Vehicle door control method and device based on Hall motor

Abstract

The invention discloses a Hall motor-based vehicle door control method and device. The method comprises the steps of detecting whether a vehicle door state is a motion state or not; if the vehicle door state is a moving state, target driving current and current actual current corresponding to the vehicle door state are obtained; calculating a difference value between the current actual current and the target driving current to obtain a current error; according to the current error, calculating to obtain a pulse width modulation (PWM) control quantity; and controlling the vehicle door by using the PWM control quantity. The corresponding PWM control quantity can be obtained by calculating the current error. The output of the motor can be adjusted by adjusting the PWM control quantity, so that the assisting force of the vehicle door is controlled. When the user pushes and pulls the automobile door, the motor can provide proper assistance to help the user to operate the automobile door more easily, and the experience feeling of the user in the automobile using process is improved.

Description

Technical Field

[0001] The present application relates to the field of automotive electronics, and in particular to a door control method and device based on a Hall motor. Background Art

[0002] As a convenient means of transportation, cars have brought great convenience to people's lives. Car doors are one of the car parts that are most closely related to car users. The operating force and operating feeling of opening and closing directly affect the car users' impression of the quality of the car.

[0003] At present, most cars are not equipped with the power-assisted function of electric side door opening. Usually, the door can only be unlocked, and users still need to manually open the door. However, due to the gravity of the door itself and the internal friction resistance of the motor, users often feel strenuous when manually pushing and pulling the door, especially when going up and down hills, which leads to a poor user experience during use.

[0004] Therefore, how to improve the user experience during car use has become an urgent problem to be solved in this field. Summary of the invention

[0005] The present application provides a door control method and device based on a Hall motor, the purpose of which is to enhance the user experience during vehicle use.

[0006] In order to achieve the above objectives, this application provides the following technical solutions:

[0007] A door control method based on a Hall motor, comprising:

[0008] Detect whether the door is in motion;

[0009] If the door state is the moving state, obtaining the target driving current and the current actual current corresponding to the door state;

[0010] Calculating the difference between the current actual current and the target driving current to obtain a current error;

[0011] According to the current error, a pulse width modulation (PWM) control amount is calculated;

[0012] The vehicle door is controlled by utilizing the PWM control amount.

[0013] Optionally, the detecting whether the door state is in a moving state includes:

[0014] Collect the first Hall signal and the second Hall signal of the motor; wherein, the motor includes a first Hall sensor and a second Hall sensor, the first Hall signal indicates the Hall signal generated by the first Hall sensor, and the second Hall signal indicates the Hall signal generated by the second Hall sensor;

[0015] Calculate the phase difference between the first Hall signal and the second Hall signal;

[0016] Detect whether the phase difference is a preset phase difference;

[0017] If the phase difference is the preset phase difference, obtain the number of rising edges of the first Hall signal;

[0018] Detect whether the number of rising edges is greater than a preset number;

[0019] If the number of rising edges is greater than the preset number, determine that the door state is the moving state;

[0020] If the number of rising edges is not greater than the preset number, determine that the door state is not the moving state.

[0021] Optionally, it further includes:

[0022] If the phase difference is not the preset phase difference, determine that the door state is not the moving state.

[0023] Optionally, the obtaining the target drive current and the current actual current corresponding to the door state includes:

[0024] Obtain the current actual current, motor current, motor internal resistance, motor torque output efficiency, door gravity, the lever arm of the door gravity relative to the hinge axis, manual force, and the lever arm of the manual force relative to the hinge axis corresponding to the door state;

[0025] Determine the axial force of the motor according to the motor current, the motor internal resistance, and the motor torque output efficiency;

[0026] Calculate the gravitational moment of the door based on the door gravity and the lever arm of the door gravity relative to the hinge axis;

[0027] Calculate the torque generated by the manual force relative to the hinge axis based on the manual force and the lever arm of the manual force relative to the hinge axis;

[0028] Calculate the target drive current according to the axial force of the motor, the gravitational moment of the door, the torque generated by the manual force relative to the hinge axis, and the drive current calculation formula.

