Control method, controller, vehicle, medium, and product for a vehicle body opening and closing system

Abstract

The present disclosure relates to a control method, a controller, a vehicle, a medium and a product of a vehicle body opening and closing system, the method comprising: determining environment information of an environment in which the vehicle is located; determining target control parameters of a fuzzy PID controller according to the environment information, the fuzzy PID controller being used to control a vehicle body opening and closing system of the vehicle; and controlling the vehicle body opening and closing system by the fuzzy PID controller according to the target control parameters. Since the control parameters of the fuzzy PID controller can be determined according to the environment information, the control parameters of the fuzzy PID controller can be adaptively adjusted according to the environment information, so that the fuzzy PID controller can adaptively control the vehicle body opening and closing system according to the environment when controlling the vehicle body opening and closing system, thereby improving the control accuracy and stability of the vehicle body opening and closing system.

Description

TECHNICAL FIELD

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

[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 the vehicle door and the vehicle window. In the related art, the vehicle body opening and closing system is generally controlled based on the PID control algorithm, and there are problems such as poor control effect. SUMMARY

[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 technical problems.

[0004] In order to achieve the above purpose, the first aspect of the present disclosure provides a control method of a vehicle body opening and closing system, the control method comprising:

[0005] determining environment information of an environment in which a vehicle is located;

[0006] determining target control parameters of a fuzzy PID controller according to the environment information, the fuzzy PID controller being used to control a vehicle body opening and closing system of the vehicle;

[0007] controlling the vehicle body opening and closing system according to the target control parameters of the fuzzy PID controller.

[0008] Optionally, determining the target control parameters of the fuzzy PID controller according to the environment information comprises:

[0009] determining expected control information of a motor used to drive the vehicle body opening and closing system according to the environment information, and determining operation parameters of the motor;

[0010] determining the target control parameters of the fuzzy PID controller according to the expected control information and the operation parameters.

[0011] Optionally, determining the expected control information of the motor used to drive the vehicle body opening and closing system according to the environment information comprises:

[0012] determining expected control parameters of the vehicle body opening and closing system according to the environment information;

[0013] determining the expected control information of the motor used to drive the vehicle body opening and closing system according to the expected control parameters and a preset corresponding relationship, wherein the preset corresponding relationship is used to represent a corresponding relationship between control parameters of the vehicle body opening and closing system and control information of the motor.

[0014] Optionally, the expected control parameter of the body opening and closing system is determined according to the environment information, comprising:

[0015] The torque information of the body opening and closing system is determined according to the environment information.

[0016] The expected control parameter of the body opening and closing system is determined in response to the change of the torque information from historical torque information, wherein the historical torque information is used to represent the torque information of the body opening and closing system determined based on the environment information last time.

[0017] Optionally, the operating parameter comprises motor speed, motor current and motor position, the expected control information comprises kinematic curve used to describe the relationship between motor position and motor speed, and the target control parameter of the fuzzy PID controller is determined according to the expected control information and the operating parameter, comprising:

[0018] The expected speed of the motor is determined according to the motor position and the kinematic curve.

[0019] The initial control parameter of the fuzzy PID controller is determined according to the motor speed, the expected speed and preset first fuzzy rule.

[0020] The reference current of the motor is determined according to the initial control parameter, the motor speed and the expected speed.

[0021] The target control parameter of the fuzzy PID controller is determined according to the motor current, the reference current and preset second fuzzy rule.

[0022] Optionally, the expected control information of the motor used to drive the body opening and closing system is determined according to the environment information, comprising:

[0023] The expected control information of the motor used to drive the body opening and closing system is determined according to the environment information, comprising at least one of the following: rotor operating period of the motor, rotor frequency of the motor, dynamics curve of the motor, kinematic curve of the motor.

[0024] Optionally, the environment information of the environment where the vehicle is located is determined, comprising:

[0025] The environment information of the environment where the vehicle is located is determined in at least one of the following ways:

[0026] The gradient information of the location where the vehicle is located is determined.

[0027] The wind direction information and / or wind speed information of the location where the vehicle is located is determined.

[0028] The negative pressure information of the location where the vehicle is located is determined.

[0029] A second aspect of the present disclosure provides a controller, comprising:

[0030] a processor;

[0031] a memory for storing processor-executable instructions;

[0032] wherein the processor is configured to perform the steps of any of the methods of the first aspect.

