Vehicle and motor control system thereof

Abstract

The invention relates to a vehicle and a motor control system thereof, and the system comprises an information collection module, a first end of the information collection module is connected with a plurality of motors of the vehicle, and the information collection module is configured to respond to a first data calling instruction, collect operation data of a target motor, and send the operation data to a server; performing distribution processing on the operation data according to the motor identification information to obtain target operation data; the first end of the motor control module is connected with the second end of the information acquisition module, the second end of the motor control module is connected with at least one first terminal, the third end of the motor control module is connected with a plurality of motors, and the motor control module is configured to determine a target motor based on the motor control instruction; and driving the target motor to operate according to the motor control instruction, generating a first data calling instruction, and adjusting the operation state of the target motor in combination with the target operation data. The system can be suitable for a plurality of different motors, the universality of the motor control system is improved, and the occupancy rate and the application cost of motor controller resources are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and particularly to a vehicle and its motor control system. Background Art

[0002] As users' requirements for vehicle intelligence and comfort are getting higher and higher, the basic configurations of vehicles are getting higher and higher, and the functions tend to be more electrified and intelligent. There are more and more controllers and motors used.

[0003] In related technologies, a corresponding control system is configured for each motor in a vehicle to drive motors with different functions to meet the electrification and intelligence requirements of the vehicle. However, this technical solution is prone to waste of resources and increases the application cost. Summary of the Invention

[0004] One object of the present invention is to provide a motor control system for a vehicle to solve the problems of waste of motor control resources and high application cost in the prior art; another object is to provide a vehicle.

[0005] To achieve the above objects, the technical solution adopted by the present invention is as follows:

[0006] A motor control system for a vehicle includes: an information acquisition module, a first end of the information acquisition module is respectively connected to a plurality of motors of the vehicle, the information acquisition module is configured to collect operation data of a target motor corresponding to a first data retrieval instruction in response to the first data retrieval instruction, and perform distribution processing on the operation data according to the identification information of the target motor to obtain target operation data; a motor control module, a first end of the motor control module is connected to a second end of the information acquisition module, a second end of the motor control module is adapted to be respectively connected to at least one first terminal, a third end of the motor control module is respectively connected to the plurality of motors, wherein at least one first terminal is used to provide a motor control instruction, the motor control module is configured to determine a target motor based on the motor control instruction, drive the target motor to operate according to the motor control instruction and generate a first data retrieval instruction, and adjust the operation state of the target motor in combination with the target operation data.

[0007] According to the above technical means, in the motor control system, the first end of the information acquisition module is respectively connected to the data sampling ends of multiple motors of the vehicle, and the third end of the motor control module is respectively connected to the driving ends of the multiple motors. When the first terminal sends a motor control instruction to the motor control system, the motor control module receives the motor control instruction and identifies the target motor among the multiple motors. On the one hand, a control signal is generated according to the motor control instruction to drive the target motor. On the other hand, a first data retrieval instruction corresponding to the target motor is generated and sent to the information acquisition module to obtain the actual operation data of the target motor through the information acquisition module during the operation of the target motor for motor control. After receiving the first data retrieval instruction, the information acquisition module identifies the target motor based on the first data retrieval instruction, thereby collecting the operation data of the target motor in real time. To ensure that the motor control module can smoothly identify and apply the operation data of the target motor, the information acquisition module processes the operation data according to the identification information of the target motor to obtain the target operation data of the target motor in the same signal format and mapping relationship that can be recognized by the motor control module, and then feeds back the processed target operation output to the motor control module, so that the motor control module can adjust the operation state of the target motor according to the target operation data of the target motor, ensuring the driving effect of the target motor. Thus, the system can be applied to multiple different motors, improving the versatility of the motor control system, reducing the occupancy rate of motor controller resources, and solving the problems of repeated development of motor control systems, waste of motor control resources, and high application costs existing in the related technologies.

[0008] Further, the information acquisition module is further configured to, when the operation data of the target motor includes position monitoring data, determine the motor type of the target motor according to the identification information of the target motor, and perform distribution processing on the position monitoring data of the target motor according to the motor type of the target motor to obtain a target pulse signal.

[0009] According to the above technical means, the position monitoring data is converted into a target pulse signal based on the motor type, and the motor position parameter is represented by the target pulse signal, improving the anti-interference ability of the data and ensuring the motor control accuracy.

[0010] Further, the information acquisition module is configured to, when the motor type of the target motor is a Hall motor, collect the Hall signal of the target motor as position monitoring data and convert the Hall signal into a target pulse signal based on the first conversion relationship.

[0011] According to the above technical means, for a Hall motor, its Hall signal is collected as position monitoring data, and the Hall signal is converted and adjusted through the corresponding first conversion relationship to obtain a target pulse signal that meets the requirements of the system algorithm, ensuring the versatility of the system and the motor control effect.

[0012] Further, the information acquisition module is configured to collect the ripple current of the target motor as position monitoring data when the motor type of the target motor is a ripple motor, and convert the ripple current into a target pulse signal based on the second conversion relationship.

[0013] According to the above technical means, for the ripple motor, this embodiment collects its ripple current as position monitoring data, and performs sine-pulse signal conversion and adjustment on the ripple current through the corresponding conversion relationship to obtain the target pulse signal that meets the requirements of the system algorithm, so as to ensure the generality of the system and the motor control effect.

[0014] Further, the motor control system further includes: a first control interface, one end of the first control interface is respectively connected to at least one first terminal, and the other end of the first control interface is connected to the first end of the motor control module, and is configured to receive and forward the motor control instructions provided by at least one first terminal.

