the opening and closing parts changes. On the one hand, the vehicle body opening and closing system feeds back the driving force to the motor to adjust the speed and position of the motor, etc. On the other hand, the Hall sensor is used to determine the expected opening and closing speed and the expected opening and closing stroke, and the expected control information is determined according to the expected opening and closing speed and the expected opening and closing stroke and the preset corresponding relationship, so as to control the movement of the DC brushless motor through the expected control information.

[0049] At the same time, in order to make the actual motion state of the brushless DC motor better follow the new kinematic curve, the desired speed of the motor can be determined according to the motor position and the kinematic curve; then the proportional coefficient Kp, the integral coefficient Ki and the differential coefficient Kd are adjusted using the fuzzy magnetic field oriented control algorithm. That is: the speed difference between the desired speed and the motor speed is calculated, and the speed difference is input into the fuzzy controller, so that the speed difference is fuzzified according to the first fuzzy rule by the fuzzy controller to obtain the speed difference fuzzy quantity, and then the speed difference fuzzy quantity is fuzzy inferred to obtain the first fuzzy control quantity of the fuzzy PID controller, and finally the first fuzzy control quantity is defuzzified to obtain the initial control parameters. After obtaining the initial control parameters, the fuzzy PID controller can first obtain the reference current of the motor according to the initial control parameters and the speed difference; then, calculate the current difference between the reference current and the motor current, and input the current difference into the fuzzy PID controller so that the fuzzy PID controller performs fuzzy processing on the current difference according to the second fuzzy rule to obtain the current difference fuzzy quantity, and then performs fuzzy reasoning processing on the current difference fuzzy quantity to obtain the second fuzzy control quantity of the fuzzy PID controller; finally, the second fuzzy control quantity is defuzzified to obtain the target control parameters, namely the proportional coefficient Kp, integral coefficient Ki and differential coefficient Kd of the fuzzy PID controller.

[0050] After obtaining the target control parameters, the fuzzy PID controller can obtain the q-axis reference voltage and d-axis reference voltage of the motor according to the target control parameters and the current difference, and then perform Park inverse transformation on the q-axis reference voltage and the d-axis reference voltage respectively to obtain the α-axis reference voltage and the β-axis reference voltage, and then perform vector pulse width modulation on the α-axis reference voltage and the β-axis reference voltage to obtain the PWM waveform and input it into the three-phase inverter to obtain the three-phase voltage, namely: Va, Vb and Vc. The three-phase voltage is input into the motor to control the vehicle body opening and closing system. After that, on the one hand, the three-phase current of the motor, namely: Ia, Ib and Ic, can be collected through the current sensor, and then the three-phase current can be Clark transformed to obtain the α-axis current and the β-axis current, and the α-axis current and the β-axis current can be Park transformed to obtain the q-axis current and the d-axis current, that is, the motor current. On the other hand, the motor position can be obtained through the position sensor, and the motor speed and reference speed can be determined according to the motor position. Finally, the target control parameters of the fuzzy PID controller can be re-determined according to the motor speed, motor position, motor current and kinematic curve, and the vehicle body opening and closing system can be controlled by the fuzzy PID controller according to the target control parameters, thereby realizing adaptive adjustment of the vehicle body opening and closing system to maintain a new equilibrium state and form a double closed-loop system.

[0051] In this embodiment, by embedding the fuzzy PID controller into the magnetic field orientation algorithm, since the proportional coefficient Kp, integral coefficient Ki and differential coefficient Kd of the fuzzy PID controller can be adaptively adjusted according to environmental information, when the external environment of the vehicle changes (for example, complex working conditions such as uphill and downhill, high-speed driving and encountering crosswind) or the body opening and closing system encounters manual assistance, collision or object clamping during movement, resulting in the change of the force of the body opening and closing system, the proportional coefficient Kp, integral coefficient Ki and differential coefficient Kd of the fuzzy PID controller can be changed according to the force conditions, so that the opening and closing speed, opening and closing time and opening and closing stroke of the body opening and closing system can be reliably controlled, thereby realizing the adaptive adjustment of the body opening and closing system. In addition, since the fuzzy PID controller combines the advantages of traditional PID control and fuzzy logic control, the proportional coefficient Kp, integral coefficient Ki and differential coefficient Kd of the fuzzy PID controller can be adjusted online, thereby enabling the fuzzy PID controller to better adapt to the nonlinearity of the body opening and closing system, thereby being able to more effectively cope with the opening and closing requirements of complex curves of the body, and further improving the control accuracy and stability of the body opening and closing system.