[0033] A third aspect of the present disclosure provides a vehicle, comprising a body opening and closing system and the controller of the second aspect.

[0034] A fourth aspect of the present disclosure provides a computer-readable storage medium having stored thereon a computer program, which, when executed by a processor, implements the steps of any of the methods of the first aspect.

[0035] A fifth aspect of the present disclosure provides a computer program product comprising a computer program which, when executed by a processor, implements the steps of any of the methods of the first aspect.

[0036] According to the above technical solution, the target control parameter 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 body opening and closing system according to the target control parameter. Since the control parameter of the fuzzy PID controller can be determined according to the environmental information, the control parameter of the fuzzy PID controller can be adaptively adjusted according to the environmental information, so that the fuzzy PID controller can adaptively control the body opening and closing system according to the environmental conditions when controlling the body opening and closing system, thereby improving the control accuracy and stability of the body opening and closing system. In addition, since the control parameter 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 body opening and closing system, thereby more effectively responding to the opening and closing requirements of the complex curve of the body, further improving the control accuracy and stability of the body opening and closing system.

[0037] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF DRAWINGS

[0038] The accompanying drawings are included to provide a further understanding of the present disclosure and constitute a part of the specification, which together with the following detailed description, serve to explain the present disclosure. In the drawings:

[0039] Figure 1 is a flowchart of a control method of a body opening and closing system according to an exemplary embodiment of the present disclosure;

[0040] Figure 2 is a flow chart of a fuzzy field-oriented control algorithm according to an example embodiment of the present disclosure;

[0041] Figure 3 is a flow chart of a fuzzy controller implementation according to an example embodiment of the present disclosure;

[0042] Figure 4 is a flow chart of a fuzzy field-oriented control vehicle body opening and closing system according to an example embodiment of the present disclosure;

[0043] Figure 5 is a block diagram of a control device for a vehicle body opening and closing system according to an example embodiment of the present disclosure. DETAILED DESCRIPTION

[0044] The specific embodiments of the present disclosure will be described below in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely intended to illustrate and explain the present disclosure, and are not intended to limit the present disclosure.

[0045] In the present disclosure, unless otherwise stated, the orientation words such as "upper", "lower", are defined according to the actual arrangement state of the battery assembly, and the orientation words such as "inner", "outer" are defined with respect to the outline of the corresponding component. The use of the terms "first", "second", and the like is intended to distinguish different components, and does not have sequentiality and importance. In addition, in the following description, when referring to the drawings, the same reference numerals in different drawings represent the same or similar elements, unless otherwise explained.

[0046] As described in the background, in the related art, the vehicle body opening and closing system is usually controlled by a PID (Proportion Integration Derivation) control algorithm, which adjusts the output control signal according to the error, error integral, and error differential of the vehicle 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, since the characteristics of the vehicle body opening and closing system under different environments are different, and the control parameters in the PID control algorithm are pre-set and constant, it is difficult for the PID control algorithm to adapt to the variability of the external environment, thereby affecting the accuracy and stability of the control.

[0047] Therefore, the embodiments of the present disclosure provide a control method, a controller, a vehicle, a medium, and a product for a vehicle body opening and closing system to solve the above technical problems.

[0048] The embodiments of the present disclosure will be further explained in detail below with reference to the accompanying drawings.

[0049] 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, with reference to Figure 1 The control method can include the following steps:

[0050] S101: Determine the environment information of the environment where the vehicle is located.

[0051] In a possible manner, determining the environment information of the environment where the vehicle is located can include:

[0052] The environment information of the environment where the vehicle is located is determined in at least one of the following manners:

[0053] Determine the slope information of the location where the vehicle is located; determine the wind direction information and / or wind speed information of the location where the vehicle is located; and determine the negative pressure information of the location where the vehicle is located.

