Anti-pinch detection method and system, control device and storage medium

Abstract

The invention relates to the technical field of motor control, particularly provides an anti-pinch detection method and system, a control device and a storage medium, and aims to solve the technical problem of low anti-pinch detection accuracy in the prior art. In order to achieve the purpose, the anti-pinch detection method comprises the steps of obtaining control quantity information, Hall waveform information and current information of a control system of a target motor; determining a first coefficient based on the information; based on the control quantity information, the Hall waveform information, the current information and the first coefficient, determining an anti-pinch value of the target motor; judging whether the real-time anti-pinch value meets a preset condition or not; and executing a corresponding anti-pinch instruction based on a judgment result. The control quantity information, the Hall waveform information and the current information of the motor control system are fused to obtain the first coefficient, the calculation data can be reasonably adjusted when the anti-pinch value is calculated by using the first coefficient, and a more accurate anti-pinch value can be obtained, so that the accuracy of anti-pinch detection is improved.

Description

Technical Field

[0001] The present application relates to the technical field of motor control, and specifically provides an anti-pinch detection method, system, control device, and storage medium. Background Art

[0002] With the development of automotive electronic automation control and the increasing demand of users for a comfortable cockpit, body electronic control has increasingly replaced traditional mechanical manual control in recent years. For example, seats, windows, doors, front hoods, windshield wipers, etc. all adopt automation control, that is, they are controlled by various motors as actuators. The application of motor actuators is becoming more and more extensive, and the control accuracy requirements for the anti-pinch system of motor control components are also getting higher and higher.

[0003] In the prior art, the anti-pinch control methods mainly include anti-pinch based on Hall pulses and anti-pinch based on current ripple. The former determines the anti-pinch function threshold by detecting the pulse width gain collected by the Hall sensor, and the latter determines it by current gain. However, in the current trend of increasing requirements for motor control accuracy, body electronic control increasingly uses closed-loop control to drive motor actuators. Especially in a closed-loop control system, the PWM duty cycle output by the closed-loop control constantly changes, and the Hall pulse width is also constantly adjusted, resulting in the anti-pinch detection effect of the traditional anti-pinch detection methods based on Hall pulses and current not reaching the expected level under closed-loop control. For example, the anti-pinch detection is slow and the accuracy is low, resulting in frequent false touches of the anti-pinch function.

[0004] Correspondingly, there is a need in the art for a new anti-pinch detection method, system, control device, and storage medium solution to solve the above problems. Summary of the Invention

[0005] In order to overcome the above defects, the present application is proposed to provide an anti-pinch detection method, system, control device, and storage medium that solve or at least partially solve the technical problem of low anti-pinch detection accuracy in the prior art.

[0006] In a first aspect, the present application provides an anti-pinch detection method, the method comprising:

[0007] Obtain control quantity information, Hall waveform information, and current information of the control system of the target motor;

[0008] Determine a first coefficient based on the control quantity information, the Hall waveform information, and the current information;

[0009] Determine the anti-pinch value of the target motor based on the control quantity information, the Hall waveform information, the current information, and the first coefficient;

[0010] Judge whether the anti-pinch value meets a preset condition;

[0011] Execute corresponding anti-pinch instructions based on the judgment result.

[0012] In a technical solution of the above anti-pinch detection method, the judgment of whether the anti-pinch value meets the preset conditions includes:

[0013] Judge the magnitude relationship between the anti-pinch value and a preset anti-pinch threshold;

[0014] If the anti-pinch value is greater than the anti-pinch threshold, it is determined that the anti-pinch value meets the preset conditions.

[0015] In a technical solution of the above anti-pinch detection method, the method for setting the anti-pinch threshold includes at least:

[0016] Based on a preset rule, select at least one motor including the target motor and denote it as a reference motor;

[0017] Obtain the target anti-pinch value of the target motor under the target anti-pinch force, and obtain the maximum anti-pinch value of each reference motor;

[0018] Based on the target anti-pinch value and all the maximum anti-pinch values, determine the anti-pinch threshold of the target motor.

[0019] In a technical solution of the above anti-pinch detection method, the determination of the anti-pinch threshold of the target motor based on the target anti-pinch value and all the maximum anti-pinch values includes:

[0020] Based on all the maximum anti-pinch values, determine the average maximum anti-pinch value of all the reference motors;

[0021] Based on the average maximum anti-pinch value, the target anti-pinch value and the maximum anti-pinch value of the target motor, determine the anti-pinch threshold of the target motor.