[0015] According to the above technical means, by connecting the first control interface to at least one first terminal in the application layer, the impact of changes in the application layer on the inside of the motor control system can be shielded.

[0016] Further, the motor control system further includes: a position detection module, the first end of the position detection module is connected to the other end of the first control interface, and the second end of the position detection module is connected to the second end of the information acquisition module, and is configured to respond to the motor control instruction, retrieve the pulse width of the target pulse signal and the number of pulses of the target pulse signal from the information acquisition module, and determine the current position of the target motor according to the pulse width of the target pulse signal, the number of pulses of the target pulse signal, and the reference position parameter of the target motor.

[0017] According to the above technical means, the current position of the target motor is confirmed in real time through the position detection module, realizing the function expansion of the motor control system.

[0018] Further, the motor control system further includes: a second control interface, one end of the second control interface is connected to the second terminal, the other end of the second control interface is connected to the third end of the position detection module, the second terminal is used to provide a self-learning control command, and the second control interface is configured to receive and forward the self-learning control command; the fourth end of the position detection module is connected to the fourth end of the motor control module, and the position detection module is further configured to determine the self-learning motor among multiple motors according to the self-learning control command, and generate a self-learning control instruction corresponding to the self-learning motor and a second data retrieval instruction, so as to drive the motor control module to drive the self-learning motor based on the self-learning control instruction, obtain the target operation data of the self-learning motor through the information acquisition module based on the second data retrieval instruction, and determine the reference position parameter of the self-learning motor according to the target operation data of the self-learning motor.

[0019] According to the above technical means, it is connected to the second terminal of the application layer through the second control interface, used to receive self-learning control commands, and cooperate with the position detection module, motor control module and information detection module to complete the self-learning of the motor position, improving the motor control accuracy.

[0020] Furthermore, the motor control system further includes: a stall judgment module, the first end of the stall judgment module is connected to the other end of the first control interface, the second end of the stall judgment module is connected to the second end of the information acquisition module, and the stall judgment module is configured to respond to a motor control instruction, retrieve the target operation data of the target motor from the information acquisition module, and perform a stall judgment based on the target operation data of the target motor to generate a stall flag.

[0021] According to the above technical means, the stall judgment module performs a stall judgment on the target motor, improving the motor control stability and realizing the function expansion of the motor control system.

[0022] Furthermore, the third end of the stall judgment module is connected to the fifth end of the position detection module, and the position detection module is further configured to confirm the maximum stroke of the self-learning motor based on the stall flag.

[0023] According to the above technical means, the position detection module determines whether the self-learning motor reaches the stroke end point based on the stall flag, thereby determining the maximum stroke of the self-learning motor and completing the stroke self-learning process.

[0024] Furthermore, the motor control system further includes: an anti-pinch judgment module, the first end of the anti-pinch judgment module is connected to the other end of the first control interface, the second end of the anti-pinch judgment module is connected to the second end of the information acquisition module, the third end of the anti-pinch judgment module is connected to the sixth end of the position detection module, the fourth end of the anti-pinch judgment module is connected to the fifth end of the motor control unit, and the anti-pinch judgment module is configured to, in response to a motor control instruction, retrieve the target operation data of the target motor from the information acquisition module, perform an anti-pinch judgment based on the target operation data of the target motor, and generate an anti-pinch retraction instruction when it is determined that an anti-pinch situation occurs, so that the motor control module performs anti-pinch control on the target motor based on the anti-pinch retraction instruction.

[0025] According to the above technical means, the anti-pinch judgment module performs an anti-pinch judgment on the target motor, and outputs an anti-pinch retraction instruction when an anti-pinch situation occurs to control the target motor to run in reverse, thereby preventing an object (such as a human body part) from being pinched, improving the motor control safety, and realizing the function expansion of the motor control system.

[0026] Further, the motor control module is further configured to, when receiving multiple instructions among a motor control instruction, a self-learning control instruction, and an anti-pinch retraction instruction, determine the execution order of the multiple instructions according to a preset module priority, and drive the motor according to the execution order of the multiple instructions.

[0027] According to the above technical means, when the motor control module receives multiple instructions simultaneously, priority arbitration is first performed, and motor control is performed based on the arbitration result to ensure the user's driving experience and the operation stability of the motor control system.

[0028] A vehicle includes the above-mentioned motor control system.

[0029] Advantages of the present invention:

[0030] (1) The system unifies and platforms the operation data of different motors through the information acquisition module, making it applicable to the control applications of multiple different motors, improving the versatility of the motor control system, reducing the occupancy rate of motor controller resources, and solving the problems of repeated development of motor control systems, waste of motor control resources, and high application costs existing in the related technologies.

[0031] (2) The system formulates a unified interface, shields the influence of changes in the application layer on the system, and at the same time determines the main functions of the application layer and the motor control system, improving the versatility of control software for different components (such as seat motors, window motors, steering wheel motors, etc.). The motor algorithm parts of different components can adapt to the same set of algorithms, improving the software reuse rate and reducing the maintenance cost of the module. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a connection schematic diagram of a motor control system of a vehicle according to an embodiment of the present application;

[0033] Figure 2 It is a value-taking schematic diagram of the number of pulses according to a specific embodiment of the present application;

[0034] Figure 3 It is a connection schematic diagram of a motor control system of a vehicle according to a specific embodiment of the present application;

[0035] Figure 4 It is a block schematic diagram of a vehicle according to an embodiment of the present application.