[0054] For example, a simple pendulum angular displacement sensor can be installed on the vehicle, so that the change of the inclination angle of the vehicle relative to the horizontal plane can be measured by the simple pendulum angular displacement sensor, so as to determine the slope information of the location where the vehicle is located. Alternatively, the topographic parameters of the location where the vehicle is located can be obtained through the network, so as to obtain the slope information of the location where the vehicle is located. For example, the weather information of the location where the vehicle is located can be obtained through the network, so as to obtain the wind direction information and / or wind speed information of the location where the vehicle is located. Alternatively, a wind direction and speed instrument can be installed on the vehicle, so that the wind direction information and / or wind speed information of the location where the vehicle is located can be determined in real time. For example, the driving speed of the vehicle can be obtained, and then the driving speed and the aerodynamic characteristics of the vehicle are used to determine the negative pressure information of the location where the vehicle is located.

[0055] S102: According to the environment information, determine the target control parameter of the fuzzy PID controller used to control the vehicle body opening and closing system.

[0056] In a possible manner, according to the environment information, the target control parameter of the fuzzy PID controller can be determined, which can include:

[0057] According to the environment information, determine the expected control information of the motor used to drive the vehicle body opening and closing system, and determine the operating parameters of the motor; according to the expected control information and the operating parameters, determine the target control parameter of the fuzzy PID controller.

[0058] In this embodiment, the expected control information can be determined according to actual conditions, and the embodiment of the present disclosure does not make any limitation in this regard. In a possible manner, the expected control information can include a rotor operating period of the motor, a rotor frequency of the motor, a dynamic curve used to describe a relationship between a motor position and a motor speed, and / or a kinematic curve used to describe a relationship between a motor acceleration and time. Accordingly, determining the expected control information of the motor used to drive the body opening and closing system according to the environment information can include:

[0059] According to the environment information, at least one of the following expected control information of the motor used to drive the body opening and closing system is determined: a rotor operating period of the motor, a rotor frequency of the motor, a dynamic curve of the motor, and a kinematic curve of the motor.

[0060] In this embodiment, the operating parameter of the motor can include a motor position, a motor speed, a motor current, and the like, which can be determined according to a control variable of the fuzzy PID controller, and the embodiment of the present disclosure does not make any limitation in this regard.

[0061] For example, when the control variable of the fuzzy PID controller includes the motor current, the operating parameter of the motor can 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 can 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 can include the motor current and the motor position.

[0062] After the expected control information and the operating parameter are determined, the target control parameter of the fuzzy PID controller can be determined according to the expected control information and the operating parameter.

[0063] In a possible manner, the operating parameter can include a motor speed, a motor current, and a motor position, the expected control information can include a kinematic curve used to describe a relationship between a motor position and a motor speed, and accordingly, determining the target control parameter of the fuzzy PID controller according to the expected control information and the operating parameter can include:

[0064] determining an expected speed of the motor according to the motor position and the kinematic curve; determining an initial control parameter 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 expected speed; and determining the target control parameter of the fuzzy PID controller according to the motor current, the reference current, and a preset second fuzzy rule.

[0065] For example, as Figure 2 and Figure 3As shown, after the desired speed of the motor is determined, the proportional coefficient Kp, the integral coefficient Ki and the differential coefficient Kd can be adjusted by using the fuzzy 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 is input into the fuzzy controller to obtain the speed difference fuzzy quantity by fuzzy processing the speed difference according to the first fuzzy rule of the fuzzy controller, and then the speed difference fuzzy quantity is subjected to fuzzy reasoning processing to obtain the first fuzzy control quantity of the fuzzy PID controller, and finally the first fuzzy control quantity is subjected to defuzzification processing to obtain the initial control parameter.

[0066] After the initial control parameter is obtained, the fuzzy PID controller can first obtain the reference current of the motor according to the initial control parameter and the speed difference; then the current difference between the reference current and the motor current is calculated, and the current difference is input into the fuzzy PID controller to obtain the current difference fuzzy quantity by fuzzy processing the current difference according to the second fuzzy rule of the fuzzy PID controller, and then the current difference fuzzy quantity is subjected to fuzzy reasoning processing to obtain the second fuzzy control quantity of the fuzzy PID controller; finally, the second fuzzy control quantity is subjected to defuzzification processing to obtain the target control parameter, i.e. the proportional coefficient Kp, the integral coefficient Ki and the differential coefficient Kd of the fuzzy PID controller.