[0022] In a technical solution of the above anti-pinch detection method, the determination of the anti-pinch threshold of the target motor based on the average maximum anti-pinch value, the target anti-pinch value and the maximum anti-pinch value of the target motor includes:

[0023] Based on the maximum anti-pinch value of the target motor and the average maximum anti-pinch value, determine a second coefficient;

[0024] Based on the target anti-pinch value and the average maximum anti-pinch value, determine an anti-pinch difference;

[0025] Based on the maximum anti-pinch value of the target motor, the second coefficient and the anti-pinch difference, determine the anti-pinch threshold of the target motor.

[0026] In a technical solution of the above anti-pinch detection method, the control quantity information at least includes a control gain and the control quantity at the previous moment, the Hall waveform information at least includes a Hall waveform gain and the Hall waveform quantity at the previous moment, the current information at least includes a current gain and the current value at the previous moment. Determining a first coefficient based on the control quantity information, the Hall waveform information, and the current information includes:

[0027] Determine a control coefficient, a Hall coefficient, and a current coefficient according to the control gain, the control quantity at the previous moment, the Hall waveform gain, the Hall waveform quantity at the previous moment, the current gain, and the current value at the previous moment. Wherein, the first coefficient includes the control coefficient, the Hall coefficient, and the current coefficient. The control coefficient corresponds to the control quantity information, the Hall coefficient corresponds to the Hall waveform information, and the current coefficient corresponds to the current information;

[0028] Based on the control coefficient, the control gain, the Hall coefficient, the Hall waveform gain, the current coefficient, and the current gain, determine the real-time anti-pinch value of the target motor.

[0029] In a technical solution of the above anti-pinch detection method, determining the anti-pinch value of the target motor further includes:

[0030] Perform preprocessing on the control gain, the Hall waveform gain, and the current gain to obtain a standard control gain, a standard Hall waveform gain, and a standard current gain;

[0031] Based on the control gain ratio value, the standard control gain, the Hall waveform gain ratio value, the standard Hall waveform gain, the current gain ratio value, and the standard current gain, determine the anti-pinch value of the target motor.

[0032] In a second aspect, the present application provides an anti-pinch detection system, and the system includes:

[0033] An acquisition module, configured to acquire control quantity information, Hall waveform information, and current information of a control system of a target motor;

[0034] An analysis module, configured to determine a first coefficient based on the control quantity information, the Hall waveform information, and the current information, and determine the anti-pinch value of the target motor based on the control quantity information, the Hall waveform information, the current information, and the first coefficient, and determine whether the anti-pinch value meets a preset condition;

[0035] An execution module, configured to execute a corresponding anti-pinch instruction based on the judgment result.

[0036] In a third aspect, a control device is provided, which includes a processor and a storage device. The storage device is adapted to store multiple program codes, and the program codes are adapted to be loaded and run by the processor to execute the pinch detection method described in any one of the technical solutions of the above-mentioned pinch detection method.

[0037] In a fourth aspect, a computer-readable storage medium is provided, which stores multiple program codes, and the program codes are adapted to be loaded and run by a processor to execute the pinch detection method described in any one of the technical solutions of the above-mentioned pinch detection method.

[0038] One or more of the above technical solutions of the present application have at least one or more of the following beneficial effects:

[0039] In implementing the technical solution of the present application, the present application first obtains the control quantity information, Hall waveform information, and current information of the control system of the target motor; then determines a first coefficient based on the control quantity information, Hall waveform information, and current information, and then uses the first coefficient and the control quantity information, Hall waveform information, and current information to determine a pinch value; finally, determines whether the pinch value meets a preset condition, and based on the judgment result, executes a corresponding pinch prevention instruction. By fusing the obtained control quantity information, Hall waveform information, and current information of the motor control system, the present application obtains a first coefficient, and the first coefficient can reasonably adjust the calculation data when calculating the pinch value, and a more accurate pinch value can be obtained, thereby improving the accuracy of pinch detection.

[0040] Further, in implementing the technical solution of the present application, in the process of determining whether the pinch value meets the preset condition, by determining the magnitude relationship between the pinch value and a preset pinch threshold, it is determined that the preset condition is met when the pinch value is greater than the pinch threshold. By referring to the pre-set pinch threshold, the present application can be adjusted according to specific requirements and scenarios, so that the pinch detection method of the present application can adapt to different data and requirements.

