Control system, method and product of motor actuator

Abstract

The embodiment of the invention provides a control system and method of a motor actuator and a product. The system comprises an upstream control unit, a driving unit and the motor actuator. The upstream control unit is used for debugging algorithm parameters of a control algorithm in project iteration to obtain debugged target parameters; based on a bus interface between the upstream control unit and the driving unit, the data packet of the debugged target parameter is sent to the driving unit through a bus protocol; and the driving unit is used for adjusting the rotating speed of the motor actuator according to the debugged data packet of the target parameter, a pre-written control algorithm and the monitored rotating speed of the motor actuator. The objective of the invention is to ensure the control stability of a motor actuator while reducing the labor cost in a project iteration updating process.

Description

Technical Field

[0001] This application relates to the technical field of automotive motor control, and particularly to a control system, method, and product for a motor actuator. Background Art

[0002] Currently in the automotive field, due to the algorithm moving upstream and the computing power being centralized, which brings about a reduction in the software iteration workload between software-defined vehicles and different vehicle models, effectively reducing labor costs and shortening the project cycle. Therefore, the algorithm moving upstream and the centralization of computing power are gradually becoming the mainstream trend. After the algorithm moves upstream, the actual speed detection delay time becomes longer, which easily causes the motor actuator to jitter. Summary of the Invention

[0003] In view of this, this application provides a control system, method, and product for a motor actuator. The aim is to reduce labor costs during the project iteration update process while ensuring the control stability of the motor actuator.

[0004] In the first aspect of this application, a control system for a motor actuator is provided. The system includes an upstream control unit, a driving unit, and a motor actuator;

[0005] The upstream control unit is used to debug the algorithm parameters of the control algorithm during project iteration to obtain the debugged target parameters; and is used to send the data packet of the debugged target parameters to the driving unit through the bus protocol based on the bus interface between itself and the driving unit;

[0006] The driving unit is used to adjust the speed of the motor actuator according to the data packet of the debugged target parameters, the pre-written control algorithm, and the monitored speed of the motor actuator.

[0007] Optionally, the upstream control unit includes a power-on determination unit and a parameter sending unit;

[0008] The power-on determination unit is used to determine whether the vehicle is powered on;

[0009] The parameter sending unit is used to send the data packet of the debugged target parameters to the driving unit through the bus protocol based on the bus interface between the upstream control unit and the driving unit when the vehicle is powered on.

[0010] Optionally, the driving unit includes an erasable register and a microcontroller unit;

[0011] The erasable register is used to store the received target parameters by erasing and writing;

[0012] The microcontroller unit is configured to read the target parameters in the erasable register, and perform speed regulation on the motor actuator based on the control algorithm and the monitored speed of the motor actuator, where the control algorithm is an algorithm pre-written in the microcontroller unit.

[0013] Optionally, the bus protocol includes an address bit, a data bit, and a parity bit. The address bit is used to point to the drive unit to which the target parameter is sent, the data bit is used to record the target parameter, and the parity bit is used to verify whether the target parameter is legal.

[0014] Optionally, the microcontroller unit includes a parsing unit, a legality verification unit, and a write control unit;

[0015] The parsing unit is configured to parse the data packet of the received target parameter and determine the verification data in the parity bit of the data packet.

[0016] The legality verification unit is configured to determine whether the target parameter is legal according to the verification data.

[0017] The write control unit is configured to control the erasable register to perform erasure and storage of the target parameter when the target parameter is legal.

[0018] Optionally, the legality verification unit includes a first verification calculation unit and a first verification comparison unit;

[0019] The first verification calculation unit is configured to calculate the target parameter to obtain the data to be verified, where the target parameter is obtained by the parsing unit parsing the data packet of the received target parameter.

[0020] The first verification comparison unit is configured to determine the legality of the target parameter according to the verification data and the data to be verified.

[0021] Optionally, the legality verification unit includes a second verification calculation unit and a second verification comparison unit;

[0022] The second verification calculation unit is configured to perform packet-level verification calculation, field-level verification calculation, and bit-level verification calculation on the data obtained by parsing the data packet of the target parameter, to obtain packet-level data to be verified, field-level data to be verified, and bit-level data to be verified.