[0067] That is, the input variable and the output variable 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 degree of the fuzzy rule can be calculated, the output of the rule can be calculated, the output of the rule can be aggregated, and the output can be defuzzified. In a possible manner, the process can be as follows:

[0068] Step S1: determining the input variable (i.e. the motor speed or the motor current) and the output variable (i.e. the current adjustment coefficient, i.e. the proportional coefficient Kp, the integral coefficient Ki and the differential coefficient Kd) of the fuzzy PID controller;

[0069] Step S2: determining the fuzzy rule base, including the fuzzy set, the membership function and the fuzzy rule;

[0070] Step S3: obtaining the input of the fuzzy PID controller, i.e. the speed difference or the current difference;

[0071] Step S4: fuzzifying the input to map it to the fuzzy set;

[0072] Step S5: calculating the membership degree of each rule according to the fuzzy rule base;

[0073] Step S6: calculating the output of each rule;

[0074] Step S7: aggregating the output of the rule to obtain the output of the fuzzy PID controller;

[0075] Step S8: De-fuzzification is performed on the output to obtain the proportional coefficient Kp, the integral coefficient Ki and the differential coefficient Kd.

[0076] In the above manner, the fuzzy input can be converted into an accurate control signal through the processes of fuzzification, reasoning and de-fuzzification, thereby achieving control over the body opening and closing system. In addition, since the fuzzy field-oriented control combines the fuzzification process and the PID control algorithm, it can overcome the problems of the traditional PID control method, such as high requirements for system model and poor control effect on nonlinear systems, thereby achieving high-precision control over the field orientation.

[0077] S103: The fuzzy PID controller controls the body opening and closing system according to the target control parameter.

[0078] For example, continuing to refer to Figure 2 As shown in FIG. 7, after obtaining the target control parameter, the fuzzy PID controller can obtain the q-axis reference voltage and the d-axis reference voltage of the motor according to the target control parameter and the current difference, and then perform Park inverse transformation on the q-axis reference voltage and the d-axis reference voltage to obtain the α-axis reference voltage and the β-axis reference voltage. Then, the α-axis reference voltage and the β-axis reference voltage are subjected to vector pulse width modulation processing to obtain the PWM waveform and input the PWM waveform into the three-phase inverter to obtain the three-phase voltage, i.e., Va, Vb and Vc. The three-phase voltage is input into the motor, thereby controlling the body opening and closing system. Then, on the one hand, the three-phase current of the motor, i.e., Ia, Ib and Ic, can be collected by the current sensor, and then subjected to clark transformation to obtain the α-axis current and the β-axis current, and subjected to Park transformation to obtain the q-axis current and the d-axis current, i.e., the motor current. On the other hand, the motor position can be obtained by the position sensor, and the motor speed and the reference speed can be determined according to the motor position. Finally, the target control parameter of the fuzzy PID controller can be determined again according to the motor speed, the motor position, the motor current and the kinematic curve, and the body opening and closing system can be controlled by the fuzzy PID controller according to the target control parameter, thereby achieving adaptive adjustment of the body opening and closing system.

[0079] That is, the vehicle body opening and closing system can 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 field-oriented control according to the current information and the position information, and converts it into the corresponding voltage command. The inverter receives the voltage command, and converts the voltage of the DC power supply into the voltage of the AC power supply, and then inputs it to the stator winding of the brushless motor. According to the position of the rotor of the brushless motor, the switching state of the inverter is controlled to realize accurate control of the field orientation of the brushless motor. At the same time, the fuzzy PID controller can also adjust the current command according to the position of the rotor of the brushless motor and the field orientation, to realize closed-loop control. In a possible manner, the control steps can be as follows:

[0080] Step 1: Obtain the current data and position data of the brushless motor, which provides the real-time running state information for subsequent control;

[0081] Step 2: Based on the collected current data and position data, use the fuzzy PID controller to calculate the field-oriented control parameters required for the current state, i.e. 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 accurate control of the motor;

[0082] Step 3: Convert the calculated current command into the corresponding voltage command to provide the specific control signal for the subsequent step;

[0083] Step 4: Use the inverter to 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;

[0084] Step 5: Input the adjusted AC power supply voltage to the stator winding of the brushless motor to provide the power required for accurate control of the motor;

[0085] Step 6: According to the current position of the rotor of the brushless motor, control the switching state of the inverter to accurately control the magnetic field direction of the brushless motor, and ensure the accuracy and stability of its running state;

[0086] Step 7: According to the position of the rotor of the brushless motor and the field orientation, adjust the current control coefficients Kp, Ki and Kd again to realize closed-loop control and ensure that the motor operates in the best state.