[0036] Wherein, 100 - motor control system; 10 - information acquisition module; 20 - motor control module; 30 - first control interface; 40 - position detection module; 50 - second control interface; 60 - stall judgment module; 70 - anti-pinch judgment module; 200 - vehicle. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0037] The embodiments of the present invention will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention and not for limiting the protection scope of the present invention.

[0038] It should be noted that the diagrams provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner. Therefore, only the components related to the present invention are shown in the diagrams, rather than being drawn according to the number, shape, and size of the components in actual implementation. The type, quantity, and ratio of each component in actual implementation can be arbitrarily changed, and the component layout type may also be more complex.

[0039] The motor control system and vehicle of the vehicle proposed in the embodiments of the present application will be described below with reference to the accompanying drawings.

[0040] As users' requirements for vehicle intelligence and comfort are getting higher and higher, the basic configuration of vehicles is getting higher and higher, the functions tend to be more electrified and intelligent, there are more and more controllers, and more and more motors are used.

[0041] In related technologies, the vehicle domain controller integrates the controller functions of each decentralized motor, greatly reducing the length of the wiring harness and the controller cost. However, for motors with different functions and types, due to factors such as platform differences and software architecture differences, the motor control schemes are quite different, resulting in poor versatility of the motor control system. Therefore, different motor control systems and software settings need to be carried out separately, making the resource occupancy rate of the motor controllers in the vehicle high, bringing problems such as repeated development, resource waste, and high application costs.

[0042] To solve at least one of the above technical problems, the present application proposes a motor control system for a vehicle. In this motor control system, the first end of the information acquisition module is respectively connected to the signal sampling ends of multiple motors in the vehicle, the second end of the information acquisition module is connected to the first end of the motor control module, the second end of the motor drive module is adapted to be respectively connected to at least one first terminal to receive a motor control instruction issued by the first terminal, and the third end of the motor control module is respectively connected to the drive ends of multiple motors to perform drive control on the multiple motors. After the motor control module receives the motor control instruction sent by the first terminal, it identifies the target motor according to the motor control instruction, drives the target motor based on the motor control instruction, and simultaneously generates a first data retrieval instruction to the information acquisition module. After receiving the first data retrieval instruction, the information acquisition module identifies the target motor based on the first data retrieval instruction, thereby actively collecting and obtaining the operation data of the target motor. To ensure that the motor control module can successfully identify and apply the operation data of the target motor, the information acquisition module processes the operation data according to the identification information of the target motor to obtain the target operation data of the target motor in the same signal format and mapping relationship that can be recognized by the motor control module, and then feeds back the processed target operation output to the motor control module so that the motor control module can adjust the operation state of the target motor according to the target operation data of the target motor, ensuring the driving effect on the target motor. Thus, the system can be applied to multiple different motors, improving the versatility of the motor control system, reducing the occupancy rate of motor controller resources, and solving the problems of repeated development of motor control systems, waste of control resources, and high application costs in related technologies.

[0043] The following describes in detail the motor control system for a vehicle of the present application with reference to the accompanying drawings.

[0044] Figure 1 FIG. is a connection diagram of a motor control system for a vehicle according to an embodiment of the present application.

[0045] As Figure 1 shown, the motor control system 100 for a vehicle according to an embodiment of the present application includes: an information acquisition module 10 and a motor control module 20.

[0046] Among them, the first end of the information acquisition module 10 is respectively connected to multiple motors of the vehicle. The information acquisition module 10 is configured to collect the operation data of the target motor corresponding to the first data retrieval instruction in response to the first data retrieval instruction, and perform distribution processing on the operation data according to the identification information of the target motor to obtain the target operation data. The first end of the motor control module 20 is connected to the second end of the information acquisition module 10. The second end of the motor control module 20 is adapted to be respectively connected to at least one first terminal. The third end of the motor control module 20 is respectively connected to multiple motors. Among them, at least one first terminal is used to provide a motor control instruction. The motor control module 20 is configured to determine the target motor based on the motor control instruction, drive the target motor to operate according to the motor control instruction and generate a first data retrieval instruction, and adjust the operation state of the target motor in combination with the target operation data.

[0047] Specifically, in Figure 1 the multiple motors of the vehicle are represented by motor 1, motor 2,..., motor n respectively. The multiple motors of the vehicle may include a window motor, a seat motor, a steering wheel motor, etc., and there is no specific limitation. The motor control system 100 is used to drive and control the multiple connected motors.

[0048] The first end of the information acquisition module 10 is a unified motor information acquisition interface, which is respectively connected to the signal sampling ends of multiple motors and is used to obtain the operation data of the motors. The types of operation data of the motors obtained by the information acquisition module 10 may include motor current, motor position data, motor movement direction, etc., and can be specifically set according to the motor control requirements. In addition, while the information acquisition module 10 obtains the operation data of the motors, it will also obtain other key information of the motors, such as the motor ID (Identity document), and the motor ID is used as the identification information of the motor for motor identification.

[0049] Since there are also differences in the representation methods of the operating data obtained by different motors, to ensure the availability of the operating data, a system control specification is preset in advance. This system control specification is used to characterize the general operating data paradigm within the system. Specifically, the conversion method between the operating data of the motor and the operating data paradigm is determined by identifying the identification information of the motor. Then, based on the conversion method, data conversion is performed on the operating data to obtain the corresponding target operating data, so as to meet the preset system control specification, realize the unification and platformization of the operating data of different motors, and make the system applicable to the control requirements of different motors. For example, for a Hall motor, its operating data uses a Hall signal to characterize the rotor position of the motor. For a ripple current, its operating data uses a ripple current signal to characterize the rotor position of the motor. To improve the versatility of the system, a preset rotor position representation form can be set, and then both the Hall signal and the ripple current signal are converted into the preset rotor position representation form to obtain the corresponding target operating data for subsequent motor control applications. In addition, the representation method of the operating data of one of the motors can also be used as the system control specification, that is, the operating data of other motors are all converted into the data format of this motor. For example, taking the Hall signal as the preset rotor position representation form as an example, when it is recognized that the motor is a ripple motor, its ripple current signal is converted into a pulse signal to obtain the target operating data of the ripple motor; when it is recognized that the motor is a Hall motor, its Hall signal is directly used as the corresponding target operating data.