[0041] Further, in implementing the technical solution of the present application, first, based on a preset rule, at least one motor including the target motor is selected and denoted as the reference motor; then, the target anti-pinch value of the target motor under the target anti-pinch force is obtained, and the maximum anti-pinch value of each reference motor is obtained; finally, based on the target anti-pinch value and all the maximum anti-pinch values, the anti-pinch threshold of the target motor is determined. In the motor production stage, the present application integrates parameters such as the anti-pinch values of the target motor and other reference motors, comprehensively considering parameter differences or performance differences such as electrical characteristic differences, mechanical characteristic differences, and efficiency differences that may exist in the motor production stage. The anti-pinch threshold determined by the present application through the above method avoids the situation where the finally set anti-pinch threshold is inaccurate due to possible scatter.

[0042] Further, in implementing the technical solution of the present application, when determining the anti-pinch threshold of the target motor, first, based on all the maximum anti-pinch values, the average maximum anti-pinch value of all the reference motors is determined; finally, based on the average maximum anti-pinch value, the target anti-pinch value, and the maximum anti-pinch value of the target motor, the anti-pinch threshold of the target motor is determined. The present application comprehensively considers the anti-pinch values of the reference motors and the target motor under the preset rule, and specifically sets a dedicated anti-pinch threshold for the target motor, which can reduce the influence of scatter and make the finally set anti-pinch threshold more in line with the factory parameter characteristics of the target motor, thereby improving the triggering accuracy in actual anti-pinch detection. Moreover, by obtaining the anti-pinch values under different anti-pinch forces, it is possible to ensure that the corresponding anti-pinch thresholds are accurately set according to the requirements of different anti-pinch forces.

[0043] Further, in implementing the technical solution of the present application, first, a second coefficient is determined based on the maximum anti-pinch value and the average maximum anti-pinch value of the target motor, and an anti-pinch difference is determined based on the target anti-pinch value and the average maximum anti-pinch value; finally, based on the maximum anti-pinch value of the target motor, the second coefficient, and the anti-pinch difference, the anti-pinch threshold of the target motor is determined. By introducing the second coefficient to determine the final anti-pinch threshold, the present application can more intuitively reflect the difference in factory parameters between the target motor and the reference motor, and the anti-pinch threshold set on the premise of comprehensively considering this difference is more targeted.

[0044] Further, in implementing the technical solution of the present application, when determining the anti-pinch value of the target motor, first, a control coefficient, a Hall coefficient, and a current coefficient are determined according to the control gain, the previous control quantity, the Hall waveform gain, the previous Hall waveform quantity, the current gain, and the previous current value; finally, based on the control coefficient, the control gain, the Hall coefficient, the Hall waveform gain, the current coefficient, and the current gain, the anti-pinch value of the target motor is determined. By introducing the control coefficient, the Hall coefficient, and the current coefficient, the present application performs data fusion on the control gain, the Hall waveform gain, and the current gain, improving the robustness of the anti-pinch detection method.

[0045] Furthermore, in implementing the technical solution of the present application, preprocessing operations are also performed on the control gain, Hall waveform gain, and current gain to obtain the standard control gain, standard Hall waveform gain, and standard current gain. Through preprocessing, the present application obtains standardized data to be processed, eliminates the dimensional differences between different features, and enables all features to be on a similar scale, facilitating further processing of the data subsequently. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Referring to the accompanying drawings, the disclosure of the present application will become more readily understandable. Those skilled in the art can easily understand that these drawings are only for illustrative purposes and are not intended to limit the protection scope of the present application. In addition, similar numbers in the figures are used to represent similar components, where:

[0047] Figure 1 is a schematic diagram of the main steps of the anti-pinch detection method according to an embodiment of the present application;

[0048] Figure 2 is a schematic diagram of the main steps of the method for determining the anti-pinch threshold according to an embodiment of the present application;

[0049] Figure 3 is a schematic diagram of the main structural block diagram of the anti-pinch detection system according to an embodiment of the present application;

[0050] Figure 4 is a schematic diagram of the main structural block diagram of the anti-pinch detection system according to another embodiment of the present application;

[0051] List of Reference Numerals :

[0052] 11: Acquisition module; 12: Analysis module; 13: Execution module. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0053] The following describes some embodiments of the present application with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principle of the present application and are not intended to limit the protection scope of the present application.