[0087] According to the technical solution, the target control parameter of the fuzzy PID controller can be determined according to the environment information of the environment in which the vehicle is located, so that the fuzzy PID controller can control the body opening and closing system according to the target control parameter. Since the control parameter of the fuzzy PID controller can be determined according to the environment information, the control parameter of the fuzzy PID controller can be adaptively adjusted according to the environment information, so that the fuzzy PID controller can adaptively control the body opening and closing system according to the environment when controlling the body opening and closing system, thereby improving the control accuracy and stability of the body opening and closing system. In addition, since the control parameter of the fuzzy PID controller can be adaptively adjusted according to the environment information, the fuzzy PID controller can better adapt to the nonlinearity of the body opening and closing system, thereby more effectively responding to the opening and closing requirements of the complex curve of the body, further improving the control accuracy and stability of the body opening and closing system.

[0088] In a possible manner, according to the environment information, the expected control information of the motor for driving the body opening and closing system can be determined, which can include:

[0089] According to the environment information, the expected control parameter of the body opening and closing system is determined; according to the expected control parameter and the preset corresponding relationship, the expected control information of the motor for driving the body opening and closing system is determined, wherein the preset corresponding relationship is used to represent the corresponding relationship between the control parameter of the body opening and closing system and the control information of the motor.

[0090] It should be understood that the control parameter of the body opening and closing system generally can include opening and closing time, opening and closing speed and opening and closing stroke, so that the expected control parameter can 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 represent the opening and closing speed of the vehicle in the current environment, which can be obtained by a position sensor, for example, a Hall sensor can be used to obtain the position change amount of the motor in a time period T, and then the position change amount and the time period T are determined. The expected opening and closing stroke can be used to represent the opening and closing stroke of the vehicle in the current environment, which can be obtained by counting the Hall sensor, that is, the Hall sensor has 4 high potentials every time the motor rotates one circle, the number of high potentials is calculated to determine the number of rotation circles of the motor, and the opening and closing stroke is obtained according to the corresponding relationship between the number of rotation circles, the reduction ratio of the rear end reduction box and the structure. The expected opening and closing time can be used to represent the opening and closing time of the vehicle in the current environment, which can be determined according to the expected opening and closing stroke and the expected opening and closing speed.

[0091] After the expected control parameter is determined according to the environment information, the expected control information of the motor for driving the body opening and closing system can be determined according to the expected control parameter and the preset corresponding relationship.

[0092] Among possible methods, determining the desired control parameters of the vehicle body opening and closing system based on environmental information may include:

[0093] Based on environmental information, the torque information of the vehicle body opening and closing system is determined; in response to changes in the torque information compared to historical torque information, the desired control parameters of the vehicle body opening and closing system are determined, wherein the historical torque information is used to characterize the torque information of the vehicle body opening and closing system previously determined based on environmental information.

[0094] In this embodiment, the torque information may include the torque magnitude. Therefore, in response to a change in the torque information compared to historical torque information, determining the desired control parameters of the vehicle body opening and closing system can be: detecting a change in the torque magnitude and 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 being greater than a preset change range, and determining the desired control parameters of the vehicle body opening and closing system; of course, other methods are also possible, and this embodiment does not impose any limitations on this.

[0095] It should be understood that the torque information of the vehicle body opening and closing system will change when subjected to external forces. Therefore, to ensure smooth and safe opening and closing of the doors, this embodiment determines the torque information of the vehicle body opening and closing system. When the torque information changes, the desired control parameters of the system can be dynamically adjusted. Furthermore, the target control information can be dynamically adjusted based on the desired control parameters, and the target control parameters of the fuzzy PID controller can be dynamically adjusted based on the desired control information. This allows the fuzzy PID controller to adaptively control the vehicle body opening and closing system according to environmental conditions, thereby improving the accuracy and stability of the system's control.

[0096] To facilitate understanding of the control method for the vehicle body opening and closing system provided in this disclosure, the following describes one possible implementation of the control method in conjunction with each step:

[0097] 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 orientation control. The domain control system is located inside the vehicle and communicates with the entire vehicle via a CAN bus. It processes the electric opening and closing action signals of the vehicle body opening and closing system and provides power output to the electric limit switch motor to execute the opening or closing action of the doors. 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 side doors, sunroof, tailgate, wiper system, and lifting system.