[0050] Different functional units can be respectively set in the information acquisition module 10. After the identification information of the motor is recognized, the operating data is allocated to the corresponding functional unit for conversion processing based on the recognition result, so as to improve work efficiency, ensure the quality of data conversion, and obtain the target operating data that meets the system control requirements. In addition, by identifying the identification information of the motor, the information acquisition module 10 can not only obtain the type of the motor, but also determine parameters such as the motor function and the installation position, and can also perform corresponding data processing based on different motor functions, such as data optimization and filtering, to meet the requirements of different application scenarios.

[0051] The second end of the information acquisition module 10 is connected to the first end of the motor control module 20. On the one hand, it is used to receive the first data retrieval instruction generated by the motor control module 20, so as to perform function wake-up and identification and confirmation of the target motor based on the first data retrieval instruction; on the other hand, it is used to feedback the target operation data of the target motor to the motor control module 20. That is to say, the signal acquisition module 10 is awakened after receiving the first data retrieval instruction, identifies the first data retrieval instruction to obtain the target motor, then actively collects and obtains the operation data of the target motor based on the first data retrieval instruction, and performs corresponding conversion processing on the operation data to obtain the target operation data of the target motor, and feeds back the target operation data that meets the system requirements to the motor control module 20 for motor control applications. In addition, in addition to the identification information of the motor, the first data retrieval instruction can also set the required type of operation data, so that the information acquisition module 10 can obtain targeted operation data based on the first data retrieval instruction, realizing the reasonable allocation of resources. The type of operation data in the first data retrieval instruction can be confirmed according to parameters such as motor control requirements and the identification information of the motor to flexibly apply to different application scenarios.

[0052] The second end of the motor control module 20 is adapted to be respectively connected to at least one first terminal, and is used to receive the motor control instruction triggered by at least one first terminal. The third end of the motor control module 20 is respectively connected to multiple motors of the vehicle, and is used to control the multiple motors according to the motor control instruction. The number of the first terminals can be one or multiple, and there is no specific limitation. For example, the first terminal is the central control screen of the vehicle, a hard switch (such as a window switch), a user terminal, etc. The way for the first terminal to trigger the motor control instruction can be realized by means of a hard switch, a soft switch to adjust the control function, etc. It can be understood that the motor control instruction includes the motor control requirement and the identification information of the target motor. Then, after receiving the motor control instruction, the motor control module 20 identifies the target motor among the multiple motors, drives the target motor based on the control requirement given by the motor control instruction, and simultaneously generates a first data retrieval instruction to the information acquisition module to drive the information acquisition module to actively obtain the operation data of the target motor. And after receiving the target operation data of the target motor fed back by the information acquisition module, it adjusts the operation state of the target motor in combination with the target operation data of the target motor to ensure the driving effect of the target motor. It can be understood that the target operation data adopts the information format and control parameter mapping relationship recognizable by the motor control module, so that the module can be applicable to the driving control of multiple motors at the same time.

[0053] Thus, the system can be applied to multiple different motors, improving the versatility of the motor control system, reducing the occupancy rate of motor controller resources, and solving the problems of repeated development of motor control systems, waste of motor control resources, and high application costs in related technologies.

[0054] In some embodiments of the present application, the information acquisition module 10 is further configured to, when the operation data of the target motor includes position monitoring data, determine the motor type of the target motor according to the identification information of the target motor, and perform distribution processing on the position monitoring data of the target motor according to the motor type of the target motor to obtain a target pulse signal.

[0055] That is to say, this embodiment uses the target pulse signal as the system control specification corresponding to the position monitoring data. After identifying the motor type of the target motor according to the identification information of the target motor, the acquired position monitoring data is allocated to the corresponding data conversion unit according to the motor type to convert the position monitoring data into a target pulse signal. The information acquisition module 10 can set corresponding numbers of data conversion units according to the motor types of the multiple connected motors, and each data conversion unit is configured with a data conversion method corresponding to one motor type, and then in the application process, the position monitoring data is input into the corresponding data conversion unit based on the motor type to complete the conversion of the target pulse signal.

[0056] This embodiment converts the position monitoring data into a target pulse signal based on the motor type, and uses the target pulse signal to represent the motor position parameter, improving the anti-interference ability of the data and ensuring the motor control accuracy.

[0057] In some embodiments of the present application, the information acquisition module 10 is configured to, when the motor type of the target motor is a Hall motor, collect the Hall signal of the target motor as the position monitoring data, and convert the Hall signal into a target pulse signal based on the first conversion relationship.

[0058] That is to say, when the target motor is a Hall motor, the Hall signal of the target motor is collected as the position monitoring data. Since the Hall signal is also a pulse signal, at this time, the Hall signal can be adjusted to the target pulse signal based on the first conversion relationship. The first conversion relationship can be the adjustment of the parameter ratio of the Hall signal to meet the system specification requirements, or for a Hall motor with multiple Hall sensors, data processing is performed on its multiple Hall signals or one of them is selected as the target pulse signal to be applicable to the control algorithm in the motor control module 20.

