Skylight motor control method and system supporting anti-pinch driving and electronic equipment

Abstract

The invention discloses a skylight motor control method and system supporting anti-pinch driving and electronic equipment, and relates to the technical field of motor control, and the method comprises the steps: monitoring the operation parameters of a skylight motor in real time, and obtaining a real-time operation parameter set of the motor; calculating the moving resistance of the skylight motor to obtain the moving resistance change rate of the skylight motor; triggering an anti-pinch judgment condition based on the moving resistance change rate, and generating a reverse control signal; environment temperature data are collected and obtained, compensation is carried out according to the environment temperature data in combination with the reverse control signal, an anti-pinch control instruction is generated, and self-adaptive control is carried out on a skylight motor. The technical problems that in the prior art, the operation parameters of the skylight motor are not monitored in real time, clamping resistance cannot be accurately judged according to resistance changes, and consequently the operation safety and stability of the skylight are poor are solved, and the technical effects that self-adaptive control over the skylight motor is achieved, and the operation safety and stability of the skylight are improved are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and particularly relates to a sunroof motor control method, system and electronic device supporting anti-pinch driving. Background Art

[0002] In automobiles and various transportation vehicles equipped with sunroof devices, the safe and stable operation of the sunroof motor is crucial. Traditional sunroof motor control systems mostly adopt an anti-pinch judgment mechanism with a fixed threshold. For example, only based on the change of a single parameter of the motor current, once the current exceeds a preset fixed value, the anti-pinch function is attempted to be triggered. However, the actual situation is complex and changeable. At different ambient temperatures, the resistance of the motor winding changes, which in turn affects the current magnitude, resulting in difficulty in accurately judging whether there is a real pinch situation with a fixed current threshold in high or low temperature environments. At the same time, the existing system lacks comprehensive and real-time monitoring and analysis of the change of the moving resistance during the operation of the motor, and cannot adjust the control strategy in a timely manner according to the dynamic situation of the resistance change rate.

[0003] The prior art has technical problems such as non-real-time monitoring of the operating parameters of the sunroof motor and inability to accurately judge pinching based on the resistance change, resulting in poor safety and stability of the sunroof operation. Summary of the Invention

[0004] The present application provides a sunroof motor control method, system and electronic device supporting anti-pinch driving, which are used to solve the technical problems in the prior art that the operating parameters of the sunroof motor are not monitored in real time and it is impossible to accurately judge pinching based on the resistance change, resulting in poor safety and stability of the sunroof operation.

[0005] In view of the above problems, the present application provides a sunroof motor control method, system and electronic device supporting anti-pinch driving.

[0006] In the first aspect of the present application, a sunroof motor control method supporting anti-pinch driving is provided. The method includes: Real-time monitoring of the operating parameters of the sunroof motor to obtain a set of real-time motor operating parameters; calculating the moving resistance of the sunroof motor based on the set of real-time motor operating parameters to obtain the moving resistance change rate of the sunroof motor; triggering an anti-pinch judgment condition based on the moving resistance change rate to generate a reverse control signal; collecting and obtaining ambient temperature data, and compensating according to the ambient temperature data in combination with the reverse control signal to generate an anti-pinch control instruction, and performing adaptive control on the sunroof motor through the anti-pinch control instruction.

[0007] In the second aspect of the present application, a sunroof motor control system supporting anti-pinch driving is provided. The system includes: The real-time operation parameter set acquisition module of the motor is used to monitor the operation parameters of the sunroof motor in real time and obtain the real-time operation parameter set of the motor; the moving resistance change rate acquisition module is used to calculate the moving resistance of the sunroof motor according to the real-time operation parameter set of the motor and obtain the moving resistance change rate of the sunroof motor; the reverse control signal generation module is used to trigger the anti-pinch judgment condition based on the moving resistance change rate and generate a reverse control signal; the adaptive control module is used to collect and obtain the ambient temperature data, compensate according to the ambient temperature data in combination with the reverse control signal, generate an anti-pinch control instruction, and perform adaptive control on the sunroof motor through the anti-pinch control instruction.

[0008] In the third aspect of the present application, an electronic device is provided, and the electronic device includes: a processor; a memory for storing executable instructions of the processor; wherein, the processor is used to execute a sunroof motor control method supporting anti-pinch driving provided by the present application.

[0009] One or more technical solutions provided in the present application have at least the following technical effects or advantages: Monitor the operation parameters of the sunroof motor in real time to obtain the real-time operation parameter set of the motor; calculate the moving resistance of the sunroof motor to obtain the moving resistance change rate of the sunroof motor; trigger the anti-pinch judgment condition based on the moving resistance change rate and generate a reverse control signal; collect and obtain the ambient temperature data, compensate according to the ambient temperature data in combination with the reverse control signal, generate an anti-pinch control instruction, and perform adaptive control on the sunroof motor through the anti-pinch control instruction. The technical effect of realizing the adaptive control of the sunroof motor and improving the safety and stability of the sunroof operation is achieved. Description of the Drawings

[0010] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention, and those of ordinary skill in the art can obtain other drawings without creative efforts based on these drawings.

[0011] Figure 1 It is a schematic flow chart of a sunroof motor control method supporting anti-pinch driving provided by an embodiment of the present application.

[0012] Figure 2 It is a schematic structural diagram of a sunroof motor control system supporting anti-pinch driving provided by an embodiment of the present application.

[0013] Figure 3 It is a schematic structural diagram of an electronic device provided by the present application.