[0023] The second verification comparison unit is configured to determine the legality of the target parameter according to the packet-level verification data, field-level verification data, and bit-level verification data in the verification data, and according to the packet-level data to be verified, the field-level data to be verified, and the bit-level data to be verified.

[0024] The second aspect of the present application provides a control method for a motor actuator, and the method includes:

[0025] Debug the algorithm parameters of the control algorithm in the project iteration through the upstream control unit to obtain the target parameters after debugging, where the upstream control unit is the upstream control unit in a control system of a motor actuator described in the first aspect of the present application;

[0026] Based on the bus interface between the upstream control unit and the drive unit, send the data packet of the target parameters after debugging to the drive unit through the bus protocol, where the drive unit is the drive unit in a control system of a motor actuator described in the first aspect of the present application;

[0027] According to the data packet of the target parameters after debugging, the pre-written control algorithm, and the monitored speed of the motor actuator, adjust the speed of the motor actuator through the drive unit.

[0028] The third aspect of the present application provides an electronic device, including: a processor, a memory, and a computer program stored on the memory and running on the processor, where when the computer program is executed by the processor, it implements the steps in a control method for a motor actuator described in the second aspect of the present application.

[0029] The fourth aspect of the present application provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps in a control method for a motor actuator described in the second aspect of the present application.

[0030] The control method for a motor actuator provided by the present application has the following advantages:

[0031] A control system for a motor actuator provided by an embodiment of the present application. The system includes an upstream control unit, a driving unit, and a motor actuator. The upstream control unit is used to debug the algorithm parameters of the control algorithm during project iteration to obtain the target parameters after debugging, and is used to send the data packet of the target parameters after debugging to the driving unit through the bus protocol based on the bus interface between the upstream control unit and the driving unit. The driving unit is used to adjust the speed of the motor actuator according to the data packet of the target parameters after debugging, the pre-written control algorithm, and the monitored speed of the motor actuator. Thus, in the present application, by establishing a bus interface and a bus protocol between the upstream control unit and the driving unit, the upstream control unit executes the debugging of the algorithm parameters of the control algorithm during project iteration, thereby reducing the labor cost during the project iteration update process and shortening the project iteration cycle. Then, the debugged algorithm parameters are sent to the driving unit through the bus interface and the bus protocol between the upstream control unit and the driving unit, and the control algorithm will be pre-written into the local driving unit at one time at the beginning. After receiving the debugged algorithm parameters, the driving unit combines the pre-written control algorithm in the driving unit to form the final control algorithm that can adjust the speed of the motor actuator. The speed of the motor actuator is adjusted through the final control algorithm. Since the control algorithm is set in the local driving unit, the timeliness is effectively guaranteed, thereby ensuring the stability during the speed control process of the motor actuator. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required to be used in the description of the embodiments of the present application. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0033] Figure 1 Schematic diagram of a control system for a motor actuator shown in an embodiment of the present application;

[0034] Figure 2 Structural diagram of a control system for a motor actuator shown in an embodiment of the present application;

[0035] Figure 3 Flowchart of a control method for a motor actuator shown in an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0036] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts belong to the scope of protection of the present application.

[0037] Reference Figure 1 , Figure 1 is a schematic diagram of a control system of a motor actuator shown in an embodiment of the present application. As Figure 1 shown, the system includes: an upstream control unit 101, a drive unit 102, and a motor actuator 103: The upstream control unit 101 is configured to debug the algorithm parameters of the control algorithm in the project iteration to obtain the debugged target parameters; and based on the bus interface between itself and the drive unit, send the data packet of the debugged target parameters to the drive unit through the bus protocol; The drive unit 102 is configured to adjust the speed of the motor actuator 103 according to the data packet of the debugged target parameters, the pre-written control algorithm, and the monitored speed of the motor actuator.