[0054] In the description of the present application, a "module" and a "processor" may include hardware, software, or a combination of both. A module may include a hardware circuit, various appropriate sensors, communication ports, memory, and may also include a software part, such as program code, or may be a combination of software and hardware. A processor may be a central processing unit, a microprocessor, an image processor, a digital signal processor, or any other appropriate processor. The processor has data and / or signal processing functions. The processor may be implemented in software, in hardware, or in a combination of both. A non-transitory computer-readable storage medium includes any appropriate medium that can store program code, such as magnetic disks, hard disks, optical disks, flash memories, read-only memories, random access memories, and so on. The term "A and / or B" represents all possible combinations of A and B, such as only A, only B, or A and B. The term "at least one of A or B" or "at least one of A and B" has a meaning similar to "A and / or B" and may include only A, only B, or A and B. The singular terms "a" and "the" may also include the plural form.

[0055] Please refer to Figure 1 , Figure 1 is a schematic diagram of the main steps of an anti-pinch detection method according to an embodiment of the present application. As Figure 1 shown, the anti-pinch detection method of the present application mainly includes steps S11 - S14:

[0056] Step S11, obtain the control quantity information, Hall waveform information, and current information of the control system of the target motor.

[0057] In this embodiment, the control system of the target motor may be an open-loop control system or a closed-loop control system. In the traditional technology, the PWM duty cycle output by the closed-loop control changes continuously, and the Hall pulse width is also continuously adjusted, resulting in the anti-pinch effect of the traditional Hall pulse-based and current-based anti-pinch methods not reaching the expected value under closed-loop control. Therefore, when the anti-pinch detection method of the present application is applied to a closed-loop control system, its technical advantages can be more prominent. Among them, the algorithms adopted by the closed-loop control system may include, but are not limited to, "PID algorithm", "LQR algorithm", "MPC algorithm", etc. The "control quantity information" in this embodiment represents the information about the control quantity in the closed-loop control system. For example, in a closed-loop control system using the PID algorithm, U = P + I + D, where P, I, and D are the adjustment coefficients of the PID, and U is the calculation result of the PID algorithm, that is, the control quantity.

[0058] Step S12, determine the first coefficient based on the control quantity information, Hall waveform information, and current information.

[0059] In this embodiment, the first coefficient can be a weight coefficient corresponding to each parameter information (control quantity information, Hall waveform information, current information), or can be an independent value determined based on each parameter information, so as to be used as a redundancy in subsequent calculations to reduce the error range of the final calculation result. The specific expression form and determination process are not limited here.

[0060] Step S13, determining the anti-pinch value of the target motor based on the control amount information, the Hall waveform information, the current information and the first coefficient.

[0061] In this embodiment, the anti-pinch value refers to the value of the relevant parameters that can be used to characterize the magnitude of the resistance to the motor, which is determined by analysis and calculation during the operation of the motor. In combination with the embodiment in the above step S12, a corresponding weight value can be assigned to each group of parameters according to the first coefficient, and then the anti-pinch value can be calculated based on the weight value; or the first coefficient can be used as an independent redundancy to fine-tune the calculation result. The method for determining the anti-pinch value is not limited here.

[0062] Step S14: determine whether the anti-pinch value meets the preset conditions.

[0063] In this embodiment, the preset conditions may include but are not limited to "the anti-pinch value is greater than a preset threshold", or "the change speed of the anti-pinch value is greater than a preset threshold", or "the anti-pinch value is within a preset range", etc.

[0064] In one embodiment, whether an anti-pinch action needs to be performed can be determined by setting an anti-pinch threshold, wherein the anti-pinch threshold can be a fixed value pre-set by a technician for the target motor on a production line or a debugging line, or can be a flexibly adjustable value set by the user in practice.

[0065] Step S15: Execute the corresponding anti-pinch instruction based on the judgment result.

[0066] In this embodiment, the judgment result includes satisfying the preset condition or not satisfying the preset condition. In actual situations, it can be set that only when the anti-pinch value satisfies the preset condition, for example, when the anti-pinch value is greater than the preset threshold, it can be analyzed and determined that the window, door, wiper, etc. controlled by the motor has clamped some objects, resulting in an increase in the resistance value of the motor operation, and therefore the corresponding anti-pinch instruction needs to be executed to realize the anti-pinch function.