[0014] Explanation of the reference numerals: motor real-time operation parameter set acquisition module 10, movement resistance change rate acquisition module 20, reverse control signal generation module 30, adaptive control module 40, processor 21, memory 22, input device 23, output device 24. DETAILED DESCRIPTION

[0015] The present application provides a sunroof motor control method, system and electronic equipment that supports anti-pinch drive, which is used to solve the technical problems in the prior art that the sunroof motor operating parameters are not monitored in real time and the pinch resistance cannot be accurately determined based on the resistance change, resulting in poor safety and stability in the operation of the sunroof.

[0016] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0017] Embodiment 1, as Figure 1 As shown, the present application provides a sunroof motor control method supporting anti-pinch drive, the method comprising: Step S100: monitor the operating parameters of the sunroof motor in real time to obtain a set of real-time operating parameters of the motor.

[0018] Specifically, the operating parameters of the sunroof motor are first monitored in all directions and in real time. The motor current ripple period, Hall sensor pulse frequency and motor speed are the key monitoring objects. With the help of high-precision current sensors, the current signals of the sunroof motor are continuously collected, and the motor current ripple period is extracted from the collected current signals. This period can reflect the current fluctuation of the motor during operation, and thus indirectly reflect the load change of the motor. At the same time, the motor rotor position signal is obtained by using dual Hall sensors, and the time interval between adjacent pulses is calculated based on these signals. The Hall sensor pulse frequency is thus obtained, which can intuitively display the change in the rotation speed of the motor rotor. In addition, the motor speed data is obtained through a comprehensive analysis of the relevant parameters of the motor. Finally, the collected motor current ripple period, Hall sensor pulse frequency and motor speed data are integrated to form a set of real-time motor operation parameters, which provides a reliable data basis for subsequent operations such as calculating the rate of change of moving resistance, judging whether to trigger the anti-pinch mechanism, and generating accurate control instructions.

[0019] Step S200: calculating the movement resistance of the sunroof motor according to the real-time operation parameter set of the motor to obtain the movement resistance change rate of the sunroof motor.

[0020] Specifically, based on the resistance determination results and the jam determination results, when determining the resistance, the current ripple period characteristic value in the motor real-time operation parameter set is continuously monitored. When the current ripple period is shortened by more than 15% in three consecutive sampling periods, it is determined to be abnormal resistance increase. For jam determination, the system will continuously monitor the pulse frequency change curve. If the fluctuation amplitude of the Hall sensor pulse frequency exceeds 20% of the preset stable range, it is determined to be mechanical jam. After that, the moving resistance is calculated based on these two determination results. According to the degree of influence of abnormal resistance increase and mechanical jam on the moving resistance, different weights are assigned to the resistance determination results and the jam determination results, and they are multiplied by the corresponding weights and added to obtain the comprehensive judgment score. At the same time, a basic moving resistance change rate is referenced, which is a reference value obtained through a large number of experiments under the condition of normal operation of the motor, no abnormal resistance and jam. And considering the influence of the current motor speed on the moving resistance change rate, the correction coefficient related to the speed is fitted through experimental data. Finally, use the basic moving resistance change rate × (1 + comprehensive judgment score) and then multiply it by the correction coefficient to obtain the moving resistance change rate of the sunroof motor, which provides a key basis for triggering the subsequent anti-pinch mechanism.

[0021] Step S300: triggering an anti-pinch judgment condition based on the moving resistance change rate, and generating a reverse control signal.

[0022] Specifically, the rate of change of the movement resistance of the sunroof motor is continuously monitored. This rate of change is based on the comprehensive analysis of the motor operating parameters. A threshold is preset, which is determined after a large number of experiments and actual use scenario tests, and represents the reasonable range of the movement resistance change under normal operation. When the rate of change of the movement resistance is monitored to exceed the preset threshold, it means that the sunroof motor may have encountered abnormal resistance during operation, and it is very likely that a foreign object has been clamped. At this time, the anti-pinch judgment condition is immediately triggered. Once triggered, the reverse control signal generation mechanism is quickly started. First, the reverse drive torque required by the motor is calculated according to the rate of change of the movement resistance. The torque is nonlinearly positively correlated with the rate of change of the movement resistance. The greater the rate of change, the greater the required reverse drive torque. Then, the pulse width modulation technology is used to generate the reverse drive waveform, and the calculated reverse drive torque and the generated reverse drive waveform are integrated into the reverse control signal. Finally, this reverse control signal is transmitted to the sunroof motor to control the motor to reverse operation, so that the sunroof moves in the direction of opening, thereby releasing the possible clamping state, effectively avoiding the occurrence of clamping injuries to people or damage to objects, and ensuring the safety of users and the normal use of equipment.

[0023] Step S400: Acquire ambient temperature data, perform compensation according to the ambient temperature data combined with the reverse control signal, generate an anti-pinch control instruction, and perform adaptive control on the sunroof motor through the anti-pinch control instruction.