[0038] In this embodiment, as Figure 2As shown, a control system for a motor actuator provided by the present application includes an upstream control unit, a drive unit, and a motor actuator. The control algorithm for regulating the speed of the motor actuator in the present application is pre-written into the drive unit once, and then the control algorithm does not need to be repeatedly written. During the actual project development process, it is necessary to calibrate and update the software algorithm for the parameters of such a control algorithm in combination with different motor actuators. The present application moves the debugging work of the algorithm parameters of such a control algorithm upstream to the upstream control unit, and at the same time constructs a bus interface and a bus protocol between the upstream control unit and the drive unit of the control actuator, and integrates the algorithm parameters of the control algorithm into this bus interface, that is, integrates the algorithm parameters of the control algorithm into a standardized configurable interface. The upstream control unit debugs the algorithm parameters of the control algorithm during the project iteration process to obtain the debugged target parameters corresponding to the corresponding motor actuator. Among them, the upstream control unit is a domain controller in the vehicle control system used to control the motor driver. After obtaining the target parameters, the upstream control unit packages the target parameters into a data packet and sends the data packet of the target parameters to the drive unit through the bus interface and bus protocol between itself and the drive unit. The drive unit extracts the target parameters from the received data packet of the target parameters and configures the target parameters into the control algorithm pre-written into the drive unit once to obtain the final target control algorithm that can be used to regulate the speed of the motor driver. At the same time, the drive unit receives the speed monitoring result of the motor actuator to obtain the speed of the motor actuator, and regulates the speed of the motor actuator based on the monitored speed of the motor actuator and the obtained target control algorithm. Among them, the control algorithm for regulating the speed of the motor actuator is preferably an incremental PID control algorithm, and the corresponding algorithm parameters are the three parameters of Kp, Ki, and Kd, which respectively represent the gain coefficients of the proportional term, the integral term, and the differential term. It should be understood that this is only a preferred implementation manner of the control algorithm, and the control algorithm can also be other control algorithms.

[0039] In this embodiment, an optional implementation manner for monitoring and obtaining the speed of the motor actuator is as follows: A Hall chip is arranged inside the cavity of the motor actuator, and the drive unit provides a power supply and a power ground for the Hall chip. When the motor actuator rotates, when the N pole passes through the top of the Hall chip, the inside of the Hall chip conducts, and when it leaves the top of the Hall chip, the inside of the Hall chip disconnects, thereby forming a waveform of high and low levels. The drive unit detects the rotation speed of the motor actuator by detecting the number of high and low levels.

[0040] A control system for a motor actuator provided by the present application establishes a bus interface and a bus protocol between an upstream control unit and a drive unit. The upstream control unit performs debugging of algorithm parameters of a control algorithm during the project iteration process, thereby reducing the labor cost during the project iteration update process and shortening the project iteration cycle. Then, the debugged algorithm parameters are sent to the drive unit through the bus interface and the bus protocol between the upstream control unit and the drive unit. The control algorithm is pre-written into the local drive unit at one time at the beginning. After receiving the debugged algorithm parameters, the drive unit combines the control algorithm pre-written into the drive unit to form a final control algorithm that can adjust the speed of the motor actuator. The speed of the motor actuator is adjusted through the final control algorithm. Since the control algorithm is set in the local drive unit, the timeliness is effectively guaranteed, thereby ensuring the stability during the speed control process of the motor actuator.

[0041] Combined with the above embodiments, in an implementation manner, the embodiment of the present application further provides a control system for a motor actuator. In the control system of the motor actuator, the upstream control unit includes a power-on determination unit and a parameter sending unit; the power-on determination unit is used to determine whether the vehicle is powered on; the parameter sending unit is used to, when the vehicle is powered on, send a data packet of the debugged target parameter to the drive unit through the bus protocol based on the bus interface between the upstream control unit and the drive unit.