[0067] In implementing the technical solution of this application, the application first obtains the control quantity information, Hall waveform information, and current information of the control system of the target motor; then, based on the control quantity information, Hall waveform information, and current information, a first coefficient is determined. Next, the anti-pinch value is determined by using the first coefficient, control quantity information, Hall waveform information, and current information; finally, it is judged whether the real-time anti-pinch value meets the preset conditions, and corresponding anti-pinch instructions are executed based on the judgment result. By fusing the obtained control quantity information, Hall waveform information, and current information of the motor control system, a first coefficient is obtained. When calculating the anti-pinch value by using the first coefficient, the calculation data can be reasonably adjusted, and a more accurate anti-pinch value can be obtained, thereby improving the accuracy of anti-pinch detection.

[0068] In an implementation manner of this embodiment, when judging whether the anti-pinch value meets the preset conditions, the method of "judging whether the anti-pinch value is greater than the preset threshold" is adopted. By judging the magnitude relationship between the anti-pinch value and the preset anti-pinch threshold, if the anti-pinch value is greater than the anti-pinch threshold, it is determined that the anti-pinch value meets the preset conditions. By referring to the pre-set anti-pinch threshold, it can be adjusted according to specific requirements and scenarios, so that the anti-pinch detection method of this application can adapt to different data and requirements.

[0069] In an implementation manner of this embodiment, the control quantity information may include but is not limited to control gain and the control quantity at the previous moment, the Hall waveform information may include but is not limited to Hall waveform gain and the Hall waveform quantity at the previous moment, and the current information may include but is not limited to current gain and the current value at the previous moment. In this implementation manner, first, according to the control gain, the control quantity at the previous moment, the Hall waveform gain, the Hall waveform quantity at the previous moment, the current gain, and the current value at the previous moment, the control coefficient, Hall coefficient, and current coefficient are determined; finally, based on the control coefficient, control gain, Hall coefficient, Hall waveform gain, current coefficient, and current gain, the anti-pinch value of the target motor is determined. It is also possible to perform preprocessing on the control gain, Hall waveform gain, and current gain to obtain the standard control gain, standard Hall waveform gain, and standard current gain; finally, based on the control coefficient, standard control gain, Hall coefficient, standard Hall waveform gain, current coefficient, and standard current gain, the anti-pinch value of the target motor is determined.

[0070] In this implementation manner, the Hall waveform gain may include but is not limited to speed gain, acceleration gain, etc.

[0071] The determination process of the anti-pinch value in the above implementation manner can be represented by the following formula:

[0072] δ = α×Δu std + β×Δγ std + θ×Δi std Formula (1)

[0073] Among them, δ in formula (1) represents the anti-pinch value (anti-pinch parameter value), α represents the control coefficient (closed-loop control gain anti-pinch proportionality coefficient), β represents the Hall coefficient (Hall waveform gain anti-pinch proportionality coefficient), θ represents the current coefficient (current gain anti-pinch proportionality coefficient), and Δu std represents the standard control gain (standardized closed-loop control gain), and Δγ std represents the standard Hall waveform gain (standardized closed-loop control Hall waveform gain), and Δi std represents the standard current gain (standardized closed-loop control current gain).

[0074] Specifically, the determination processes of the control coefficient α, the Hall coefficient β, and the current coefficient θ can be characterized by the following formulas:

[0075]

[0076]

[0077]

[0078] Among them, Δu in formulas (2) to (4) represents the control gain, Δγ represents the Hall waveform gain, Δi represents the current gain, u represents the closed-loop control quantity at the previous moment, γ represents the Hall waveform quantity at the previous moment, and i represents the current value at the previous moment.

[0079] In the above-mentioned embodiment, through preprocessing, the standardized data to be processed is obtained, the dimensionality differences between different features are eliminated, so that all features are on a similar scale, which is convenient for further processing of the data subsequently. Further, by introducing the control coefficient, the Hall coefficient, and the current coefficient, the control gain, the Hall waveform gain, and the current gain are fused, improving the robustness of the anti-pinch detection method.

[0080] Please refer to Figure 2 , Figure 2 which is a schematic diagram of the main step flow of the method for determining the anti-pinch threshold according to an embodiment of the present application. As Figure 2 shown, the method for determining the anti-pinch threshold of the present application mainly includes steps S21 - step S23:

[0081] Step S21: Based on a preset rule, select at least one motor including the target motor, denoted as the reference motor.

[0082] In this embodiment, the process of setting the anti-pinch threshold for the target motor generally occurs in the stages before the delivery of the motor, such as the production line and the debugging line. In this embodiment, the preset rules may include, but are not limited to, "being in the same production batch as the target motor", or "within the time range before and after the production time of the target motor", or "random sampling in the same batch", etc. The purpose of selecting the reference motor based on the preset rules is to eliminate the problem that the parameter setting may be inaccurate due to certain errors in the motors produced in batches. In practice, there may be scatter among the motors in the same production batch, which will lead to different performance effects of the same and fixed anti-pinch threshold on different motors.