[0059] This embodiment collects the Hall signal of the Hall motor as the position monitoring data, and performs conversion and adjustment on the Hall signal through the corresponding first conversion relationship to obtain a target pulse signal that meets the system algorithm requirements, ensuring the versatility of the system and the motor control effect.

[0060] In some embodiments of the present application, the information acquisition module 10 is configured to, when the motor type of the target motor is a ripple motor, acquire the ripple current of the target motor as position monitoring data, and convert the ripple current into a target pulse signal based on a second conversion relationship.

[0061] That is to say, when the target motor is a ripple motor, the ripple current of the target motor is acquired as position monitoring data. Since the ripple current is usually a sine signal, the sine signal is converted into a target pulse signal based on the second conversion relationship. The second conversion relationship can be implemented by a comparator, a Schmitt trigger, or by a software algorithm to convert the sine signal into a target pulse signal that meets the system specifications and is suitable for the control algorithm in the motor control module 20.

[0062] In this embodiment, for a ripple motor, its ripple current is acquired as position monitoring data, and the ripple current is subjected to sine-pulse signal conversion and adjustment through a corresponding conversion relationship to obtain a target pulse signal that meets the requirements of the system algorithm, so as to ensure the versatility of the system and the motor control effect.

[0063] As a specific implementation manner of the present application, the information acquisition module 10 designs a motor information acquisition interface function DrvMotorMoveInfo_Get(), with an operating period of 10 ms, and some parameters are arrays with a length of 10. In this way, the information acquisition module 10 can provide more and more real-time information under the condition of a relatively high operating period, which is convenient for algorithm design, without updating data in real time through interrupts or other means, and at the same time can reduce the load rate.

[0064] The parameters of the target operating data provided by the information acquisition module 10 may include: motor ID, current Curr

[10] , pulse width Width

[10] of the target pulse signal, motor movement direction Dir

[10] , number of pulses Num

[10] of the target pulse signal, that is, ripple, number of Hall elements, as Figure 2 shown.

[0065] Among them, motor ID: The ID is used to distinguish different motors, such as the left front, right front, left rear, and right rear windows; for the seat, the ID represents different seat axis motors, and each axis is assigned an ID. Through the ID identification, it is convenient for the information acquisition module 10 to allocate and process its operating data.

[0066] Motor current: It is the motor drive current. An array with a length of 10 is designed, and it is updated every 10 ms from Curr[0] to Curr[9] in the future. The array members range from Curr[0] to Curr[9]. After the first assignment, subsequent assignments require the array members to shift left in turn.

[0067] Pulse width of the target pulse signal: It can be the width of the ripple current or the Hall signal. Use an array with a length of 10. Each time the pulse width is updated, it needs to be synchronously updated and filled into the array, starting from Width[0] and ending at Width[9]. After the first assignment, subsequent assignments require the members of the array to shift left in sequence.

[0068] Motor movement direction: Includes forward rotation, reverse rotation, and stop. Use an array Dir

[10] with a length of 10.

[0069] Number of pulses of the target pulse signal: Use an array with a length of 10. This number is not stored. It is cleared after reset, sleep, or power-off, and is also cleared after accumulating to 65535. The accumulation of this number does not distinguish the motor movement direction. Both forward and reverse rotations of the motor are accumulated. The members Num[] in the array are consecutive values. After the first assignment, subsequent assignments require the members of the array to shift left in sequence to ensure that Num[0] to Num[9] are in ascending order according to the number of Num.

[0070] Combined Figure 3 As shown, in some embodiments of the present application, the motor control system 100 further includes: a first control interface 30. One end of the first control interface 30 is respectively connected to at least one first terminal, and the other end of the first control interface 30 is connected to the first end of the motor control module 20, and is configured to receive and forward the motor control instructions provided by at least one first terminal.

[0071] That is to say, the first control interface 30 is used to transfer the motor control instructions given by the first terminal at the application layer. For example, the first control interface 30 includes the motor adjustment interface function CDD_Motor_RR_Rotate(), and the main parameters are: control command (forward rotation, reverse rotation, stop), duty cycle, and control mode (manual, automatic). The motor control instructions call the modules of the motor control system through this function.

[0072] This embodiment realizes the connection with at least one first terminal at the application layer through the first control interface 30. By formulating a unified interface, the impact of changes at the application layer on the inside of the motor control system can be shielded.

[0073] In some embodiments of the present application, the motor control system 100 further includes: a position detection module 40. The first end of the position detection module 40 is connected to the other end of the first control interface 30, and the second end of the position detection module 40 is connected to the second end of the information acquisition module 10, and is configured to respond to the motor control instructions, retrieve the pulse width of the target pulse signal and the number of pulses of the target pulse signal from the information acquisition module 10, and determine the current position of the target motor according to the pulse width of the target pulse signal, the number of pulses of the target pulse signal, and the reference position parameter of the target motor.

[0074] Specifically, the position detection module 40 receives a motor control instruction, identifies the target motor corresponding to the motor control instruction, and retrieves the pulse width of the target pulse signal and the number of pulses of the target pulse signal from the information acquisition module 10 to determine the current position of the target motor. The reference position parameter of the target motor is parameter data calculated for the position of the corresponding target motor, such as the initial zero position of the motor, etc.