[0042] In this embodiment, each motor actuator in the present application corresponds to a drive unit one by one, that is, one motor actuator has only one drive unit corresponding to itself. The upstream control unit is used to respectively debug the algorithm parameters required by the control algorithm in each drive unit, and store all the debugged target parameters in the upstream control unit. After each vehicle is powered on, the upstream control unit determines the drive unit corresponding to each target parameter, and then based on the determination result, sends the target parameter to the corresponding drive unit to control the speed of the corresponding motor actuator. Specifically, the upstream control unit includes a power-on determination unit and a parameter sending unit. The power-on determination unit is used to determine whether the vehicle has been powered on, and send a corresponding control instruction to the parameter sending unit to control the parameter sending unit to send the target parameter after determining that the vehicle has been powered on. In response to the received control instruction, the parameter sending unit determines the drive unit corresponding to each target parameter, and then based on the bus interface between the upstream control unit and each drive unit respectively and based on the obtained determination result, sends all the target parameters to the corresponding drive unit through the bus protocol to control the speed of the corresponding motor actuator.

[0043] Combined with the above embodiments, in one implementation, the embodiments of the present application further provide a control system for a motor actuator. In the control system of the motor actuator, the driving unit includes an erasable register and a microcontroller unit; the erasable register is used to store the received target parameters by erasing and writing; the microcontroller unit is used to read the target parameters in the erasable register and adjust the speed of the motor actuator based on the control algorithm and the monitored speed of the motor actuator, and the control algorithm is an algorithm pre-written in the microcontroller unit.

[0044] In this embodiment, for the above implementation in which the upstream control unit stores the target parameters and sends the target parameters to the driving unit after each power-on, processes such as communication establishment and data transmission are required after each power-on, which will increase the response time of the system. Moreover, the communication process may be interfered with or malfunction, resulting in parameter transmission failure or error. Therefore, this implementation will increase communication delay, and frequent communication is likely to cause data transmission errors, thus affecting system stability. To solve this problem and achieve the purpose of improving the system response speed and stability, the present application provides another alternative implementation. The present application sets a microcontroller unit and an erasable register in the driving unit. After the driving unit receives the debugged target parameters sent by the upstream control unit, the target parameters are erased and written into the erasable register of the driving unit for storage. In this way, even if the vehicle is powered off, the target parameters will be recorded in the driving unit, effectively avoiding frequent data communication, thereby effectively improving the system response speed and stability. At the same time, the control algorithm of the driving unit is configured with the received target parameters, so that the driving unit can timely adjust the speed of the motor actuator using the latest target parameters after debugging. After the upstream control unit obtains new target parameters through new debugging of the control algorithm based on a new project iteration, it only needs to rewrite the new target parameters into the erasable register of the driving unit once. Specifically: after the upstream control unit obtains the target parameters through debugging, the upstream control unit packs the target parameters into a data packet and sends the data packet of the target parameters to the microcontroller unit (MCU Microcontroller Unit) of the driving unit through the bus interface and bus protocol between itself and the driving unit. While erasing and writing the target parameters into the erasable register of the microcontroller unit for storage, the control algorithm is configured with the received target parameters, so that the driving unit can timely adjust the speed of the motor actuator using the latest target parameters after debugging. After the subsequent vehicle is powered on, the microcontroller unit of the driving unit only needs to read the target parameters from its own erasable register to configure the control algorithm, and adjust the speed of the motor actuator based on the configured target control algorithm and the calculated speed of the motor actuator.

[0045] In this embodiment, for the implementation where the drive unit includes an erasable register and a microcontroller unit, and the implementation where the upstream control unit includes a power-on determination unit and a parameter sending unit, these two are parallel different implementations. When adjusting the rotational speed of the motor actuator, one of these two parallel different implementations is used to adjust the rotational speed of the motor actuator. The implementation where the drive unit includes an erasable register and a microcontroller unit can bring better effects compared to the implementation where the upstream control unit includes a power-on determination unit and a parameter sending unit, that is, effectively improving the system response speed and stability as mentioned above.

[0046] Combined with the above embodiments, in one implementation, the embodiments of the present application further provide a control system for a motor actuator. In this control system of the motor actuator, the bus protocol includes an address bit, a data bit, and a check bit. The address bit is used to point to the drive unit to which the target parameter is sent, the data bit is used to record the target parameter, and the check bit is used to verify whether the target parameter is legal.