[0083] Step S22: Obtain the target anti-pinch value of the target motor under the target anti-pinch force, and obtain the maximum anti-pinch value of each reference motor.

[0084] In this embodiment, the technician can set different anti-pinch forces for the target motor during the debugging stage of the target motor, so as to collect the anti-pinch value parameters shown by the target motor under different anti-pinch force tests. The maximum anti-pinch value is determined according to the hardware characteristics of the motor. Even for the motors in the same production batch, there are still differences in the hardware characteristics among them.

[0085] Step S23: Determine the anti-pinch threshold of the target motor based on the target anti-pinch value and all the maximum anti-pinch values. In this embodiment, the present application integrates parameters such as the anti-pinch values of the target motor and other reference motors, and comprehensively considers parameter differences or performance differences such as electrical characteristic differences, mechanical characteristic differences, and efficiency differences that may exist during the production stage of the motor. The anti-pinch threshold determined by the above method in the present application avoids the situation that the finally set anti-pinch threshold is inaccurate due to possible scatter.

[0086] In one embodiment, the process of determining the anti-pinch threshold of the target motor may include: first, determine the average maximum anti-pinch value of all reference motors based on all the maximum anti-pinch values; finally, determine the anti-pinch threshold of the target motor based on the average maximum anti-pinch value, the target anti-pinch value, and the maximum anti-pinch value of the target motor. Specifically, first, determine the anti-pinch ratio value based on the maximum anti-pinch value and the average maximum anti-pinch value of the target motor, and determine the anti-pinch difference value based on the target anti-pinch value and the average maximum anti-pinch value; finally, determine the anti-pinch threshold of the target motor based on the maximum anti-pinch value, the anti-pinch ratio value, and the anti-pinch difference value of the target motor.

[0087] The process of determining the anti-pinch threshold of the target motor in the above embodiment can be represented by the following formula:

[0088] δ thr =δ * int +kΔδ j Formula (5)

[0089] Among them, δ in formula (5) thr represents the anti-pinch threshold (anti-pinch parameter threshold), and δ * int represents the maximum anti-pinch value (initial value) of the target motor, k represents the anti-pinch ratio value (anti-pinch threshold ratio coefficient), Δδ represents the anti-pinch difference, and j represents different target anti-pinch forces.

[0090] Specifically, the determination process of the anti-pinch ratio value k can be characterized by the following formula:

[0091]

[0092] Among them, in formula (6) represents the average maximum anti-pinch value, which is obtained by summing all the maximum anti-pinch values and then taking the average.

[0093] In another embodiment, the anti-pinch threshold can also be optimized and dynamically adjusted by the control system according to the historical execution records; when the device applying the technical solution of the present application is repaired, the anti-pinch threshold of the device can be reset by using the above anti-pinch threshold setting method according to relevant information such as the production records of the device.

[0094] In the above embodiment, the present application comprehensively refers to the anti-pinch value of the reference motor and the anti-pinch value of the target motor under the preset rules, and specifically sets a dedicated anti-pinch threshold for the target motor, which can reduce the influence brought by the scatter, so that the finally set anti-pinch threshold is more in line with the factory parameter characteristics of the target motor, thereby improving the starting accuracy in actual anti-pinch detection. And by obtaining the anti-pinch values under different anti-pinch forces, it can ensure that the corresponding anti-pinch thresholds are accurately set according to the requirements of different anti-pinch forces. Further, the present application determines the final anti-pinch threshold by introducing the anti-pinch ratio value, which can more intuitively reflect the difference in factory parameters between the target motor and the reference motor, and the anti-pinch threshold set on the premise of comprehensively considering this difference is more targeted.

[0095] It should be noted that although the above steps are described in a specific order in the above embodiments, those skilled in the art can understand that in order to achieve the effects of the present application, different steps do not necessarily need to be executed in such an order, and they can be executed simultaneously (in parallel) or in other orders, and these changes are all within the protection scope of the present application.

[0096] Furthermore, the present application also provides an anti-pinch detection system.