[0075] For example, in combination with Figure 2 and Figure 3 as shown, the position detection module 40 obtains the pulse width and the number of ripple Hall information, that is, the number of pulses of the target pulse signal, through the motor information acquisition interface function DrvMotorMoveInfo_Get(). Among them, the number of pulses of the target pulse signal is data with a length of 10, which is updated every 10 ms, as Figure 3 shown:

[0076] The number of pulses obtained in the first value are [a0, a1, a2, a3, a4, a5, a6, a7, a8, a9], [1, 2, 3, 4, 5, 6, 7, 8, 9, 10] respectively; the pulse width and the number of waveforms obtained in the second value are [a0, a1, a2, a3, a4, a5, a6, a7, a8, a9], [5, 6, 7, 8, 9, 10, 11, 12, 13, 14] respectively. According to the number of Num, the counting start point of the second sampling is found to be a5, and position counting is performed on this basis; the pulse width and the number of waveforms obtained in the third value are [a0, a1, a2, a3, a4, a5, a6, a7, a8, a9], [7, 8, 9, 10, 11, 12, 13, 14, 15, 16] respectively. According to the number of Num, the counting start point of the third sampling is found to be a7, and position counting is performed on this basis. The number of Num does not distinguish between directions, and both forward and reverse rotations are accumulated. After reset, sleep or accumulation to 65535, it is cleared. After the first assignment of the array members from a0 to a9, subsequent assignments require the array members to be shifted left in sequence to ensure that a0 to a9 are in the order of increasing according to the number of Num.

[0077] After the position detection module 40 obtains the motor control instruction issued by the application layer based on the motor adjustment interface function CDD_Motor_RR_Rotate(), it retrieves the pulse width of the target pulse signal and the number of pulses of the target pulse signal to calculate and output the current position information of the target motor.

[0078] This embodiment triggers and wakes up the position detection module 40 through the motor control instruction, so as to retrieve the position information of the target motor from the information acquisition module 10 based on the position detection module 40 for real-time confirmation of the current position of the target motor. It can be applied to different motors and realizes the function expansion of the motor control system.

[0079] In some embodiments of the present application, the motor control system 100 further includes: a second control interface 50. One end of the second control interface 50 is connected to a second terminal, and the other end of the second control interface 50 is connected to the third end of the position detection module 40. The second terminal is configured to provide a self-learning control command, and the second control interface 50 is configured to receive and forward the self-learning control command. The fourth end of the position detection module 40 is connected to the fourth end of the motor control module 20. The position detection module 40 is further configured to determine a self-learning motor among multiple motors according to the self-learning control command, and generate a self-learning control instruction corresponding to the self-learning motor and a second data retrieval instruction, so as to control the motor control module 20 to drive the self-learning motor based on the self-learning control instruction, obtain target operation data of the self-learning motor through the information acquisition module 10 based on the second data retrieval instruction, and determine a reference position parameter of the self-learning motor according to the target operation data of the self-learning motor.

[0080] Specifically, the second control interface 50 is used to be connected to the second terminal at the application layer, and is configured to receive the self-learning control command triggered by the application layer to implement the position learning of the motor. The second control interface 50 is provided with a self-learning control interface function CDD_MotorPosnLrn_RR_Rotate(), and the parameters are: control command (learning, stopping, correcting). Among them, the second terminal is the central control screen of the vehicle, a hard switch, a user terminal, etc. The triggering method of the self-learning control command can be triggered by a hard switch or a soft switch, and is not specifically limited.

[0081] After receiving the self-learning control command, the position detection module 40 identifies the self-learning motor that needs to perform position learning among multiple motors. On the one hand, it generates a self-learning control instruction to control the motor control module 20 to drive the self-learning motor. On the other hand, it generates a second data retrieval instruction to obtain the target operation data of the self-learning motor during the position self-learning process from the information acquisition module 10, and determines the reference position parameter of the self-learning motor according to the target operation data of the self-learning motor, such as the initial zero position, maximum stroke learning, etc., and outputs a self-learning flag signal. Among them, the position self-learning is to determine the rotor position and speed of the motor through an automatic detection and adjustment process, so as to achieve precise control of the motor, and may include rotor initial position identification, position and speed estimation, etc.

[0082] In this embodiment, the second control interface 50 is connected to the second terminal at the application layer, is configured to receive the self-learning control command, and cooperates with the position detection module 40, the motor control module 20, and the information detection module 10 to complete the motor position self-learning, thereby improving the motor control accuracy.

[0083] In addition, this embodiment is connected to the first terminal of the application layer through the first control interface 30, and is used to receive motor control instructions. The application layer calls the modules in the motor control system through these two interfaces, so as to realize the drive control of the motor, shield the influence of the changes in the application layer on the bottom layer, and at the same time improve the generality of the control software of different components (such as seat motors, window motors, steering wheel motors, etc.). The motor algorithm parts of different components can adapt to the same set of algorithms, improve the software reuse rate, and reduce the maintenance cost of this module.

[0084] In some embodiments of the present application, the motor control system 100 further includes: a stall judgment module 60. The first end of the stall judgment module 60 is connected to the other end of the first control interface 30, and the second end of the stall judgment module 60 is connected to the second end of the information acquisition module 10. The stall judgment module 60 is configured to respond to a motor control instruction, retrieve the target operation data of the target motor from the information acquisition module 10, and perform a stall judgment based on the target operation data of the target motor to generate a stall flag.

[0085] That is to say, the stall judgment module 60 is woken up based on the motor adjustment interface function CDD_Motor_RR_Rotate() to obtain the motor control instruction, and the target motor corresponding to the motor control instruction is identified. Then, based on the motor information acquisition interface function DrvMotorMoveInfo_Get(), the target operation data of the target motor is obtained from the information acquisition module 10, which is used to calculate and judge whether a stall occurs, and a stall flag signal is output. The stall judgment method can be implemented by methods such as current detection and speed detection method. For example, by monitoring the working current of the motor in real time to judge whether a stall occurs. When a stall occurs, the motor current will rise sharply, possibly exceeding several times the rated current, so as to judge whether a stall occurs. In addition, the stall judgment module 60 can also obtain the corresponding target operation data based on the adopted stall judgment method to reduce the data transmission volume and improve the work efficiency. It can also determine the stall judgment method in combination with the identification information of the target motor, and specific limitations are not made.