[0029] Optionally, determining the axial force of the motor based on the square of the motor current, the internal resistance of the motor, and the motor torque output efficiency includes:

[0030] Obtain the motor speed, the efficiency of the motor drive, the lead screw pitch of the motor, the torque generated by the internal structure resistance of the motor relative to the hinge axis, and the force arm of the motor axial force relative to the hinge axis;

[0031] Calculate the product of the square of the motor current, the internal resistance of the motor, and the motor torque output efficiency to obtain the motor power;

[0032] Based on the motor power and the motor speed, calculate the motor output torque;

[0033] Based on the motor output torque, the efficiency of the motor drive, and the lead screw pitch of the motor, calculate the axial driving force of the motor;

[0034] Based on the axial driving force of the motor, the torque generated by the internal structure resistance of the motor relative to the hinge axis, and the force arm of the motor axial force relative to the hinge axis, calculate the motor axial force.

[0035] A door control device based on a Hall motor, comprising:

[0036] A detection unit for detecting whether the door state is a moving state;

[0037] An acquisition unit for, if the door state is the moving state, acquiring the target drive current and the current actual current corresponding to the door state;

[0038] A first calculation unit for calculating the difference between the current actual current and the target drive current to obtain a current error;

[0039] A second calculation unit for calculating a pulse width modulation (PWM) control quantity according to the current error;

[0040] A control unit for controlling the door using the PWM control quantity.

[0041] Optionally, the detection unit is specifically configured to:

[0042] Collect a first Hall signal and a second Hall signal of the motor; wherein, the motor includes a first Hall sensor and a second Hall sensor, the first Hall signal indicates the Hall signal generated by the first Hall sensor, and the second Hall signal indicates the Hall signal generated by the second Hall sensor;

[0043] Calculate the phase difference between the first Hall signal and the second Hall signal;

[0044] Detect whether the phase difference is a preset phase difference;

[0045] If the phase difference is the preset phase difference, obtain the number of rising edges of the first Hall signal;

[0046] Detect whether the number of rising edges is greater than a preset number;

[0047] If the number of rising edges is greater than the preset number, determine that the door state is the moving state;

[0048] If the number of rising edges is not greater than the preset number, determine that the door state is not the moving state.

[0049] Optionally, it further includes:

[0050] A determining unit, configured to determine that the door state is not the moving state if the phase difference is not the preset phase difference.

[0051] Optionally, the obtaining unit is specifically configured to:

[0052] Obtain the current actual current, motor current, motor internal resistance, motor torque output efficiency, door gravity, the lever arm of the door gravity relative to the hinge axis, the manual force, and the lever arm of the manual force relative to the hinge axis corresponding to the door state;

[0053] Determine the motor axial force according to the motor current, the motor internal resistance, and the motor torque output efficiency;

[0054] Calculate the gravitational moment of the door based on the door gravity and the lever arm of the door gravity relative to the hinge axis;

[0055] Calculate the torque generated by the manual force relative to the hinge axis based on the manual force and the lever arm of the manual force relative to the hinge axis;

[0056] Calculate the target drive current according to the motor axial force, the gravitational moment of the door, the torque generated by the manual force relative to the hinge axis, and the drive current calculation formula.

[0057] Optionally, the obtaining unit is specifically configured to:

[0058] Obtain the motor speed, the efficiency of the motor drive, the lead screw pitch of the motor, the torque generated by the internal structure resistance of the motor relative to the hinge axis, and the lever arm of the motor axial force relative to the hinge axis;

[0059] Calculate the product of the square of the motor current, the motor internal resistance, and the motor torque output efficiency to obtain the motor power;

[0060] Calculate the motor output torque based on the motor power and the motor speed;

[0061] Calculate the axial driving force of the motor based on the motor output torque, the efficiency of the motor drive, and the lead screw pitch of the motor;

[0062] Calculate the axial force of the motor based on the axial driving force of the motor, the torque generated by the internal structure resistance of the motor relative to the hinge axis, and the force arm of the axial force of the motor relative to the hinge axis.