[0024] Specifically, to obtain accurate ambient temperature data, an NTC thermistor array is carefully arranged on the surface of the motor drive circuit board. This array continuously collects raw temperature data at a sampling frequency of 10 times per second to ensure that temperature changes can be captured in a timely manner. Since electromagnetic interference is generated during motor operation, resulting in pulse noise in the collected data, it is necessary to perform Kalman filtering on the raw temperature data and use its powerful filtering characteristics to eliminate such noise and improve the accuracy of the data. During the data processing, if the temperature difference between two adjacent sampling points is detected to exceed 5°C, the redundant temperature sensor is quickly activated for cross-verification to further ensure the reliability of the data. After obtaining reliable ambient temperature data, it is combined with the reverse control signal for compensation calculation. First, a temperature-resistance mapping table is established based on the timing relationship between the ambient temperature data and the reverse control signal. The ambient temperature data is matched with the preset change threshold through this table to determine the reference resistance threshold. Then, resistance analysis is performed based on the skylight operation historical data to clarify the resistance change trend of the skylight motor. The sliding window algorithm is used to correct the reference resistance threshold according to this trend, and then an anti-pinch control instruction is generated. Finally, the skylight motor is adaptively controlled by virtue of this anti-pinch control instruction, enabling the skylight motor to adjust its operating state according to the change of the ambient temperature, always maintaining good anti-pinch performance, and effectively improving the stability and safety.

[0025] In a possible implementation manner, step S100 further includes: Step S110: Collect the current signal of the skylight motor through a high-precision current sensor and extract the current ripple period eigenvalue.

[0026] Step S120: Obtain the motor rotor position signal based on the dual Hall sensors, calculate the time interval between adjacent pulses of the skylight motor according to the motor rotor position signal, and draw a pulse frequency change curve.

[0027] Step S130: Perform a load dynamic analysis on the skylight motor by combining the current ripple period eigenvalue and the pulse frequency change curve to obtain a set of real-time operating parameters of the motor.

[0028] Specifically, a high-precision current sensor is used to accurately collect the current signal of the skylight motor. The high-precision current sensor can capture the current change situation during motor operation with relatively high precision and sensitivity, providing basic data for subsequent analysis. After the current signal is collected, it is further processed to extract the current ripple period eigenvalue. The current ripple refers to the fluctuation of the current within a certain period. By analyzing the current ripple period eigenvalue, the periodic change law of the current during motor operation can be understood, and this law can reflect the load situation and operating stability of the motor to a certain extent.

[0029] The motor rotor position signal is obtained by means of a dual Hall sensor. The dual Hall sensor can accurately detect the position change of the motor rotor. Based on these position signals, the time interval between adjacent pulses is calculated. By continuously calculating and statistically analyzing the time intervals of multiple adjacent pulses, a pulse frequency change curve is plotted. The pulse frequency change curve intuitively shows the change of the motor rotor rotation frequency over time. The rotation frequency of the motor rotor is closely related to the load of the motor. When the motor load increases, the rotor rotation frequency may decrease. Therefore, this curve can provide an important basis for analyzing the change of the motor load.

[0030] The obtained current ripple period eigenvalue is combined with the plotted pulse frequency change curve to perform a load dynamic analysis on the sunroof motor. By comprehensively considering the current fluctuation reflected by the current ripple period eigenvalue and the rotor rotation frequency change reflected by the pulse frequency change curve, a comprehensive and accurate understanding of the load dynamic change of the sunroof motor during operation can be obtained. For example, when the current ripple period eigenvalue shows an abnormal fluctuation and the pulse frequency change curve shows a significant decrease in the rotor rotation frequency, it indicates that the motor may be facing a large load. Through such a load dynamic analysis, the parameters related to the motor operation state are integrated, and finally a set of real-time motor operation parameters is obtained, providing a comprehensive and reliable data basis for subsequent operations such as calculating the change rate of the moving resistance, determining whether to trigger the anti-pinch mechanism, and generating control commands.

[0031] In a possible implementation manner, step S200 further includes: Step S210: Continuously monitor the current ripple period eigenvalue, obtain N sampling periods, perform a resistance determination based on the N sampling periods, and generate a resistance determination result, where N is a positive integer greater than 2.

[0032] Step S220: Continuously monitor the pulse frequency change curve, obtain M fluctuation amplitudes, perform a sticking determination based on the M fluctuation amplitudes, and generate a sticking determination result, where M is a positive integer greater than 1.

[0033] Step S230: Calculate the moving resistance of the sunroof motor based on the resistance determination result and the sticking determination result, and obtain the change rate of the moving resistance of the sunroof motor.

[0034] Specifically, continuously monitor the characteristic value of the current ripple period to obtain N sampling periods (N is a positive integer greater than 2). In this process, continuously collect the motor current signal through a high-precision current sensor and extract the characteristic value of the current ripple period. After obtaining a sufficient number of sampling periods, make a resistance determination according to specific rules. When the current ripple period shortens by more than 15% within three consecutive sampling periods, it indicates that there has been a significant change in the motor operating state, and it will be determined that the abnormal resistance has increased, and finally a resistance determination result is generated. This determination result can intuitively reflect whether the motor faces abnormal resistance during operation.

[0035] Make a motor jamming determination by monitoring the pulse frequency change curve. Continuously monitor the pulse frequency change curve. This curve is drawn based on the motor rotor position signal obtained by the dual Hall sensors after calculating the time interval between adjacent pulses. During the monitoring process, obtain M fluctuation amplitudes (M is a positive integer greater than 1), and these M fluctuation amplitudes reflect the change of the Hall sensor pulse frequency over a period of time. A stable interval is preset, and this interval represents the reasonable fluctuation range of the Hall sensor pulse frequency when the motor is in normal operation. When analyzing these M fluctuation amplitudes, once it is found that the fluctuation amplitude of the Hall sensor pulse frequency exceeds 20% of the preset stable interval, it means that there is a large abnormal instability in the rotation of the motor. At this time, it is determined that the motor has mechanical jamming, and a corresponding jamming determination result is generated. This jamming determination result is crucial for subsequent further analyzing the motor operating state, calculating the change rate of the moving resistance, and determining whether to trigger the anti-pinch mechanism, etc. It can timely detect possible mechanical failures of the motor and ensure the safe and stable operation of the skylight motor.