[0052] Based on the same concept, the embodiment of the present disclosure also provides a control device for a vehicle body opening and closing system, such as Figure 5 As shown, the control device 500 may include: A first determination module 501 is used to determine environmental information of the environment in which the vehicle is located; A second determination module 502 is used to determine a target control parameter of a fuzzy PID controller according to environmental information, where the fuzzy PID controller is used to control a vehicle body opening and closing system; The control module 503 is used to control the vehicle body opening and closing system according to the target control parameters through the fuzzy PID controller.

[0053] Through the control device 500 of the vehicle body opening and closing system, the target control parameters of the fuzzy PID controller can be determined according to the environmental information of the environment in which the vehicle is located, so that the fuzzy PID controller can control the vehicle body opening and closing system according to the target control parameters. Since the control parameters of the fuzzy PID controller can be determined according to the environmental information, the control parameters of the fuzzy PID controller can be adaptively adjusted according to the environmental information, so that when the fuzzy PID controller controls the vehicle body opening and closing system, it can adaptively control the vehicle body opening and closing system according to the environmental conditions, thereby improving the control accuracy and stability of the vehicle body opening and closing system. In addition, since the control parameters of the fuzzy PID controller can be adaptively adjusted according to the environmental information, the fuzzy PID controller can better adapt to the nonlinearity of the vehicle body opening and closing system, thereby being able to more effectively cope with the opening and closing requirements of complex curves of the vehicle body, further improving the control accuracy and stability of the vehicle body opening and closing system.

[0054] In a possible manner, the second determining module 502 may include: A first determination submodule, for determining, based on the environmental information, desired control information of a motor for driving the vehicle body opening and closing system, and determining operating parameters of the motor; The second determination submodule is used to determine the target control parameters of the fuzzy PID controller according to the expected control information and the operating parameters.

[0055] In a possible manner, the first determining submodule may include: A first determining unit, configured to determine a desired control parameter of a vehicle body opening and closing system according to environmental information; The second determination unit is used to determine the desired control information of the motor for driving the vehicle body opening and closing system according to the desired control parameters and the preset corresponding relationship, wherein the preset corresponding relationship is used to characterize the corresponding relationship between the control parameters of the vehicle body opening and closing system and the control information of the motor.

[0056] In a possible manner, the first determining unit may include: A first determining subunit, used to determine torque information of a vehicle body opening and closing system according to environmental information; The second determination subunit is used to determine the desired control parameters of the vehicle body opening and closing system in response to the torque information changing compared with the historical torque information, wherein the historical torque information is used to represent the torque information of the vehicle body opening and closing system determined last time based on the environmental information.

[0057] In a possible manner, the operating parameters may include motor speed, motor current and motor position, and the desired control information may include a kinematic curve for describing the relationship between the motor position and the motor speed. Accordingly, the second determination submodule may include: a third determining unit, configured to determine a desired speed of the motor according to the motor position and the kinematic curve; a fourth determining unit, configured to determine initial control parameters of the fuzzy PID controller according to the motor speed, the expected speed and a preset first fuzzy rule; a fifth determining unit, configured to determine a reference current of the motor according to the initial control parameter, the motor speed and the expected speed; The sixth determining unit is used to determine the target control parameter of the fuzzy PID controller according to the motor current, the reference current and the preset second fuzzy rule.

[0058] In a possible manner, the first determination submodule can be used to determine at least one of the following desired control information of the motor used to drive the vehicle body opening and closing system based on environmental information: the rotor operating cycle of the motor, the rotor frequency of the motor, the dynamic curve of the motor, and the kinematic curve of the motor.

[0059] In a possible manner, the first determination module 501 can be used to determine environmental information of the vehicle's environment in at least one of the following ways: determining slope information at the vehicle's location; determining wind direction information and / or wind speed information at the vehicle's location; determining negative pressure information at the vehicle's location.