[0063] The technical solution provided by this application detects whether the door state is a moving state; if the door state is a moving state, obtain the target drive current and the current actual current corresponding to the door state; calculate the difference between the current actual current and the target drive current to obtain the current error; calculate the pulse width modulation (PWM) control quantity according to the current error; use the PWM control quantity to control the door. By calculating the current error, the corresponding PWM control quantity can be obtained. By adjusting the PWM control quantity, the output of the motor can be adjusted, thereby controlling the assistance of the door. When the user pushes or pulls the door, the motor will provide appropriate assistance to help the user operate the door more easily and enhance the user experience during vehicle use. Description of the Drawings

[0064] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0065] Figure 1 It is a flowchart of a door control method based on a Hall motor provided by an embodiment of the present application;

[0066] Figure 2 It is a flowchart of a method for detecting the state of a door provided by an embodiment of the present application;

[0067] Figure 3 It is a schematic diagram of the forward rotation phase difference of a motor provided by an embodiment of the present application;

[0068] Figure 4 It is a flowchart of a method for obtaining current provided by an embodiment of the present application;

[0069] Figure 5 It is a flowchart of a method for determining the axial force of a motor provided by an embodiment of the present application;

[0070] Figure 6 It is an effect diagram of the opening direction assistance control provided by an embodiment of the present application;

[0071] Figure 7 This is an effect diagram of the closing direction assistance control provided by the embodiment of the present application;

[0072] Figure 8 This is an effect diagram of the manual commutation assistance control during the door opening process provided by the embodiment of the present application;

[0073] Figure 9 This is an effect diagram of the manual commutation assistance control during the door closing process provided by the embodiment of the present application;

[0074] Figure 10 This is a schematic diagram of the architecture of a door control device based on a Hall motor provided by the embodiment of the present application. Detailed implementation manners

[0075] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0076] In the present application, the term "including", "comprising" or any other variant thereof is intended to cover a non-exclusive inclusion, such that a process, method, article or device including a series of elements not only includes those elements but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the phrase "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the element.

[0077] As Figure 1 shown, this is a flowchart of a door control method based on a Hall motor provided by the embodiment of the present application, including the following steps:

[0078] S101: Detect whether the door state is a moving state.

[0079] If the door state is a moving state, then execute step S102.

[0080] Among them, the moving state includes but is not limited to: pushing the door in the opening direction, pushing the door in the closing direction.

[0081] It can be understood that to detect whether the door state is a moving state, specifically, when it is detected that the motor rotates, the first Hall signal and the second Hall signal are obtained, and whether the door state is a moving state is detected according to the first Hall signal and the second Hall signal.

[0082] Optionally, in another embodiment of the present application, the specific implementation manner of step S101 is as follows Figure 2 shown, including the following steps:

[0083] S201: Collect the first Hall signal and the second Hall signal of the motor.

[0084] Among them, the motor (i.e., the Hall motor) includes a first Hall sensor and a second Hall sensor. The first Hall signal indicates the Hall signal generated by the first Hall sensor during the rotation of the motor, and the second Hall signal indicates the Hall signal generated by the second Hall sensor during the rotation of the motor.

[0085] S202: Calculate the phase difference between the first Hall signal and the second Hall signal.

[0086] It can be understood that when the motor rotates forward, the phase difference between the first Hall signal and the second Hall signal is calculated as 90±45°; when the motor rotates backward, the phase difference between the first Hall signal and the second Hall signal is calculated as 270±45°.

[0087] Specifically, refer to Figure 3 , a schematic diagram showing the phase difference of the motor rotating forward, Figure 3 Hall1 in Figure 3 is the first Hall signal,

[0088] Hall2 in

[0089] is the second Hall signal. The phase difference between the first Hall signal and the second Hall signal is 90±45°, that is, when Hall1 is at the rising edge, Hall2 is at a high level.