[0097] Refer to the appendix Figure 3 , Figure 3It is a main structural block diagram of an anti-pinch detection system according to an embodiment of the present application. As Figure 3 shown, the anti-pinch detection system in the embodiment of the present application mainly includes an acquisition module 11, an analysis module 12, and an execution module 13. In some embodiments, one or more of the acquisition module 11, the analysis module 12, and the execution module 13 may be combined into one module. In some embodiments, the acquisition module 11 may be configured to acquire control quantity information, Hall waveform information, and current information of the control system of the target motor. The analysis module 12 may be configured to determine a first coefficient based on the control quantity information, the Hall waveform information, and the current information, and determine the anti-pinch value of the target motor based on the control quantity information, the Hall waveform information, the current information, and the first coefficient, and determine whether the real-time anti-pinch value meets a preset condition. The execution module 13 may be configured to execute a corresponding anti-pinch instruction based on the judgment result.

[0098] Combined with reference to Figure 3 and Figure 4 , Figure 4 is a schematic diagram of the main structural block diagram of an anti-pinch detection system according to another embodiment of the present application. Specifically, the acquisition module 11 may further include a control device, a current acquisition device, and a Hall sensor. Among them, the control device may be used to acquire the control quantity of the closed-loop control circuit, the Hall sensor is used as the target of the closed-loop control and acquire the Hall waveform gain, and the current acquisition device is used to acquire the current gain. The analysis module 12 may further include a first calculator, a second calculator, a third calculator, and an EEPROM memory under the controller. Among them, the first calculator is used to calculate the first coefficients such as "control coefficient α", "Hall coefficient β", and "current coefficient θ", the second calculator is used to calculate the real-time anti-pinch value δ, and the third calculator is used to calculate the anti-pinch threshold δthr. The execution module 13 may further include a motor actuator for executing the anti-pinch function.

[0099] The above anti-pinch detection system is used to execute Figure 1 and Figure 2 shown in the anti-pinch detection method embodiments. The technical principles, the technical problems solved, and the technical effects produced by the two are similar. Those skilled in the art of the present technology can clearly understand that for the convenience and conciseness of description, the specific working process and related descriptions of the anti-pinch detection system can refer to the content described in the embodiments of the anti-pinch detection method, which will not be elaborated here.

[0100] Those skilled in the art can understand that all or part of the processes in the method of the above-mentioned embodiment of the present application can also be completed by instructing relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above-mentioned method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file or some intermediate form, etc. The computer-readable storage medium can include: any entity or device, medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory, random access memory, electrical carrier signal, telecommunication signal, and software distribution medium that can carry the computer program code. It should be noted that the content included in the computer-readable storage medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable storage medium does not include electrical carrier signals and telecommunication signals.

[0101] Furthermore, the present application also provides a control device. In an embodiment of the control device according to the present application, the control device includes a processor and a storage device. The storage device can be configured to store a program for executing the anti-pinch detection method of the above-mentioned method embodiment. The processor can be configured to execute the program in the storage device, and the program includes, but is not limited to, the program for executing the anti-pinch detection method of the above-mentioned method embodiment. For the sake of convenience of description, only the parts related to the embodiments of the present application are shown. For the specific technical details not disclosed, please refer to the method part of the embodiments of the present application. The control device can be a control device formed by various electronic devices.

[0102] Furthermore, the present application also provides a computer-readable storage medium. In an embodiment of the computer-readable storage medium according to the present application, the computer-readable storage medium can be configured to store a program for executing the anti-pinch detection method of the above-mentioned method embodiment. The program can be loaded and run by a processor to implement the above anti-pinch detection method. For the sake of convenience of description, only the parts related to the embodiments of the present application are shown. For the specific technical details not disclosed, please refer to the method part of the embodiments of the present application. The computer-readable storage medium can be a storage device formed by various electronic devices. Optionally, the computer-readable storage medium in the embodiments of the present application is a non-transitory computer-readable storage medium.

[0103] Furthermore, it should be understood that since the setting of each module is only for explaining the functional units of the device of the present application, the corresponding physical devices of these modules can be the processor itself, or a part of the software in the processor, a part of the hardware, or a part of the combination of software and hardware. Therefore, the number of each module in the figure is only illustrative.

[0104] Those skilled in the art can understand that the various modules in the device can be adaptively split or combined. Such splitting or combination of specific modules will not cause the technical solution to deviate from the principle of the present application. Therefore, the technical solutions after splitting or combination will all fall within the protection scope of the present application.

[0105] So far, the technical solutions of the present application have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, those skilled in the art can easily understand that the protection scope of the present application is obviously not limited to these specific embodiments. Without departing from the principle of the present application, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the protection scope of the present application.