[0086] This embodiment wakes up the stall judgment module 60 through the motor control instruction to perform a stall judgment on the target motor, improves the motor control stability, and realizes the function expansion of the motor control system.

[0087] In some embodiments of the present application, the third end of the stall judgment module 60 is connected to the fifth end of the position detection module 40. The position detection module 40 is further configured to confirm the maximum stroke of the self-learning motor based on the stall flag.

[0088] Specifically, during the motor stroke self-learning process, the stall flag can be used as an important basis for determining whether the motor reaches the end of the stroke. When the motor runs to the mechanical limit position, since it cannot continue to rotate, a stall phenomenon will occur, and at this time, the stall flag is triggered. Therefore, the stall judgment module 60 also sends the stall flag to the position detection module 40, so that the position detection module 40 can judge whether the self-learning motor reaches the end of the stroke according to the stall flag, thereby determining the maximum stroke of the self-learning motor and completing the stroke self-learning process.

[0089] In some embodiments of the present application, the motor control system 100 further includes: an anti-pinch judgment module 70. The first end of the anti-pinch judgment module 70 is connected to the other end of the first control interface 30, the second end of the anti-pinch judgment module 70 is connected to the second end of the information acquisition module 10, the third end of the anti-pinch judgment module 70 is connected to the sixth end of the position detection module 40, and the fourth end of the anti-pinch judgment module 70 is connected to the fifth end of the motor control unit. The anti-pinch judgment module 70 is configured to, in response to a motor control instruction, retrieve the target operation data of the target motor from the information acquisition module 10, perform anti-pinch judgment based on the target operation data of the target motor, and generate an anti-pinch retraction instruction when it is determined that an anti-pinch situation occurs, so that the motor control module 20 performs anti-pinch control on the target motor based on the anti-pinch retraction instruction.

[0090] Specifically, the anti-pinch judgment module 70 is woken up by obtaining the motor control instruction based on the motor adjustment interface function CDD_Motor_RR_Rotate(), and identifies the target motor and control parameters corresponding to the motor control instruction, such as control mode, movement direction, duty cycle, etc. Then, based on the motor information acquisition interface function DrvMotorMoveInfo_Get(), the anti-pinch judgment module 70 obtains the target operation data of the target motor through the information acquisition module 10, such as the number of pulses, motor current, etc. Anti-pinch calculation is performed based on this information to prevent an object (such as a human body part) from being pinched, and an anti-pinch retraction flag and an anti-pinch retraction instruction are output after anti-pinch is triggered. Among them, methods such as current detection method, position detection method, and speed detection method can be used for anti-pinch judgment. Taking the current detection method as an example, if the motor encounters resistance (such as pinching an object) during operation, the current will rise sharply. Therefore, by detecting the change in the motor current, it can be judged whether a pinching phenomenon occurs. If the rising rate of the motor current exceeds a preset threshold, it is considered that an anti-pinch situation occurs, triggering anti-pinch and outputting an anti-pinch retraction instruction.

[0091] In addition, after receiving the motor control instruction, the anti-pinch judgment module 70 first identifies the identification information of the target motor, and determines whether to perform anti-pinch judgment according to the identification information of the target motor. For example, it is very difficult for the steering wheel to pinch people or objects, so this action is not performed on the steering wheel motor, that is, the acquisition of the target operation data and the subsequent anti-pinch judgment process are no longer continued; while it is very easy for the car window to pinch people or objects, so the anti-pinch judgment is performed on the window motor.

[0092] In this embodiment, the anti-pinch judgment module 70 is awakened by the motor control instruction to perform anti-pinch judgment on the target motor, and outputs an anti-pinch retraction instruction when an anti-pinch situation occurs to control the target motor to run in the reverse direction, thereby preventing objects (such as human body parts) from being pinched and improving the safety of motor control, realizing the function expansion of the motor control system.

[0093] In some embodiments of the present application, the motor control module 20 is further configured to, when receiving multiple instructions among the motor control instruction, the self-learning control instruction, and the anti-pinch retraction instruction, determine the execution order of the multiple instructions according to the preset module priority, and drive the motor according to the execution order of the multiple instructions.

[0094] That is to say, when the motor control module 20 receives multiple instructions at the same time, priority arbitration is performed, and after the arbitration is completed, the instruction with the higher priority is first executed to control the motor to ensure the user's driving experience and the operation stability of the motor control system. In addition, when receiving multiple motor control instructions, arbitration can be performed based on the preset priority of the target motors corresponding to the multiple motor control instructions, and then sorted and executed in sequence. Among them, the priority setting can be determined based on parameters such as the impact on driving safety and the application scenario.

[0095] As a specific embodiment of the present application, as Figure 2 shown, the motor control system of this vehicle can realize functions such as anti-pinch determination, position management, stall judgment, and drive control for different motors through Hall sensors or ripple sampling, mainly including the following designs:

[0096] 1. Unified motor information acquisition port.

[0097] The information acquisition module 10 collects the key information of the Hall motor and the ripple motor, and converts it into target operation data that meets the requirements of the system algorithm, realizing the unification and platformization of the key information, and then providing it to the motor algorithm module (motor control module 20, position detection module 40, stall judgment module 60, and anti-pinch judgment module 70) to realize the control functions for different motors. The target operation data may include motor ID, current, pulse width, motor movement direction, number of ripples (Hall), etc.