[0090] Specifically, when the phase difference between the first Hall signal and the second Hall signal is 270±45°, when the first Hall signal is at the rising edge, the second Hall signal is at a low level.

[0091] S203: Detect whether the phase difference is a preset phase difference.

[0092] If the phase difference is the preset phase difference, then execute step S204.

[0093] Optionally, after step S203, it further includes:

[0094] If the phase difference is not the preset phase difference, then determine that the door state is not the moving state.

[0095] S204: Obtain the number of rising edges of the first Hall signal.

[0096] S205: Detect whether the number of rising edges is greater than a preset number.

[0097] Optionally, the preset number includes but is not limited to: 5.

[0098] If the number of rising edges is greater than the preset number, execute step S206; if the number of rising edges is not greater than the preset number, execute step S207.

[0099] S206: Determine that the door state is the moving state.

[0100] It can be understood that when the phase difference is 90±45°, each time a rising edge of the first Hall signal is collected, the Hall count is incremented by one. If the Hall count is detected to increase for 5 consecutive cycles, it is considered that there is a user currently pushing the door in the opening direction; when the phase difference is 270±45°, each time a rising edge of the first Hall signal is collected, the Hall count is decremented by one. If the Hall count is detected to decrease for 5 consecutive cycles, it is considered that there is a user currently pushing the door in the closing direction, and the door state at this time is determined to be the moving state.

[0101] S207: Determine that the door state is not the moving state.

[0102] Wherein, when the door state is not the moving state, the process ends.

[0103] S102: Obtain the target drive current and the current actual current corresponding to the door state.

[0104] It can be understood that when the door state is the moving state, obtain the target drive current and the current actual current corresponding to the door state, so as to realize the boosting effect according to the target drive current and the current actual current corresponding to the door state subsequently.

[0105] Optionally, in another embodiment of the present application, the specific implementation manner of step S102 is as Figure 4 shown, and includes the following steps:

[0106] S401: Obtain the current actual current, motor current, motor internal resistance, motor torque output efficiency, door gravity, the lever arm of the door gravity relative to the hinge axis, the manual force, and the lever arm of the manual force relative to the hinge axis corresponding to the door state.

[0107] S402: Determine the axial force of the motor according to the motor current, motor internal resistance, and motor torque output efficiency.

[0108] Among them, the axial force of the motor is determined according to the motor current, the internal resistance of the motor, and the motor torque output efficiency. Specifically, the motor power is determined according to the square of the motor current, the internal resistance of the motor, and the motor torque output efficiency; the axial force of the motor is determined according to the motor power.

[0109] Optionally, in another embodiment of the present application, the specific implementation manner of step S402 is as Figure 5 shown, and includes the following steps:

[0110] S501: Obtain the motor speed, the efficiency of the motor drive, the lead of the motor screw, the torque generated by the internal structure resistance of the motor relative to the hinge axis, and the force arm of the motor axial force relative to the hinge axis.

[0111] S502: Calculate the product among the square of the motor current, the internal resistance of the motor, and the motor torque output efficiency to obtain the motor power.

[0112] Among them, the specific manifestation of calculating the product among the square of the motor current, the internal resistance of the motor, and the motor torque output efficiency to obtain the motor power is as shown in formula (1).

[0113] (1)

[0114] In formula (1), P is the motor power, is the internal resistance of the motor, is the motor torque output efficiency. is the voltage at both ends of the motor, is the motor current.

[0115] S503: Calculate the motor output torque based on the motor power and the motor speed.

[0116] In step S503, the specific implementation process of calculating the motor output torque based on the motor power and the motor speed is as follows: Calculate using the motor output torque formula, where the specific manifestation of the motor output torque formula is as shown in formula (2).

[0117] (2)

[0118] In formula (2), is the motor output torque (i.e., the torque generated relative to the hinge axis), and n is the motor speed.

[0119] It should be noted that the relationship between the motor speed and the Hall count is determined by the motor structure and is related to its number of pole pairs. Therefore, once the motor model is determined, the corresponding relationship between the motor speed and the Hall is also determined.