Claims

1. A pinch detection method, characterized in that, The method includes: Obtaining control quantity information, Hall waveform information, and current information of the control system of the target motor; Determining a first coefficient based on the control quantity information, the Hall waveform information, and the current information; Determining an anti-pinch value of the target motor based on the control quantity information, the Hall waveform information, the current information, and the first coefficient; Judging whether the anti-pinch value meets a preset condition; Executing a corresponding anti-pinch instruction based on the judgment result.

2. The anti-pinch detection method according to claim 1, wherein The judging whether the anti-pinch value meets the preset condition includes: Judging the magnitude relationship between the anti-pinch value and a preset anti-pinch threshold; If the anti-pinch value is greater than the anti-pinch threshold, it is determined that the anti-pinch value meets the preset condition.

3. The anti-pinch detection method according to claim 2, characterized in that The method for setting the anti-pinch threshold at least includes: Selecting at least one motor including the target motor based on a preset rule, denoted as a reference motor; Obtaining the target anti-pinch value of the target motor under a target anti-pinch force, and obtaining the maximum anti-pinch value of each reference motor; Determining the anti-pinch threshold of the target motor based on the target anti-pinch value and all the maximum anti-pinch values.

4. The pinch detection method according to claim 3, characterized in that, The determining the anti-pinch threshold of the target motor based on the target anti-pinch value and all the maximum anti-pinch values includes: Determining an average maximum anti-pinch value of all the reference motors based on all the maximum anti-pinch values; Determining the anti-pinch threshold of the target motor based on the average maximum anti-pinch value, the target anti-pinch value, and the maximum anti-pinch value of the target motor.

5. The pinch prevention detection method according to claim 4, characterized in that, The determining the anti-pinch threshold of the target motor based on the average maximum anti-pinch value, the target anti-pinch value, and the maximum anti-pinch value of the target motor includes: Determining a second coefficient based on the maximum anti-pinch value of the target motor and the average maximum anti-pinch value; Determining an anti-pinch difference based on the target anti-pinch value and the average maximum anti-pinch value; Determining the anti-pinch threshold of the target motor based on the maximum anti-pinch value of the target motor, the second coefficient, and the anti-pinch difference.

6. The pinch prevention detection method according to claim 1, wherein The control quantity information at least includes a control gain and the previous control quantity, the Hall waveform information at least includes a Hall waveform gain and the previous Hall waveform quantity, the current information at least includes a current gain and the previous current value. The determining a first coefficient based on the control quantity information, the Hall waveform information, and the current information includes: Determining a control coefficient, a Hall coefficient, and a current coefficient according to the control gain, the previous control quantity, the Hall waveform gain, the previous Hall waveform quantity, the current gain, and the previous current value, where the first coefficient includes the control coefficient, the Hall coefficient, and the current coefficient, the control coefficient corresponds to the control quantity information, the Hall coefficient corresponds to the Hall waveform information, and the current coefficient corresponds to the current information; Determining a real-time anti-pinch value of the target motor based on the control coefficient, the control gain, the Hall coefficient, the Hall waveform gain, the current coefficient, and the current gain.

7. The pinch prevention detection method according to claim 6, wherein Determining the anti-pinch value of the target motor further includes: Preprocess the control gain, the Hall waveform gain, and the current gain to obtain a standard control gain, a standard Hall waveform gain, and a standard current gain; Based on the control gain ratio value, the standard control gain, the Hall waveform gain ratio value, the standard Hall waveform gain, the current gain ratio value, and the standard current gain, determine the anti-pinch value of the target motor.

8. An anti-pinch detection system, characterized in that, The system includes: An acquisition module configured to acquire control quantity information, Hall waveform information, and current information of a control system of a target motor; An analysis module configured to determine a first coefficient based on the control quantity information, the Hall waveform information, and the current information, and determine the anti-pinch value of the target motor and judge whether the anti-pinch value meets a preset condition based on the control quantity information, the Hall waveform information, the current information, and the first coefficient; An execution module configured to execute a corresponding anti-pinch instruction based on the judgment result.

9. A control device, comprising a processor and a storage device, the storage device being adapted to store a plurality of program codes, characterized in that, The program code is adapted to be loaded and run by the processor to execute the anti-pinch detection method according to any one of claims 1 to 7.

10. A computer-readable storage medium storing multiple program codes, characterized in that, The program code is adapted to be loaded and run by the processor to execute the anti-pinch detection method according to any one of claims 1 to 7.

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