[0036] After obtaining the resistance determination result and the jamming determination result of the sunroof motor, a weighted algorithm is used to calculate its moving resistance change rate. First, according to the influence degrees of abnormal resistance increase and mechanical jamming on the moving resistance, different weights are assigned to the resistance determination result and the jamming determination result respectively. For example, through a large number of experiments and actual experience analysis, if the influence of abnormal resistance increase on the moving resistance is greater, a larger weight will be assigned to the resistance determination result, and a smaller weight will be assigned to the jamming determination result, and the sum of these two weights is equal to 1. Then, for the resistance determination result, if it is determined as an abnormal resistance increase, that is, the current ripple period shortens by more than 15% within three consecutive sampling periods, it will be given a score; if it is not determined as an abnormal resistance increase, another score will be given. For the jamming determination result, when it is determined as mechanical jamming, that is, the fluctuation amplitude of the Hall sensor pulse frequency exceeds 20% of the preset stable range, a score will be given; if it is not mechanical jamming, another score will be given. After that, multiply these two determination results by their corresponding weights and then add them together to obtain a comprehensive determination score. Then, there is a basic moving resistance change rate, which is a reference value obtained through a large number of experimental measurements and data analysis when the motor is operating normally without abnormal resistance and jamming. At the same time, the current operating state of the motor, such as the motor speed, will also be considered. A correction coefficient related to the speed is fitted through experimental data. If the speed is lower than a certain set value, the correction coefficient will change according to the change of the speed; if the speed is higher than this set value, the correction coefficient is 1. Finally, multiply the basic moving resistance change rate × (1 + comprehensive determination score) by this correction coefficient to obtain the moving resistance change rate of the sunroof motor. Through this weighted algorithm, factors such as abnormal resistance, mechanical jamming, and motor speed are comprehensively considered, which can more accurately reflect the actual moving resistance change situation of the sunroof motor and provide a more accurate basis for subsequent anti-pinch control.

[0037] In a possible implementation manner, step S300 further includes: Step S310: Extract abnormal resistance data based on the resistance determination result, and extract mechanical jamming data based on the jamming determination result.

[0038] Step S320: Set a preset change threshold. When both the abnormal resistance data and the mechanical jamming data are monitored simultaneously, the moving resistance change rate exceeds the preset change threshold, and an anti-pinch judgment condition is triggered.

[0039] Step S330: When the anti-pinch judgment condition is triggered, perform a moving analysis according to the moving resistance change rate to generate the reverse control signal.

[0040] Specifically, the previously obtained resistance determination results and jam determination results are deeply mined. Based on the resistance determination results, the relevant data indicating abnormal resistance increase are screened out, that is, the data corresponding to the current ripple period being shortened by more than 15% in three consecutive sampling periods. These data are extracted as abnormal resistance data. Similarly, based on the jam determination results, the relevant data indicating mechanical jamming are extracted, that is, the data corresponding to the fluctuation amplitude of the Hall sensor pulse frequency exceeding the preset stable range by 20%. This part of the data is mechanical jamming data.

[0041] A preset change threshold is set in advance, which is determined based on the normal operating characteristics and safety standards of the sunroof motor. It will continuously monitor whether abnormal resistance data and mechanical jamming data appear at the same time. Once these two types of data are monitored at the same time, it can be determined that the rate of change of the movement resistance of the sunroof motor has exceeded the preset change threshold. Because the abnormal resistance increase and mechanical jamming appear at the same time, it is very likely that the sunroof is blocked by foreign objects. In this case, the anti-pinch judgment condition will be triggered and the anti-pinch protection mechanism will be activated.

[0042] When the anti-pinch judgment condition is triggered, a detailed movement analysis is performed based on the rate of change of the moving resistance. The reverse driving torque is calculated based on the size of the rate of change of the moving resistance. The reverse driving torque is nonlinearly positively correlated with the rate of change of the moving resistance. The greater the rate of change, the greater the reverse driving torque. Then, the pulse width modulation technology is used to generate the reverse driving waveform, and the calculated reverse driving torque and the generated reverse driving waveform are integrated to form a reverse control signal. This reverse control signal will be sent to the sunroof motor, which controls the motor to immediately reverse, thereby opening the sunroof, releasing the possible clamping state, and protecting the safety of people and objects.

[0043] In a possible implementation, step S330 further includes: Step S331: calculating a reverse driving torque according to the moving resistance change rate, wherein the reverse driving torque is nonlinearly positively correlated with the moving resistance change rate.

[0044] Step S332: Generate a reverse drive waveform using pulse width modulation technology, and add the reverse drive torque and the reverse drive waveform to the reverse control signal.

[0045] Step S333: Controlling the sunroof motor to switch the direction through the reverse control signal.

[0046] Specifically, when the anti-pinch judgment condition is triggered, the machine learning algorithm can be used to calculate the reverse driving torque based on the rate of change of the moving resistance. First, a large amount of historical data covering the rate of change of the moving resistance under different working conditions and the corresponding appropriate reverse driving torque is collected. These data come from long-term monitoring, testing or simulated pinch resistance experiments in actual scenarios. Then, a multi-layer perceptron (MLP) neural network, a model that can learn complex nonlinear relationships, is selected to divide the historical data into training set, validation set and test set. Using the training set, the MLP model neuron connection weights and biases are continuously adjusted through the error back propagation algorithm to allow the model to learn the internal laws of the two; the validation set is used to evaluate and adjust the model to prevent overfitting and ensure generalization ability; the test set is used to finally test the model performance. After the model training is completed and tested, the rate of change of the moving resistance is obtained in real time in actual applications. The input model, the model can output the corresponding reverse driving torque, so that the sunroof motor can generate sufficient reverse force according to the resistance situation to release the clamping and ensure safety.