[0120] S504: Calculate the axial driving force of the motor based on the motor output torque, the efficiency of the motor drive, and the lead of the motor screw.

[0121] In step S504, the specific implementation process of calculating the axial driving force of the motor based on the motor output torque, the efficiency of the motor drive, and the lead of the motor screw is as follows: Calculate using the axial driving force formula, where the specific form of the axial driving force formula is shown in formula (3).

[0122] (3)

[0123] In formula (3), is the efficiency of the motor drive, is the lead of the motor screw, is the axial driving force of the motor.

[0124] S505: Calculate the axial force of the motor based on the axial driving force of the motor, the torque generated by the internal structure resistance of the motor relative to the hinge axis, and the lever arm of the axial force of the motor relative to the hinge axis.

[0125] In step S505, the specific implementation process of calculating the axial force of the motor based on the axial driving force of the motor, the torque generated by the internal structure resistance of the motor relative to the hinge axis, and the lever arm of the axial force of the motor relative to the hinge axis is as follows: Calculate using the axial force formula of the motor, where the specific form of the axial force formula of the motor is shown in formula (4).

[0126] (4)

[0127] In formula (4), is the axial force of the motor (i.e., the torque generated relative to the hinge axis), is the torque generated by the internal structure resistance of the motor relative to the hinge axis, is the axial driving force of the motor, is the axial friction force converted from the internal resistance of the mechanism, negative for the opening direction and positive for the closing direction, is the lever arm of the axial force of the motor relative to the hinge axis.

[0128] S403: Calculate the gravity moment of the car door based on the gravity of the car door and the lever arm of the gravity of the car door relative to the hinge axis.

[0129] In step S403, the specific implementation process of calculating the gravity moment of the car door based on the gravity of the car door and the lever arm of the gravity of the car door relative to the hinge axis is as follows: Calculate using the gravity moment formula, where the specific form of the gravity moment formula is shown in formula (5).

[0130] (5)

[0131] In formula (5), is the gravity moment of the car door (i.e., the gravity moment of the car door relative to the hinge axis), is the gravity of the car door, is the lever arm of the car door gravity relative to the hinge axis.

[0132] S404: Based on the manual force and the lever arm of the manual force relative to the hinge axis, calculate the torque generated by the manual force relative to the hinge axis.

[0133] In step S304, the specific implementation process of calculating the torque generated by the manual force relative to the hinge axis based on the manual force and the lever arm of the manual force relative to the hinge axis is as follows: Calculate using the torque formula, where the specific form of the torque formula is shown in formula (6).

[0134] (6)

[0135] In formula (6), is the torque generated by the manual force relative to the hinge axis, is the manual force, and a fixed value can be determined according to requirements. The opening direction is positive, and the closing direction is negative. is the lever arm of the manual force relative to the hinge axis.

[0136] S405: According to the axial force of the motor, the gravity moment of the car door, the torque generated by the manual force relative to the hinge axis, and the driving current calculation formula, calculate the target driving current.

[0137] It should be noted that when the user pushes the car door, the felt assistance is constant, and the car door is in a dynamic force balance state. According to Newton's second law, it can be deduced that the sum of the axial force of the motor, the gravity moment of the car door, and the torque generated by the hand thrust relative to the hinge axis is equal to zero. The specific mathematical expression can refer to formula (7).

[0138] (7)

[0139] It can be understood that substituting formulas (1) to (6) into formula (7) for formula conversion can obtain the driving current calculation formula. Among them, the specific form of the driving current calculation formula is shown in formula (8).

[0140] (8)

[0141] In formula (8), is the target driving current, that is, the motor current in formula (1).

[0142] S103: Calculate the difference between the current actual current and the target drive current to obtain the current error.

[0143] Among them, the specific manifestation of calculating the difference between the current actual current and the target drive current is shown in Formula (8).

[0144] (8)

[0145] Among them, is the current error in the j-th cycle, is the target drive current in the j-th cycle, is the current actual current in the j-th cycle.