[0060] Regarding the control device 500 of the vehicle body opening and closing system in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0061] Based on the same concept, the embodiment of the present disclosure further provides a controller, the controller comprising: processor; a memory for storing processor-executable instructions; Wherein, the processor is configured to: execute the steps of the above-mentioned control method of the vehicle body opening and closing system.

[0062] Based on the same concept, an embodiment of the present disclosure also provides a vehicle, including a vehicle body opening and closing system and the above-mentioned controller.

[0063] Based on the same concept, an embodiment of the present disclosure further provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the control method of the vehicle body opening and closing system are implemented.

[0064] Based on the same concept, an embodiment of the present disclosure also provides a computer program product, including a computer program, which implements the steps of the control method of the above vehicle body opening and closing system when executed by a processor.

[0065] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0066] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0067] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A control method for a vehicle body opening and closing system, characterized in that: The control method comprises: Determine environmental information of the vehicle's environment; Determining target control parameters of a fuzzy PID controller according to the environmental information, wherein the fuzzy PID controller is used to control a body opening and closing system of the vehicle; The vehicle body opening and closing system is controlled by the fuzzy PID controller according to the target control parameter.

2. The control method according to claim 1, characterized in that: Determining the target control parameters of the fuzzy PID controller according to the environmental information includes: Determining, based on the environmental information, desired control information for a motor for driving the vehicle body opening and closing system, and determining operating parameters of the motor; According to the desired control information and the operating parameters, target control parameters of the fuzzy PID controller are determined.

3. The control method according to claim 2, characterized in that: The step of determining, based on the environmental information, desired control information for driving a motor of the vehicle body opening and closing system includes: Determining, based on the environmental information, desired control parameters of the vehicle body opening and closing system; Desired control information of a motor for driving the vehicle body opening and closing system is determined based on the desired control parameters and a preset correspondence, wherein the preset correspondence is used to characterize the correspondence between the control parameters of the vehicle body opening and closing system and the control information of the motor.

4. The control method according to claim 3, characterized in that: Determining the desired control parameters of the vehicle body opening and closing system according to the environmental information includes: Determining torque information of the vehicle body opening and closing system according to the environmental information; In response to the torque information changing compared to historical torque information, a desired control parameter of the vehicle body opening and closing system is determined, wherein the historical torque information is used to represent the torque information of the vehicle body opening and closing system determined last time based on the environmental information.

5. The control method according to claim 2, characterized in that: The operating parameters include motor speed, motor current and motor position, the desired control information includes a kinematic curve for describing the relationship between the motor position and the motor speed, and determining the target control parameters of the fuzzy PID controller according to the desired control information and the operating parameters includes: Determining a desired speed of the motor based on the motor position and the kinematic curve; Determining initial control parameters of the fuzzy PID controller according to the motor speed, the expected speed and a preset first fuzzy rule; Determining a reference current of the motor according to the initial control parameter, the motor speed and the desired speed; The target control parameter of the fuzzy PID controller is determined according to the motor current, the reference current and a preset second fuzzy rule.

6. The control method according to claim 2, characterized in that: The step of determining, based on the environmental information, desired control information for driving a motor of the vehicle body opening and closing system includes: At least one of the following desired control information of the motor for driving the vehicle body opening and closing system is determined according to the environmental information: a rotor operation period of the motor, a rotor frequency of the motor, a dynamic curve of the motor, and a kinematic curve of the motor.

7. The control method according to any one of claims 1 to 6, characterized in that: The determining of the environmental information of the environment in which the vehicle is located includes: Determine the environmental information of the vehicle's environment in at least one of the following ways: Determining slope information of the location of the vehicle; Determining wind direction information and / or wind speed information at the location of the vehicle; Negative pressure information at the location of the vehicle is determined.

8. A controller, characterized in that: The controller comprises: processor; a memory for storing processor-executable instructions; The processor is configured to execute the steps of the method according to any one of claims 1 to 7.

9. A vehicle, characterized in that: The invention comprises a vehicle body opening and closing system and the controller as claimed in claim 8.

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

11. A computer program product, characterized in that The invention comprises a computer program, which, when executed by a processor, implements the steps of the method according to any one of claims 1 to 7.

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