[0047] The reverse drive waveform is generated by pulse width modulation technology. Pulse width modulation technology controls the voltage and current of the motor by adjusting the width of the pulse, thereby achieving precise control of the motor speed and torque. According to the characteristics and control requirements of the motor, a suitable reverse drive waveform is generated. Subsequently, the calculated reverse drive torque and the generated reverse drive waveform are integrated into the reverse control signal, so that the reverse control signal not only contains the waveform information of the reverse operation of the drive motor, but also incorporates the reverse drive torque information determined according to the actual resistance change, providing accurate control instructions for the reverse operation of the motor.

[0048] Finally, the reverse control signal with reverse drive torque and reverse drive waveform is transmitted to the sunroof motor, which controls the sunroof motor to switch the direction and start reverse operation. During the reverse operation of the motor, the resistance change rate is continuously monitored. This is to ensure that the motor can resume normal operation in time after the clamp is released. When the resistance is detected to be below the safety threshold, it means that the foreign matter has been removed or the motor operation has returned to normal. At this time, the sunroof motor is controlled to resume forward operation, ensuring that the sunroof can be closed or opened normally, realizing its normal function, and at the same time ensuring safety during use.

[0049] In a possible implementation, step S333 further includes: Step S3331: Record the parameters of the sunroof motor when the anti-pinch judgment condition is triggered, and generate an abnormal event log.

[0050] Step S3332: traverse the abnormal event log to perform clamping risk analysis and determine multiple clamping risks.

[0051] Step S3333: Extract multiple skylight clamping position data based on the abnormal event log, match the multiple skylight clamping position data with the multiple clamping risks, and construct the moving limit distance parameter of the skylight motor.

[0052] Specifically, when the anti-pinch judgment condition is triggered, the relevant parameters of the skylight motor at this time are accurately recorded, covering the position where the skylight is currently located and the surrounding environmental parameters, such as environmental temperature, humidity and other information. The recorded data will be sorted into an abnormal event log, which provides a comprehensive and detailed basis for subsequent in-depth analysis.

[0053] Conduct an in-depth clamping risk analysis on this log. Traverse each record in the abnormal event log line by line. These records include detailed information such as the position of the skylight when the anti-pinch is triggered, environmental parameters (such as temperature, humidity), and motor operation parameters (such as current ripple period, pulse frequency). For the skylight position, analyze whether a specific position triggers the anti-pinch multiple times. If a certain position frequently triggers the anti-pinch, then this position is regarded as a high-risk position. In terms of environmental parameters, establish an association model between environmental parameters and anti-pinch triggering. For example, when the environmental temperature is too high or the humidity is too large, the motor performance may be affected, thus increasing the pinch resistance risk. By comparing the environmental parameters in the log with this association model, judge the clamping risks under different environmental conditions. At the same time, combined with the motor operation parameters, analyze the laws and conditions of abnormal shortening of the current ripple period, excessive fluctuation of the pulse frequency, etc., and determine the corresponding clamping risks when these parameters are abnormal. By comprehensively considering various types of information in the log, finally determine multiple possible clamping risks, providing a basis for subsequent operations such as constructing the moving limit distance parameter, so as to further improve the safety of skylight use.

[0054] In the skylight motor control process that supports anti-pinch drive, after completing the clamping risk analysis and determining multiple clamping risks, further work is carried out based on the abnormal event log. First, conduct a detailed identification process on the abnormal event log, and accurately extract multiple skylight clamping position data from it. These data detail the specific positions where the skylight is located when the anti-pinch is triggered. Subsequently, match these multiple extracted skylight clamping position data with the multiple clamping risks determined earlier. During the matching process, comprehensively consider various factors, such as the correlation between different positions and specific clamping risks, the frequency of risk occurrence, etc. For the successfully matched position and risk combination, conduct in-depth analysis. If it is found that the same position triggers the anti-pinch more than 3 times within 24 hours, this indicates that there is a relatively high risk of pinching at this position. Based on this analysis result, automatically construct the moving limit distance parameter of the skylight motor to limit the moving range of the skylight in this area. In this way, it can effectively avoid frequent pinching accidents at high-risk positions, greatly improving the safety and reliability of skylight use.

[0055] In a possible implementation manner, step S400 further includes: Step S410: Collect data from the thermistor array arranged on the skylight motor at a preset sampling frequency to obtain an initial temperature data set.

[0056] Step S420: Generate a temperature noise reduction data set by performing Kalman filtering on the initial temperature data set.

[0057] Step S430: Traverse the temperature noise reduction data set to perform cross - validation of adjacent sampling points to generate a data validation result.

[0058] Step S440: Effectively identify the temperature noise reduction data set according to the data validation result to obtain the ambient temperature data.

[0059] Specifically, an NTC thermistor array is carefully arranged on the surface of the drive circuit board of the skylight motor. The thermistor can respond sensitively to changes in the surrounding temperature. Then, according to the preset sampling frequency, at a frequency of 10 times per second, data is collected on the temperature information sensed by the thermistor. During this process, the original temperature data obtained from each sampling is continuously and stably recorded. As time goes by, these continuously accumulated original temperature data are aggregated together, and finally an initial temperature data set is formed. This data set will provide a basic basis for subsequent in - depth temperature data analysis and processing.