[0146] S104: Calculate the Pulse Width Modulation (PWM) control quantity according to the current error.

[0147] Among them, the Pulse Width Modulation (PWM) control quantity is the voltage applied across the motor and is used to drive the motor.

[0148] It can be understood that the specific implementation process of calculating the PWM control quantity according to the current error is: calculate using the PWM control quantity formula. Among them, the specific manifestation of the PWM control quantity formula is shown in Formula (9).

[0149] (9)

[0150] In Formula (9), PWM is the PWM control quantity, is the proportional loop control coefficient, is the integral loop control coefficient.

[0151] S105: Control the car door using the PWM control quantity.

[0152] It can be understood that by adjusting the PWM control quantity, the output of the motor can be adjusted, and thus the assistance of the car door can be controlled. When the car door requires more assistance, increase the PWM duty cycle to increase the axial force output by the motor. Conversely, decrease the PWM duty cycle to reduce the output force. In this way, smooth and appropriate assistance control can be provided according to the specific state of the car door and the operation requirements of the user.

[0153] To better verify the assistance effect achieved by the above solution, refer to Figures 6 to 9 the shown assistance control effect diagram, Figure 6 is the assistance control effect diagram for the opening direction, Figure 7 is the assistance control effect diagram for the closing direction, Figure 8 is the assistance control effect diagram for manual commutation during the opening process, Figure 9 the assistance control effect diagram for manual commutation during the closing process, shown byFigures 6 to 9 It can be seen that in working conditions such as opening the door, closing the door, manually reversing during the door opening process, and manually reversing during the door closing process, this control method can better follow the expected target current value and realize the boosting function during the door opening and closing process.

[0154] In summary, by calculating the current error, the corresponding PWM control quantity can be obtained. By adjusting the PWM control quantity, the output of the motor can be adjusted, thereby controlling the boosting of the car door. When the user pushes or pulls the car door, the motor will provide appropriate boosting to help the user operate the car door more easily and enhance the user experience during the vehicle use process.

[0155] As Figure 10 shown, it is a schematic structural diagram of a car door control device based on a Hall motor provided by an embodiment of the present application. The car door control device includes: a detection unit 100, an acquisition unit 200, a first calculation unit 300, a second calculation unit 400, and a control unit 500.

[0156] The detection unit 100 is used to detect whether the car door state is a moving state.

[0157] Specifically, the detection unit 100 is used for: collecting a first Hall signal and a second Hall signal of the motor; wherein, the motor includes a first Hall sensor and a second Hall sensor, the first Hall signal indicates the Hall signal generated by the first Hall sensor, and the second Hall signal indicates the Hall signal generated by the second Hall sensor; calculating the phase difference between the first Hall signal and the second Hall signal; detecting whether the phase difference is a preset phase difference; if the phase difference is the preset phase difference, obtaining the number of rising edges of the first Hall signal; detecting whether the number of rising edges is greater than a preset number; if the number of rising edges is greater than the preset number, determining that the car door state is a moving state; if the number of rising edges is not greater than the preset number, determining that the car door state is not a moving state.

[0158] The acquisition unit 200 is used to, if the car door state is a moving state, acquire the target drive current and the current actual current corresponding to the car door state.

[0159] Specifically, the acquisition unit 200 is used for: acquiring the current actual current, motor current, motor internal resistance, motor torque output efficiency, car door gravity, the lever arm of the car door gravity relative to the hinge axis, hand force, and the lever arm of the hand force relative to the hinge axis corresponding to the car door state; determining the motor axial force according to the motor current, motor internal resistance, and motor torque output efficiency; calculating the gravitational moment of the car door based on the car door gravity and the lever arm of the car door gravity relative to the hinge axis; calculating the torque generated by the hand force relative to the hinge axis based on the hand force and the lever arm of the hand force relative to the hinge axis; calculating the target drive current according to the motor axial force, the gravitational moment of the car door, the torque generated by the hand force relative to the hinge axis, and the drive current calculation formula.