[0047] In this embodiment, the bus protocol used for transmitting the target parameter between the upstream control unit and the drive unit in the present application at least includes an address bit, a data bit, and a check bit. The address bit is used to label the drive unit to which the target parameter will be sent, and based on the data recorded by this address bit, it can be determined which drive unit the target parameter needs to be sent to. The data bit is used to record the data of the target parameter itself. For example, when the control algorithm is an incremental PID control algorithm, the corresponding algorithm parameters are the three parameters of Kp, Ki, and Kd, and the data bit records the adjusted values of the three parameters of Kp, Ki, and Kd. The check bit is used to verify whether the target parameter is legal, that is, to determine whether the target parameter received by the receiving end is the same as the target parameter sent by the sending end. When the target parameter received by the receiving end is the same as the target parameter sent by the sending end, it is determined that the target parameter is legal.

[0048] Combined with the above embodiments, in one implementation, the embodiments of the present application further provide a control system for a motor actuator. In this control system of the motor actuator, the microcontroller unit includes a parsing unit, a legality verification unit, and a writing control unit; the parsing unit is used to parse the data packet of the received target parameter to determine the verification data in the check bit of the data packet; the legality verification unit is used to determine whether the target parameter is legal according to the verification data; the writing control unit is used to control the erasable register to erase and store the target parameter when the target parameter is legal.

[0049] In this embodiment, the microcontroller unit in the driving unit includes a parsing unit, a legality verification unit, and a writing control unit. The parsing unit is used to parse the data packet of the target parameter sent by the upstream control unit based on the bus interface and bus protocol, and obtain the verification data recorded in the verification bit of the data packet. After the parsing unit parses and obtains the verification data in the verification bit of the data packet, it sends the verification data to the legality verification unit, and the legality verification unit determines whether the target parameter recorded in the received data packet of the target parameter is legal based on the verification data. When it is determined that the target parameter is legal, a corresponding writing control instruction is sent to the writing control unit to control the erasable register to erase and store the target parameter through the writing control unit. When it is determined that the target parameter is illegal, no writing control instruction is sent to the writing control unit. At this time, the writing control unit does not control the erasable register to erase and store the target parameter. At this time, corresponding illegal feedback information is sent to the upstream control unit through the bus interface and bus protocol between the driving unit and the upstream control unit to prompt the debugging engineer that the currently sent target parameter is illegal and the abnormal cause needs to be investigated. The writing control unit controls the erasable register to erase and store the target parameter in response to the received writing control instruction.

[0050] Combined with the above embodiments, in one implementation, the embodiment of the present application further provides a control system for a motor actuator. In the control system of the motor actuator, the legality verification unit includes a first verification calculation unit and a first verification comparison unit; the first verification calculation unit is used to calculate the target parameter to obtain the data to be verified, and the target parameter is obtained by the parsing unit parsing the received data packet of the target parameter; the first verification comparison unit is used to determine the legality of the target parameter according to the verification data and the data to be verified.

[0051] In this embodiment, the present application provides an optional legality verification method. Specifically, the legality verification unit includes a first verification calculation unit and a first verification comparison unit. The parsing unit is used to parse the data packet of the target parameter sent by the upstream control unit based on the bus interface and bus protocol, and obtain the target parameter recorded in the data bit of the data packet. The first verification calculation unit is used to calculate the target parameter recorded in the data bit of the data packet parsed by the parsing unit to obtain a data to be verified. The data to be verified is preferably a checksum. When the data to be verified is a checksum, the verification data in the verification bit obtained by the parsing unit parsing the data packet also belongs to the checksum. The first verification comparison unit is used to compare the verification data and the data to be verified to determine whether the verification data and the data to be verified are consistent. When the two are consistent, it is determined that the target parameter is legal, and when the two are inconsistent, it is determined that the target parameter is illegal.

[0052] Combined with the above embodiments, in one implementation, the embodiments of the present application further provide a control system for a motor actuator. In the control system of the motor actuator, the legality verification unit includes a second verification calculation unit and a second verification comparison unit; the second verification calculation unit is configured to perform packet-level verification calculation, field-level verification calculation, and bit-level verification calculation on the data obtained by parsing the data packet of the target parameter, to obtain packet-level data to be verified, field-level data to be verified, and bit-level data to be verified; the second verification comparison unit is configured to determine the legality of the target parameter according to the packet-level verification data, field-level verification data, and bit-level verification data in the verification data, and according to the packet-level data to be verified, the field-level data to be verified, and the bit-level data to be verified.