[0060] After obtaining the initial temperature data set of the skylight motor, Kalman filtering is performed on it to generate a temperature noise reduction data set. Since in the actual environment, electromagnetic interference is generated during the operation of the motor, and there are various noises in the external environment, noise signals are inevitably mixed into the initial temperature data set, affecting the accuracy and reliability of the data. Kalman filtering is an efficient recursive filter that can use dynamic characteristics and noise statistical characteristics to optimally estimate temperature data. Kalman filtering will continuously correct the estimation of the current temperature state through two steps of prediction and update based on the state estimation value at the previous moment and the measurement value at the current moment, thereby effectively suppressing the influence of noise. After Kalman filtering, the noise in the initial temperature data set is greatly reduced, and a smoother and more accurate temperature noise reduction data set is generated, providing a solid data basis for subsequent precise analysis of the ambient temperature and skylight motor control based on this.

[0061] Traverse the temperature noise reduction dataset one by one. During the traversal, focus on the data conditions of adjacent sampling points and perform cross-validation. By comparing the temperature values of adjacent sampling points, check whether the data conforms to the normal temperature change law and whether there are abnormal fluctuations. If the temperature difference between adjacent sampling points is too large and exceeds the reasonable range, there may be data anomalies. After such a strict verification process, potential data problems are found, and data verification results are generated to provide a basis for subsequent data screening.

[0062] Effectively label the temperature noise reduction dataset based on the data verification results. For sampling points that are verified to have accurate and reasonable data, mark them as valid data; while for data points with anomalies, perform corresponding marking or processing. Through this labeling operation, real and reliable data are screened from the temperature noise reduction dataset, and finally the ambient temperature data for subsequent anti-pinch control instruction generation is obtained, ensuring that the skylight motor can achieve precise and safe adaptive control under different ambient temperatures.

[0063] In a possible implementation manner, step S400 further includes: Step S450: Establish a temperature-resistance mapping table according to the timing correlation relationship between the ambient temperature data and the reverse control signal.

[0064] Step S460: Match the ambient temperature data with a preset change threshold according to the temperature-resistance mapping table to determine the reference resistance threshold.

[0065] Step S470: Conduct resistance analysis based on the skylight operation historical data to determine the resistance change trend of the skylight motor, and use the sliding window algorithm to correct the reference resistance threshold according to the resistance change trend to generate the anti-pinch control instruction.

[0066] Specifically, the temperature-resistance mapping table is constructed by analyzing the timing correlation between the ambient temperature data and the reverse control signal. First, the ambient temperature data obtained at different time points are continuously collected. These data reflect the real-time temperature conditions of the environment in which the motor is running. At the same time, the reverse control signal generated at the corresponding time is synchronously recorded. The generation of the reverse control signal is often related to the motor running resistance, and the ambient temperature has an important influence on the resistance. The sequence and mutual connection between the ambient temperature data and the reverse control signal are sorted out, and each ambient temperature value is matched with the resistance associated with the reverse control signal triggered at the corresponding time. For example, when the ambient temperature is a certain value, the motor triggers the reverse control signal due to the change in running resistance, and the temperature and the corresponding resistance information are recorded. Over time, after accumulating a large amount of such data, the ambient temperature is used as the horizontal coordinate and the corresponding resistance condition is used as the vertical coordinate to establish a mapping relationship between the two, forming a detailed temperature-resistance mapping table, which provides a key basis for determining the appropriate resistance threshold based on the ambient temperature in the future, and helps to achieve more accurate anti-pinch control of the sunroof motor.

[0067] According to the established temperature-resistance mapping table, the currently acquired ambient temperature data is matched with the preset change threshold. The preset change threshold is pre-set according to the design parameters and safety standards of the sunroof motor. Through the matching operation, according to the current ambient temperature, the corresponding appropriate resistance threshold is found from the temperature-resistance mapping table. This threshold is the reference resistance threshold. It reflects the reasonable resistance limit for the normal operation of the sunroof motor and the triggering of the anti-pinch mechanism under the current ambient temperature conditions.

[0068] Based on the historical data of the sunroof operation, a comprehensive resistance analysis is carried out. By deeply studying these data, the resistance change trend of the sunroof motor can be clearly determined, and it can be understood whether the resistance increases, decreases, or fluctuates periodically over time. Then, the sliding window algorithm is used to correct the baseline resistance threshold according to the determined resistance change trend. The sliding window algorithm selects historical data within a certain period of time as a window and dynamically adjusts the baseline resistance threshold according to the change of resistance in the window. If foreign matter is detected to be attached to the sunroof rail during this process, the baseline resistance threshold is further reduced because the foreign matter will increase the potential risk of the sunroof operation. The corrected threshold is reduced by 10%-15% to improve the anti-pinch sensitivity. Subsequently, it is determined whether the rate of change of the moving resistance exceeds the preset change threshold, and the corresponding anti-pinch control command is generated according to the judgment result to ensure that the anti-pinch mechanism can be triggered in a timely and effective manner in various complex situations to ensure the safety of people and objects.

[0069] Embodiment 2 is based on the same inventive concept as a sunroof motor control method supporting anti-pinch drive in the aforementioned embodiment. Figure 2As shown in the figure, the present application provides a sunroof motor control system supporting anti-pinch drive. The system and method embodiments in the present application are based on the same inventive concept. Among them, the system includes: A motor real-time operation parameter set acquisition module 10, configured to monitor the operation parameters of the sunroof motor in real time and obtain a motor real-time operation parameter set.