[0098] When starting to control the operation of the body opening and closing system, the domain controller in the domain control system can first give control information (such as kinematic curve, dynamic curve, period and frequency, etc.) according to the historical motion of the 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 piece to move, forming a closed-loop system. When the system balance is broken (for example, manual assistance occurs during opening and closing, collision or object clamping occurs during opening and closing, uphill or downhill occurs during opening and closing, high-speed driving occurs during opening and closing, and / or encounters crosswind during opening and closing, etc.), the opening and closing piece motion changes, on the one hand, the body opening and closing system feeds back the driving force to the motor to adjust the speed and position of the motor, and on the other hand, the expected opening and closing speed and the expected opening and closing stroke are determined through the Hall sensor, 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 DC brushless motor to move through the expected control information.

[0099] At the same time, in order to make the actual motion state of the DC brushless motor better follow the new kinematic curve, the expected 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 by using the fuzzy field-oriented control algorithm. That is, the speed difference between the expected speed and the motor speed is calculated, and the speed difference is input into the fuzzy controller to obtain the speed difference fuzzy quantity by fuzzy processing the speed difference according to the first fuzzy rule through the fuzzy controller, then the speed difference fuzzy quantity is processed by fuzzy reasoning to obtain the first fuzzy control quantity of the fuzzy PID controller, and finally the first fuzzy control quantity is de-fuzzied to obtain the initial control parameter. After obtaining the initial control parameter, the fuzzy PID controller can first obtain the reference current of the motor according to the initial control parameter and the speed difference; then, the current difference between the reference current and the motor current is calculated, and the current difference is input into the fuzzy PID controller to obtain the current difference fuzzy quantity by fuzzy processing the current difference according to the second fuzzy rule through the fuzzy PID controller, then the current difference fuzzy quantity is processed by fuzzy reasoning to obtain the second fuzzy control quantity of the fuzzy PID controller; finally, the second fuzzy control quantity is de-fuzzied to obtain the target control parameter, that is, the proportional coefficient Kp, the integral coefficient Ki and the differential coefficient Kd of the fuzzy PID controller.

[0100] After obtaining the target control parameter, the fuzzy PID controller can obtain the q-axis reference voltage and the d-axis reference voltage of the motor according to the target control parameter and the current difference, then perform Park inverse transformation processing 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 processing on the α-axis reference voltage and the β-axis reference voltage to obtain the PWM waveform and input the PWM waveform into the three-phase inverter to obtain the three-phase voltage, i.e. Va, Vb and Vc. The three-phase voltage is input into the motor to control the vehicle body opening and closing system. Then, on the one hand, the three-phase current of the motor, i.e. Ia, Ib and Ic, can be collected by the current sensor, and then the α-axis current and the β-axis current can be obtained by performing clark transformation processing on the three-phase current, and the q-axis current and the d-axis current, i.e. the motor current, can be obtained by performing Park transformation processing on the α-axis current and the β-axis current. On the other hand, the motor position can be obtained by the position sensor, and the motor speed and the reference speed can be determined according to the motor position. Finally, the target control parameter of the fuzzy PID controller can be determined again according to the motor speed, the motor position, the motor current and the kinematic curve, and the vehicle body opening and closing system can be controlled by the fuzzy PID controller according to the target control parameter, so as to realize adaptive adjustment of the vehicle body opening and closing system and maintain a new balance state, forming a double closed-loop system.

[0101] In this embodiment, by embedding the fuzzy PID controller in the field-oriented algorithm, the proportional coefficient Kp, the integral coefficient Ki and the differential coefficient Kd of the fuzzy PID controller can be adaptively adjusted according to the environmental information, so that when the external environment of the vehicle changes (for example, uphill and downhill, high-speed driving and encountering crosswind, etc.) or the vehicle body opening and closing system encounters manual assistance, collision or object clamping during movement, the proportional coefficient Kp, the integral coefficient Ki and the differential coefficient Kd of the fuzzy PID controller can be changed according to the force condition, so that the opening and closing speed, the opening and closing time and the opening and closing stroke of the vehicle body opening and closing system can be reliably controlled, and the adaptive adjustment of the vehicle body opening and closing system can be realized. In addition, since the fuzzy PID controller combines the advantages of traditional PID control and fuzzy logic control, the proportional coefficient Kp, the integral coefficient Ki and the differential coefficient Kd of the fuzzy PID controller can be adjusted online, so that the fuzzy PID controller can better adapt to the nonlinearity of the vehicle body opening and closing system, thereby more effectively meeting the opening and closing requirements of the vehicle body complex curve, and further improving the control accuracy and stability of the vehicle body opening and closing system.