[0053] In this embodiment, since the target parameter determines the control effect of the motor actuator and easily affects the user experience, in order to ensure the legality of the target parameter, the present application provides another optional legality verification method. Specifically: The legality verification unit includes a second verification calculation unit and a second verification comparison unit. The parsing unit is configured to parse the data packet of the target parameter sent by the upstream control unit based on the bus interface and the bus protocol, to obtain all the data recorded in the data packet. The second verification calculation unit is configured to perform calculation of data to be verified at multiple data division levels on all the data obtained by parsing the data packet of the target parameter, which are respectively packet-level verification calculation, field-level verification calculation, and bit-level verification calculation. Each calculation of data to be verified at a data division level will obtain the data to be verified at its respective level, which are respectively the packet-level data to be verified corresponding to the packet-level verification calculation, the field-level data to be verified corresponding to the field-level verification calculation, and the bit-level data to be verified corresponding to the bit-level verification calculation. When the data to be verified includes the data to be verified at these three levels of packet-level data to be verified, field-level data to be verified, and bit-level data to be verified, the verification data in the verification bits obtained by the parsing unit parsing the received data packet of the target parameter also includes packet-level verification data, field-level verification data, and bit-level verification data. After obtaining the data to be verified at each level, the second verification comparison unit compares the packet-level verification data in the verification data with the packet-level data to be verified for consistency, and compares the field-level verification data with the field-level data to be verified for consistency, and compares the bit-level verification data with the bit-level data to be verified for consistency, and determines the legality of the target parameter based on the results of the three consistency comparisons.

[0054] In this embodiment, to improve the efficiency of verification and comparison, the present application provides an optional comparison method for three types of consistency comparisons: the comparison between the packet-level verification data and the packet-level data to be verified preferably uses the hash confusion checksum algorithm for verification; the comparison between the field-level verification data and the field-level data to be verified preferably uses the Dynamic CRC Slicing algorithm for verification; the comparison between the bit-level verification data and the bit-level data to be verified preferably uses the interleaved parity check algorithm for verification. The present application first compares the packet-level verification data with low complexity and the packet-level data to be verified. When it is determined that the two are inconsistent, it is determined that the target parameter is illegal and there is no need to perform subsequent verifications. When it is determined that the two are consistent, continue to compare the bit-level verification data that can quickly locate the approximate area of the error and the bit-level data to be verified. When it is determined that the two are inconsistent, it is determined that the target parameter is illegal and there is no need to perform subsequent verifications. When it is determined that the two are consistent, perform the final comparison between the field-level verification data and the field-level data to be verified. When it is determined that the two are inconsistent, it is determined that the target parameter is illegal. When it is determined that the two are consistent, it is determined that the target parameter is legal. The present application first performs the packet-level verification with low complexity, then performs the bit-level verification that can quickly locate the approximate area of the error, and finally performs the CRC calculation that requires high overhead for the entire data segment. Such a verification process can effectively improve the efficiency of verification and comparison while ensuring the legality of the target parameter.

[0055] Based on the same inventive concept, an embodiment of the present application provides a control method for a motor actuator, as Figure 3 shown, the method includes:

[0056] Step S301: Debug the algorithm parameters of the control algorithm in the project iteration through the upstream control unit to obtain the debugged target parameters, where the upstream control unit is the upstream control unit in a control system of a motor actuator provided in the first aspect of the present application;

[0057] Step S302: Based on the bus interface between the upstream control unit and the drive unit, send the data packet of the debugged target parameters to the drive unit through the bus protocol, where the drive unit is the drive unit in a control system of a motor actuator provided in the first aspect of the present application;

[0058] Step S303: Adjust the speed of the motor actuator through the drive unit according to the data packet of the debugged target parameters, the pre-written control algorithm, and the monitored speed of the motor actuator.