[0070] A moving resistance change rate acquisition module 20, configured to calculate the moving resistance of the sunroof motor according to the motor real-time operation parameter set and obtain the moving resistance change rate of the sunroof motor.

[0071] A reverse control signal generation module 30, configured to trigger an anti-pinch judgment condition based on the moving resistance change rate and generate a reverse control signal.

[0072] An adaptive control module 40, configured to collect environmental temperature data, perform compensation according to the environmental temperature data in combination with the reverse control signal, generate an anti-pinch control instruction, and perform adaptive control on the sunroof motor through the anti-pinch control instruction.

[0073] Furthermore, the system is also used to implement the following functions: Collect the current signal of the sunroof motor through a high-precision current sensor, and extract the current ripple period characteristic value; obtain the motor rotor position signal based on a dual Hall sensor, calculate the time interval between adjacent pulses of the sunroof motor according to the motor rotor position signal, and draw a pulse frequency change curve; perform a load dynamic analysis on the sunroof motor in combination with the current ripple period characteristic value and the pulse frequency change curve to obtain a motor real-time operation parameter set.

[0074] Furthermore, the system is also used to implement the following functions: Continuously monitor the current ripple period characteristic value to obtain N sampling periods, perform a resistance determination based on the N sampling periods to generate a resistance determination result, where N is a positive integer greater than 2; continuously monitor the pulse frequency change curve to obtain M fluctuation amplitudes, perform a jamming determination based on the M fluctuation amplitudes to generate a jamming determination result, where M is a positive integer greater than 1; perform a moving resistance calculation on the sunroof motor based on the resistance determination result and the jamming determination result to obtain the moving resistance change rate of the sunroof motor.

[0075] Furthermore, the system is also used to implement the following functions: Extract abnormal resistance data based on the resistance determination result, and extract mechanical jamming data based on the jamming determination result; set a preset change threshold. When both the abnormal resistance data and the mechanical jamming data are monitored simultaneously, the moving resistance change rate exceeds the preset change threshold, and an anti-pinch judgment condition is triggered; when the anti-pinch judgment condition is triggered, perform a movement analysis based on the moving resistance change rate to generate the reverse control signal.

[0076] Further, the system is also used to implement the following functions: Calculate the reverse driving torque according to the moving resistance change rate, and the reverse driving torque is non-linearly positively correlated with the moving resistance change rate; use pulse width modulation technology to generate a reverse driving waveform, and add the reverse driving torque and the reverse driving waveform to the reverse control signal; control the skylight motor to perform a steering switch through the reverse control signal.

[0077] Further, the system is also used to implement the following functions: Record the parameters of the skylight motor when the anti-pinch judgment condition is triggered to generate an abnormal event log; traverse the abnormal event log to perform a clamping risk analysis to determine multiple clamping risks; extract multiple skylight clamping position data based on the abnormal event log for identification, and match the multiple skylight clamping position data with the multiple clamping risks to construct the moving limit distance parameter of the skylight motor.

[0078] Further, the system is also used to implement the following functions: Deploy a thermistor array on the skylight motor to collect data at a preset sampling frequency to obtain an initial temperature data set; perform Kalman filtering processing on the initial temperature data set to generate a temperature noise reduction data set; traverse the temperature noise reduction data set to perform cross-validation of adjacent sampling points to generate a data validation result; perform effective identification on the temperature noise reduction data set according to the data validation result to obtain the ambient temperature data.

[0079] Further, the system is also used to implement the following functions: Match the ambient temperature data with the preset change threshold according to the temperature-resistance mapping table to determine the reference resistance threshold; perform a resistance analysis based on the historical skylight operation data to determine the resistance change trend of the skylight motor, and use a sliding window algorithm to correct the reference resistance threshold according to the resistance change trend to generate the anti-pinch control instruction.

[0080] Embodiment 3 Figure 3 It is a schematic structural diagram of an electronic device provided for a skylight motor control method supporting anti-pinch driving according to the present invention, showing a block diagram of an exemplary electronic device suitable for implementing the embodiments of the present invention. Figure 3The electronic device shown is merely an example and should not impose any limitations on the functions and scope of use of the embodiments of the present invention. As Figure 3 shown, the electronic device includes a processor 21, a memory 22, an input device 23, and an output device 24; the number of processors 21 in the electronic device can be one or more. Figure 3 Taking one processor 21 as an example, the processor 21, the memory 22, the input device 23, and the output device 24 in the electronic device can be connected through a bus or other means. Figure 3 Taking connection through a bus as an example.

[0081] It should be noted that the above sequence of the embodiments of the present application is only for description and does not represent the superiority or inferiority of the embodiments. And the above describes specific embodiments of this specification. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0082] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

[0083] This specification and the drawings are merely exemplary descriptions of the present application and are considered to cover any and all modifications, variations, combinations, or equivalents within the scope of the present application. Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the present application and its equivalent technologies, the present application is intended to include these changes and modifications.

Claims

1. A sunroof motor control method supporting anti-pinch drive, characterized in that: The method comprises: Monitor the operating parameters of the sunroof motor in real time and obtain the motor's real-time operating parameter set; Calculating the movement resistance of the sunroof motor according to the real-time motor operation parameter set to obtain a movement resistance change rate of the sunroof motor; Based on the movement resistance change rate triggering the anti-pinch judgment condition, a reverse control signal is generated; Ambient temperature data is collected and acquired, compensation is performed according to the ambient temperature data in combination with the reverse control signal, an anti-pinch control instruction is generated, and the sunroof motor is adaptively controlled through the anti-pinch control instruction.