[0102] Based on the same concept, the disclosure also provides a control device for a vehicle body opening and closing system, as shown in Figure 5 The control device 500 can include:

[0103] The first determining module 501 is configured to determine environment information of an environment in which the vehicle is located.

[0104] The second determining module 502 is configured to determine a target control parameter of a fuzzy PID controller according to the environment information, the fuzzy PID controller being configured to control a body opening and closing system of the vehicle.

[0105] The control module 503 is configured to control the body opening and closing system by the fuzzy PID controller according to the target control parameter.

[0106] According to the above body opening and closing system control device 500, the target control parameter of the fuzzy PID controller can be determined according to the environment information of the environment in which the vehicle is located, so that the fuzzy PID controller can control the body opening and closing system according to the target control parameter. Since the control parameter of the fuzzy PID controller can be determined according to the environment information, the control parameter of the fuzzy PID controller can be adaptively adjusted according to the environment information, so that the fuzzy PID controller can adaptively control the body opening and closing system according to the environment when controlling the body opening and closing system, thereby improving the control accuracy and stability of the body opening and closing system. In addition, since the control parameter of the fuzzy PID controller can be adaptively adjusted according to the environment information, the fuzzy PID controller can better adapt to the nonlinearity of the body opening and closing system, thereby more effectively coping with the opening and closing requirements of the complex curve of the body, and further improving the control accuracy and stability of the body opening and closing system.

[0107] In a possible manner, the second determining module 502 can include:

[0108] The first determining sub-module is configured to determine expected control information of a motor for driving the body opening and closing system according to the environment information, and determine an operation parameter of the motor.

[0109] The second determining sub-module is configured to determine the target control parameter of the fuzzy PID controller according to the expected control information and the operation parameter.

[0110] In a possible manner, the first determining sub-module can include:

[0111] The first determining unit is configured to determine expected control parameters of the body opening and closing system according to the environment information.

[0112] The second determining unit is configured to determine expected control information of a motor for driving the body opening and closing system according to the expected control parameters and a preset corresponding relationship, wherein the preset corresponding relationship is configured to represent a corresponding relationship between the control parameters of the body opening and closing system and the control information of the motor.

[0113] In a possible manner, the first determining unit can include:

[0114] The first determining subunit is configured to determine torque information of the body opening and closing system according to the environment information.

[0115] The second determining subunit is configured to determine expected control parameters of the body opening and closing system in response to a change in the torque information from historical torque information, wherein the historical torque information is used to represent the torque information of the body opening and closing system determined based on the environment information last time.

[0116] In a possible manner, the operating parameters can include motor speed, motor current and motor position, the expected control information can include a kinematic curve used to describe the relationship between the motor position and the motor speed, and correspondingly, the second determining subunit can include:

[0117] The third determining unit is configured to determine the expected speed of the motor according to the motor position and the kinematic curve.

[0118] The fourth determining unit is configured to determine initial control parameters of the fuzzy PID controller according to the motor speed, the expected speed and preset first fuzzy rules.

[0119] The fifth determining unit is configured to determine a reference current of the motor according to the initial control parameters, the motor speed and the expected speed.

[0120] The sixth determining unit is configured to determine target control parameters of the fuzzy PID controller according to the motor current, the reference current and preset second fuzzy rules.

[0121] In a possible manner, the first determining subunit can be configured to determine at least one of the following expected control information of the motor used to drive the body opening and closing system according to the environment information: a rotor operating period of the motor, a rotor frequency of the motor, a dynamics curve of the motor, and a kinematic curve of the motor.

[0122] In a possible manner, the first determining module 501 can be configured to determine the environment information of the environment in which the vehicle is located in at least one of the following manners: determining slope information of a location where the vehicle is located; determining wind direction information and / or wind speed information of the location where the vehicle is located; and determining negative pressure information of the location where the vehicle is located.