[0160] The acquisition unit 200 is specifically configured to: acquire the motor speed, the efficiency of the motor drive, the lead screw pitch of the motor, the torque generated by the internal structure resistance of the motor relative to the hinge axis, and the force arm of the motor axial force relative to the hinge axis; calculate the product of the square of the motor current, the internal resistance of the motor, and the motor torque output efficiency to obtain the motor power; calculate the motor output torque based on the motor power and the motor speed; calculate the axial driving force of the motor based on the motor output torque, the efficiency of the motor drive, and the lead screw pitch of the motor; calculate the motor axial force based on the axial driving force of the motor, the torque generated by the internal structure resistance of the motor relative to the hinge axis, and the force arm of the motor axial force relative to the hinge axis.

[0161] The first calculation unit 300 is configured to calculate the difference between the current actual current and the target drive current to obtain a current error.

[0162] The second calculation unit 400 is configured to calculate a pulse width modulation (PWM) control quantity according to the current error.

[0163] The control unit 500 is configured to control the vehicle door by using the PWM control quantity.

[0164] In summary, by calculating the current error, the corresponding PWM control quantity can be obtained. By adjusting the PWM control quantity, the output of the motor can be adjusted, thereby controlling the assistance of the vehicle door. When the user pushes or pulls the vehicle door, the motor will provide appropriate assistance to help the user operate the vehicle door more easily and enhance the user experience during vehicle use.

[0165] Preferably, in combination with Figure 10 the content shown, the door control device further includes: a determination unit configured to determine that the door state is not a moving state if the phase difference is not a preset phase difference.

[0166] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts among the various embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments. In particular, for a system or system embodiment, since it is basically similar to the method embodiment, it is described relatively simply. The relevant parts can refer to the partial description of the method embodiment. The systems and system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. A person of ordinary skill in the art can understand and implement it without creative labor.

[0167] Those skilled in the art may further realize that the units and algorithm steps of each example described in connection with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the components and steps of each example have been generally described according to functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods for each specific application to implement the described functions, but such implementation should not be considered to exceed the scope of the present invention.

[0168] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments shown herein, but rather to the broadest scope consistent with the principles and novel features disclosed herein.

Claims

1. A door control method based on Hall motor, characterized in that: include: Detect whether the door is in motion; If the door state is the moving state, obtaining the target driving current and the current actual current corresponding to the door state; Calculating the difference between the current actual current and the target driving current to obtain a current error; According to the current error, a pulse width modulation (PWM) control amount is calculated; The vehicle door is controlled by utilizing the PWM control amount.

2. The method according to claim 1, characterized in that The detecting whether the door state is in a moving state comprises: Collecting a first Hall signal and a second Hall signal of a motor; wherein the motor comprises a first Hall sensor and a second Hall sensor, the first Hall signal indicates a Hall signal generated by the first Hall sensor, and the second Hall signal indicates a Hall signal generated by the second Hall sensor; Calculating a phase difference between the first Hall signal and the second Hall signal; Detecting whether the phase difference is a preset phase difference; If the phase difference is the preset phase difference, obtaining the number of rising edges of the first Hall signal; Detecting whether the number of rising edges is greater than a preset number; If the number of rising edges is greater than the preset number, determining that the door state is the moving state; If the number of rising edges is not greater than the preset number, it is determined that the door state is not the moving state.

3. The method according to claim 2, characterized in that Also includes: If the phase difference is not the preset phase difference, it is determined that the door state is not the moving state.

4. The method according to claim 1, characterized in that: The obtaining of the target driving current and the current actual current corresponding to the door state includes: Obtaining the current actual current, motor current, motor internal resistance, motor torque output efficiency, door gravity, the lever arm of the door gravity relative to the hinge axis, manual force, and the lever arm of the manual force relative to the hinge axis corresponding to the door state; Determining the motor axial force according to the motor current, the motor internal resistance and the motor torque output efficiency; Calculating the gravity moment of the door based on the door gravity and the moment arm of the door gravity relative to the hinge axis; Based on the manual force and the moment arm of the manual force relative to the hinge axis, calculate the torque generated by the manual force relative to the hinge axis; The target driving current is calculated based on the axial force of the motor, the gravity moment of the door, the torque generated by the manual force relative to the hinge axis and the driving current calculation formula.