[0059] Optionally, determine whether the vehicle is powered on through the power-on determination unit of the upstream control unit;

[0060] When the vehicle is powered on, the parameter sending unit of the upstream control unit sends the data packet of the debugged target parameter to the drive unit through the bus protocol based on the bus interface between the upstream control unit and the drive unit.

[0061] Optionally, the received target parameter is stored in the erasable register of the drive unit by erasing and writing.

[0062] The microcontroller unit of the drive unit reads the target parameter in the erasable register, and adjusts the speed of the motor actuator based on the control algorithm and the monitored speed of the motor actuator. The control algorithm is the algorithm pre-written in the microcontroller unit.

[0063] Optionally, the bus protocol includes an address bit, a data bit, and a check bit. The address bit is used to point to the drive unit to which the target parameter is sent, the data bit is used to record the target parameter, and the check bit is used to verify whether the target parameter is legal.

[0064] Optionally, the parsing unit of the microcontroller unit parses the data packet of the received target parameter to determine the check data in the check bit of the data packet.

[0065] According to the check data, the legality check unit of the microcontroller unit determines whether the target parameter is legal.

[0066] When the target parameter is legal, the write control unit of the microcontroller unit controls the erasable register to erase and store the target parameter.

[0067] Optionally, determining whether the target parameter is legal by the legality check unit of the microcontroller unit according to the check data includes:

[0068] The first check calculation unit of the legality check unit calculates the target parameter to obtain the data to be checked. The target parameter is obtained by the parsing unit parsing the data packet of the received target parameter.

[0069] According to the check data and the data to be checked, the first check comparison unit of the legality check unit determines the legality of the target parameter.

[0070] Optionally, determining whether the target parameter is legal by the legality check unit of the microcontroller unit according to the check data includes:

[0071] The second verification calculation unit of the legality verification unit respectively performs packet-level verification calculation, field-level verification calculation, and bit-level verification calculation on the data obtained from the data packet for parsing the target parameter, to obtain packet-level data to be verified, field-level data to be verified, and bit-level data to be verified;

[0072] According to the packet-level verification data, field-level verification data, and bit-level verification data in the verification data, and according to the packet-level data to be verified, the field-level data to be verified, and the bit-level data to be verified, the legality of the target parameter is determined by the second verification comparison unit of the legality verification unit.

[0073] Based on the same inventive concept, an embodiment of the present application provides an electronic device, including: a processor, a memory, and a computer program stored on the memory and running on the processor. When the computer program is executed by the processor, it implements the steps in the control method of a motor actuator as described in the second aspect of the present application.

[0074] Based on the same inventive concept, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements the steps in the control method of a motor actuator as described in the second aspect of the present application.

[0075] For the method embodiment, since it is basically similar to the system embodiment, the description is relatively simple. For the relevant parts, refer to the partial description of the method embodiment.

[0076] It should be noted that for the method embodiment, for the sake of simple description, it is all expressed as a series of action combinations. However, those skilled in the art should know that the embodiments of the present application are not limited by the described action sequence, because according to the embodiments of the present application, some steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily essential for the embodiments of the present application.

[0077] Each embodiment in this specification is described in a progressive manner. The key point of each embodiment is to illustrate the differences from other embodiments. The same or similar parts among the embodiments can be referred to each other.

[0078] Those skilled in the art should understand that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the embodiments of the present application can take the form of completely hardware embodiments, completely software embodiments, or embodiments combining software and hardware aspects. Moreover, the embodiments of the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0079] The embodiments of the present application are described with reference to the flowcharts and / or block diagrams of methods, terminal devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, as well as the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing terminal devices generate a device for implementing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0080] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device that implements the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0081] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device, such that a series of operation steps are executed on the computer or other programmable terminal device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable terminal device provide steps for implementing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0082] Although the preferred embodiments of the embodiments of the present application have been described, those skilled in the art can make additional changes and modifications once they know the basic creative concepts. Therefore, the appended claims are intended to be construed to include the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present application.

[0083] Finally, it should also be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or terminal device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or terminal device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or terminal device comprising the said element.