[0123] As to the control device 500 of the body opening and closing system in the above-mentioned embodiments, the specific manners in which the modules perform operations have been described in detail in the embodiments of the method, and will not be described in detail here.

[0124] Based on the same concept, the embodiments of the present disclosure further provide a controller, which comprises:

[0125] a processor;

[0126] a memory for storing processor-executable instructions;

[0127] The processor is configured to perform the steps of the control method of the vehicle body opening and closing system.

[0128] Based on the same concept, the embodiments of the present disclosure further provide a vehicle comprising the vehicle body opening and closing system and the controller.

[0129] Based on the same concept, the embodiments of the present disclosure further provide a computer readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement the steps of the control method of the vehicle body opening and closing system.

[0130] Based on the same concept, the embodiments of the present disclosure further provide a computer program product comprising a computer program, the computer program being executed by a processor to implement the steps of the control method of the vehicle body opening and closing system.

[0131] The preferred embodiments of the present disclosure are described in detail above with reference to the drawings, but the present disclosure is not limited to the specific details in the above-described embodiments. Within the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

[0132] In addition, it should be noted that each specific technical feature described in the above specific embodiments can be combined in any appropriate manner without contradiction, and in order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0133] Furthermore, any combination of the various different embodiments of the present disclosure can also be made, as long as it does not deviate from the concept of the present disclosure, and it should also be considered as disclosed by the present disclosure.

Claims

1. A control method for a vehicle body opening and closing system, characterized in that, The control method includes: Determine the environmental information of the vehicle's surroundings; Based on the environmental information, the desired control information for the motor used to drive the vehicle body opening and closing system is determined, and the operating parameters of the motor are determined. Based on the desired control information and the operating parameters, the target control parameters of the fuzzy PID controller are determined. The fuzzy PID controller is used to control the vehicle's body opening and closing system. The fuzzy PID controller controls the vehicle body opening and closing system according to the target control parameters.

2. The control method according to claim 1, characterized in that, The step of determining the desired control information for the motor used to drive the vehicle body opening and closing system based on the environmental information includes: 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 correspondence, desired control information for driving the motor of the vehicle body opening and closing system is determined, 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.

3. The control method according to claim 2, characterized in that, Determining the desired control parameters of the vehicle body opening and closing system based on the environmental information includes: Based on the environmental information, determine the torque information of the vehicle body opening and closing system; In response to a change in the torque information compared to historical torque information, desired control parameters for the vehicle body opening and closing system are determined, wherein the historical torque information is used to characterize the torque information of the vehicle body opening and closing system previously determined based on the environmental information.

4. The control method according to claim 1, characterized in that, The operating parameters include motor speed, motor current, and motor position. The desired control information includes kinematic curves describing the relationship between motor position and motor speed. Determining the target control parameters of the fuzzy PID controller based on the desired control information and the operating parameters includes: The desired speed of the motor is determined based on the motor position and the kinematic curve. The initial control parameters of the fuzzy PID controller are determined based on the motor speed, the desired speed, and the preset first fuzzy rule. The reference current of the motor is determined based on the initial control parameters, the motor speed, and the desired speed. The target control parameters of the fuzzy PID controller are determined based on the motor current, the reference current, and the preset second fuzzy rule.

5. The control method according to claim 1, characterized in that, The step of determining the desired control information for the motor used to drive the vehicle body opening and closing system based on the environmental information includes: Based on the environmental information, at least one of the following desired control information for the motor used to drive the vehicle body opening and closing system is determined: 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.

6. The control method according to any one of claims 1-5, characterized in that, The environmental information used to determine the vehicle's location includes: Determine the environmental information of the vehicle's surroundings using at least one of the following methods: Determine the slope information of the vehicle's location; Determine the wind direction and / or wind speed information at the location of the vehicle; Determine the negative pressure information at the location of the vehicle.

7. A controller, characterized in that, The controller includes: processor; Memory used to store processor-executable instructions; The processor is configured to perform the steps of the method according to any one of claims 1-6.

8. A vehicle, characterized in that, Includes a vehicle body opening and closing system and the controller as described in claim 7.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the steps of the method described in any one of claims 1-6.

10. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the steps of the method according to any one of claims 1-6.

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