2. A sunroof motor control method supporting anti-pinch drive as claimed in claim 1, characterized in that: Monitor the sunroof motor's operating parameters in real time and obtain the motor's real-time operating parameter set, including: The current signal of the sunroof motor is collected through a high-precision current sensor to extract the current ripple period characteristic value; Acquire the motor rotor position signal based on the dual Hall sensor, calculate the time interval between adjacent pulses of the sunroof motor according to the motor rotor position signal, and draw a pulse frequency change curve; The load dynamic analysis of the sunroof motor is performed in combination with the current ripple period characteristic value and the pulse frequency variation curve to obtain a real-time operating parameter set of the motor.

3. A sunroof motor control method supporting anti-pinch drive as claimed in claim 2, characterized in that: Calculating the movement resistance of the sunroof motor according to the real-time motor operation parameter set to obtain the movement resistance change rate of the sunroof motor includes: Continuously monitor the current ripple period characteristic value, obtain N sampling periods, perform resistance determination based on the N sampling periods, and generate a resistance determination result, where N is a positive integer greater than 2; Continuously monitor the pulse frequency change curve to obtain M fluctuation amplitudes, perform a stuck judgment based on the M fluctuation amplitudes, and generate a stuck judgment result, where M is a positive integer greater than 1; The movement resistance of the sunroof motor is calculated based on the resistance determination result and the jam determination result to obtain the movement resistance change rate of the sunroof motor.

4. A sunroof motor control method supporting anti-pinch drive as claimed in claim 3, characterized in that: The anti-pinch judgment condition is triggered based on the movement resistance change rate, and a reverse control signal is generated, including: extracting abnormal resistance data based on the resistance determination result, and extracting mechanical jamming data based on the jam determination result; A preset change threshold is set, and when the abnormal resistance data and the mechanical jamming data are monitored at the same time, the movement resistance change rate exceeds the preset change threshold, and the anti-pinch judgment condition is triggered; When the anti-pinch judgment condition is triggered, movement analysis is performed according to the movement resistance change rate to generate the reverse control signal.

5. A sunroof motor control method supporting anti-pinch drive as claimed in claim 4, characterized in that: When the anti-pinch judgment condition is triggered, movement analysis is performed according to the movement resistance change rate to generate the reverse control signal, including: Calculating a reverse driving torque according to the moving resistance change rate, wherein the reverse driving torque is nonlinearly positively correlated with the moving resistance change rate; Generate a reverse drive waveform using pulse width modulation technology, and add the reverse drive torque and the reverse drive waveform to the reverse control signal; The sunroof motor is controlled to switch the direction by the reverse control signal.

6. A sunroof motor control method supporting anti-pinch drive as claimed in claim 5, characterized in that: After the sunroof motor is controlled by the reverse control signal to switch the direction, the method includes: Recording parameters of the sunroof motor when the anti-pinch judgment condition is triggered, and generating an abnormal event log; Traversing the abnormal event log to perform clamping risk analysis and determine multiple clamping risks; A plurality of sunroof clamping position data are identified and extracted based on the abnormal event log, and the plurality of sunroof clamping position data are matched with the plurality of clamping risks to construct a movement limit distance parameter of the sunroof motor.

7. A sunroof motor control method supporting anti-pinch drive as claimed in claim 1, characterized in that: Collect and obtain ambient temperature data, including: Arrange a thermistor array on the sunroof motor to collect data at a preset sampling frequency to obtain an initial temperature data set; Generate a temperature denoised data set by performing Kalman filtering on the initial temperature data set; Traversing the temperature denoising data set to perform cross-validation of adjacent sampling points and generate data validation results; The temperature denoising data set is effectively marked according to the data verification result to obtain the ambient temperature data.

8. A sunroof motor control method supporting anti-pinch drive as claimed in claim 1, characterized in that: Compensation is performed according to the ambient temperature data combined with the reverse control signal to generate an anti-pinch control instruction, including: Establishing a temperature-resistance mapping table according to the timing correlation relationship between the ambient temperature data and the reverse control signal; Matching the ambient temperature data with a preset change threshold according to the temperature-resistance mapping table to determine a reference resistance threshold; A resistance analysis is performed based on the historical data of the sunroof operation to determine the resistance change trend of the sunroof motor, and a sliding window algorithm is used to correct the reference resistance threshold according to the resistance change trend to generate the anti-pinch control instruction.

9. A sunroof motor control system supporting anti-pinch drive, characterized in that: The system is used to implement a sunroof motor control method supporting anti-pinch drive according to any one of claims 1 to 8, and the system comprises: A motor real-time operating parameter set acquisition module is used to monitor the operating parameters of the sunroof motor in real time and obtain the motor real-time operating parameter set; A moving resistance change rate acquisition module, used to calculate the moving resistance of the sunroof motor according to the real-time operating parameter set of the motor, and obtain the moving resistance change rate of the sunroof motor; A reverse control signal generating module, configured to trigger an anti-pinch judgment condition based on the moving resistance change rate and generate a reverse control signal; The adaptive control module is used to collect and acquire ambient temperature data, perform compensation according to the ambient temperature data in combination with the reverse control signal, generate an anti-pinch control instruction, and adaptively control the sunroof motor through the anti-pinch control instruction.

10. An electronic device, characterized in that: The electronic device comprises: processor; a memory for storing instructions executable by the processor; Wherein, the processor is used to execute a sunroof motor control method supporting anti-pinch drive as described in any one of claims 1 to 8.

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