[0084] The above has introduced in detail a control system, method and product of a motor actuator provided by the present application. Specific examples are used in this text to elaborate on the principle and implementation manner of the present application. The description of the above embodiments is only used to help understand the method and its core idea of the present application; at the same time, for those of ordinary skill in the art, according to the idea of the present application, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present application.

Claims

1. A control system for a motor actuator, characterized in that: The system includes an upstream control unit, a drive unit and a motor actuator; The upstream control unit is used to debug the algorithm parameters of the control algorithm in the project iteration to obtain the debugged target parameters; and for sending a data packet of debugged target parameters to the drive unit through a bus protocol based on a bus interface between the drive unit and the drive unit; The driving unit is used to adjust the speed of the motor actuator according to the data packet of the debugged target parameter, the pre-written control algorithm and the monitored speed of the motor actuator.

2. A control system for a motor actuator according to claim 1, characterized in that: The upstream control unit includes a power-on determination unit and a parameter sending unit; The power-on determination unit is used to determine whether the vehicle is powered on; The parameter sending unit is used to send a data packet of debugged target parameters to the drive unit through a bus protocol based on a bus interface between an upstream control unit and the drive unit when the vehicle is powered on.

3. The control system of a motor actuator according to claim 1, characterized in that: The driving unit includes an erasable register and a microcontroller unit; The erasable register is used to store the received target parameters by erasing; The microcontroller unit is used to read the target parameters in the erasable register and adjust the speed of the motor actuator based on the control algorithm and the monitored motor actuator speed. The control algorithm is an algorithm pre-written into the microcontroller unit.

4. The control system of a motor actuator according to claim 3, characterized in that: The bus protocol includes an address bit, a data bit and a check bit, wherein the address bit is used to point to the drive unit to which the target parameter is sent, the data bit is used to record the target parameter, and the check bit is used to check whether the target parameter is legal.

5. The control system of a motor actuator according to claim 4, characterized in that: The microcontroller unit includes a parsing unit, a legality checking unit, and a writing control unit; The parsing unit is used to parse the received data packet of the target parameter and determine the check data in the check bit of the data packet; The legality verification unit is used to determine whether the target parameter is legal according to the verification data; The write control unit is used to control the erasable register to erase and store the target parameter when the target parameter is legal.

6. A control system for a motor actuator according to claim 5, characterized in that: The legality verification unit includes a first verification calculation unit and a first verification comparison unit; The first verification calculation unit is used to calculate the target parameter to obtain the data to be verified, and the target parameter is obtained by the parsing unit parsing the data packet of the target parameter received; The first verification and comparison unit is used to determine the legitimacy of the target parameter according to the verification data and the data to be verified.

7. The control system of a motor actuator according to claim 5, characterized in that: The legality verification unit includes a second verification calculation unit and a second verification comparison unit; The second verification calculation unit is used to perform packet-level verification calculation, field-level verification calculation and bit-level verification calculation on the data obtained by parsing the data packet of the target parameter, so as to obtain packet-level data to be verified, field-level data to be verified and bit-level data to be verified; The second verification comparison unit is used to determine the legitimacy of the target parameter based on the packet-level verification data, the field-level verification data and the bit-level verification data in the verification data, and based on the packet-level data to be verified, the field-level data to be verified and the bit-level data to be verified.

8. A control method for a motor actuator, characterized in that: The method comprises: Debugging the algorithm parameters of the control algorithm in the project iteration through an upstream control unit to obtain the debugged target parameters, wherein the upstream control unit is an upstream control unit in a control system of a motor actuator according to any one of claims 1 to 7; Based on the bus interface between the upstream control unit and the drive unit, a data packet of the debugged target parameters is sent to the drive unit through the bus protocol, wherein the drive unit is a drive unit in a control system of a motor actuator according to any one of claims 1 to 7; The speed of the motor actuator is adjusted by a driving unit according to the data packet of the debugged target parameters, the pre-written control algorithm and the monitored speed of the motor actuator.

9. An electronic device, characterized in that: include: A processor, a memory, and a computer program stored in the memory and running on the processor, wherein the computer program, when executed by the processor, implements the steps in the control method of a motor actuator as claimed in claim 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by the processor, the steps in the method for controlling a motor actuator according to claim 8 are implemented.

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