5. The method according to claim 4, characterized in that The determining the motor axial force according to the square of the motor current, the motor internal resistance and the motor torque output efficiency comprises: Obtain the motor speed, the efficiency of the motor drive, the lead of the motor screw, the torque generated by the motor internal structural resistance relative to the hinge axis, and the motor axial force relative to the hinge axis force arm; Calculate the product of the square of the motor current, the motor internal resistance and the motor torque output efficiency to obtain the motor power; Calculating the motor output torque based on the motor power and the motor speed; Calculating the axial driving force of the motor based on the output torque of the motor, the efficiency of the motor drive and the lead of the screw of the motor; The motor axial force is calculated based on the axial driving force of the motor, the torque generated by the internal structural resistance of the motor relative to the hinge axis, and the lever arm of the motor axial force relative to the hinge axis.

6. A door control device based on a Hall motor, characterized in that: include: A detection unit, used for detecting whether the door is in a moving state; an acquisition unit, configured to acquire a target driving current and a current actual current corresponding to the door state if the door state is the moving state; A first calculation unit, used for calculating the difference between the current actual current and the target driving current to obtain a current error; A second calculation unit is used to calculate a pulse width modulation (PWM) control amount according to the current error; A control unit is used to control the vehicle door using the PWM control amount.

7. The device according to claim 6, characterized in that The detection unit is specifically used for: Collecting a first Hall signal and a second Hall signal of a motor; wherein the motor comprises a first Hall sensor and a second Hall sensor, the first Hall signal indicates a Hall signal generated by the first Hall sensor, and the second Hall signal indicates a Hall signal generated by the second Hall sensor; Calculating a phase difference between the first Hall signal and the second Hall signal; Detecting whether the phase difference is a preset phase difference; If the phase difference is the preset phase difference, obtaining the number of rising edges of the first Hall signal; Detecting whether the number of rising edges is greater than a preset number; If the number of rising edges is greater than the preset number, determining that the door state is the moving state; If the number of rising edges is not greater than the preset number, it is determined that the door state is not the moving state.

8. The device according to claim 7, characterized in that Also includes: A determination unit is used to determine that the door state is not the moving state if the phase difference is not the preset phase difference.

9. The device according to claim 6, characterized in that The acquisition unit is specifically used for: Obtaining the current actual current, motor current, motor internal resistance, motor torque output efficiency, door gravity, the lever arm of the door gravity relative to the hinge axis, manual force, and the lever arm of the manual force relative to the hinge axis corresponding to the door state; Determining the motor axial force according to the motor current, the motor internal resistance and the motor torque output efficiency; Calculating the gravity moment of the door based on the door gravity and the moment arm of the door gravity relative to the hinge axis; Based on the manual force and the moment arm of the manual force relative to the hinge axis, calculate the torque generated by the manual force relative to the hinge axis; The target driving current is calculated based on the axial force of the motor, the gravity moment of the door, the torque generated by the manual force relative to the hinge axis and the driving current calculation formula.

10. The device according to claim 9, characterized in that The acquisition unit is specifically used for: Obtain the motor speed, the efficiency of the motor drive, the lead of the motor screw, the torque generated by the motor internal structural resistance relative to the hinge axis, and the motor axial force relative to the hinge axis force arm; Calculate the product of the square of the motor current, the motor internal resistance and the motor torque output efficiency to obtain the motor power; Calculating the motor output torque based on the motor power and the motor speed; Calculating the axial driving force of the motor based on the output torque of the motor, the efficiency of the motor drive and the lead of the screw of the motor; The motor axial force is calculated based on the axial driving force of the motor, the torque generated by the internal structural resistance of the motor relative to the hinge axis, and the lever arm of the motor axial force relative to the hinge axis.

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