[0098] 2. Implementation of the key functions of the ripple motor and the Hall motor.

[0099] Motor control module 20: Drive control function, including arbitration of the priorities of motor control commands from different modules, including self-learning control instructions, anti-pinch retraction instructions, and motor control instructions at the application layer.

[0100] Position detection module 40: Position management function, including current position calculation, maximum position learning, and position correction function.

[0101] Stall judgment module 60: Stall judgment function: Judgment of the motor reaching the hard stop point.

[0102] Anti-pinch judgment module 70: Anti-pinch function. When the corresponding component encounters an obstacle during normal movement, anti-pinch determination is performed and the anti-pinch retraction function is implemented.

[0103] At the same time, the above modules provide the processed interface signals to the application layer for corresponding logical judgments. These include: current position, stall flag, anti-pinch flag, self-learning flag, maximum stroke, motor status, current, etc.

[0104] 3. Unified interfaces for docking with the application layer (the first control interface 30, the second control interface 50)

[0105] The first control interface 30: Motor adjustment control interface. The main parameters of the motor adjustment interface are: control command, duty cycle, control mode, which are mainly used to transmit the control instructions at the application layer to call the modules of the motor control system.

[0106] The second control interface 50: Self-learning control interface. The parameter of the self-learning control interface is: control command, which is used to implement the position learning of the motor.

[0107] This unified interface can shield the impact of changes in the application layer on the motor control system. At the same time, the determination of the main functions of the application layer and the motor control system improves the generality of the control software for different components (seat motors, window motors, steering wheel motors, etc.). The motor algorithm parts of different components can be adapted to the same set of algorithms, improving the software reuse rate and reducing the maintenance cost of this module.

[0108] In summary, for the motor control system of the vehicle according to the embodiments of the present application, the first end of the information acquisition module is respectively connected to multiple motors of the vehicle, the first end of the motor control module is connected to the second end of the information acquisition module, the second end of the motor control module is adapted to be respectively connected to at least one first terminal, and the third end of the motor control module is respectively connected to the multiple motors. Among them, at least one first terminal is used to provide a motor control instruction. When the first terminal sends a motor control instruction to the motor control system, the motor control module receives the motor control instruction and identifies the target motor among the multiple motors. On the one hand, a control signal is generated according to the motor control instruction to drive the target motor. On the other hand, a first data retrieval instruction corresponding to the target motor is generated for the information acquisition module to obtain the actual operation data of the target motor through the information acquisition module during the operation of the target motor for motor control. After receiving the first data retrieval instruction, the information acquisition module identifies the target motor based on the first data retrieval instruction, thereby collecting the operation data of the target motor in real time. To ensure that the motor control module can successfully identify and apply the operation data of the target motor, the information acquisition module processes the operation data according to the identification information of the target motor to obtain the target operation data of the target motor in the same signal format and mapping relationship that can be recognized by the motor control module, and then feeds back the processed target operation output to the motor control module so that the motor control module can adjust the operation state of the target motor according to the target operation data of the target motor to ensure the driving effect of the target motor. Thus, the system can be applied to multiple different motors, improving the versatility of the motor control system, reducing the occupancy rate of motor controller resources, and solving the problems of repeated development of motor control systems, waste of motor control resources, and high application costs existing in the related art.

[0109] Corresponding to the above embodiments, the present application also proposes a vehicle.

[0110] As Figure 4 shown, the vehicle 200 according to the embodiments of the present application includes the above-mentioned motor control system 100.

[0111] For the vehicle according to the embodiments of the present application, based on the above-mentioned motor control system, the occupancy rate of motor controller resources is reduced, thereby reducing the vehicle cost while meeting the requirements of vehicle electrification and intelligence.

[0112] The above embodiments are only preferred embodiments given to fully illustrate the present invention, and the protection scope of the present invention is not limited thereto. Equivalent substitutions or transformations made by those skilled in the art on the basis of the present invention are all within the protection scope of the present invention.

Claims

1. A motor control system for a vehicle, characterized in that, Including: An information acquisition module, the first end of the information acquisition module is respectively connected to a plurality of motors of the vehicle, and the information acquisition module is configured to respond to a first data retrieval instruction, acquire the operation data of a target motor corresponding to the first data retrieval instruction, and perform distribution processing on the operation data according to the identification information of the target motor to obtain target operation data; A motor control module, the first end of the motor control module is connected to the second end of the information acquisition module, the second end of the motor control module is adapted to be respectively connected to at least one first terminal, and the third end of the motor control module is respectively connected to the plurality of motors. Wherein, the at least one first terminal is used to provide a motor control instruction, and the motor control module is configured to determine the target motor based on the motor control instruction, drive the target motor to operate according to the motor control instruction and generate a first data retrieval instruction, and adjust the operation state of the target motor in combination with the target operation data.

2. The motor control system according to claim 1, characterized in that, The information acquisition module is further configured to, when the operation data of the target motor includes position monitoring data, determine the motor type of the target motor according to the identification information of the target motor, and perform distribution processing on the position monitoring data of the target motor according to the motor type of the target motor to obtain a target pulse signal.

3. The motor control system according to claim 2, wherein The information acquisition module is configured to, when the motor type of the target motor is a Hall motor, acquire the Hall signal of the target motor as position monitoring data, and convert the Hall signal into a target pulse signal based on a first conversion relationship.

4. The motor control system according to claim 2, wherein The information acquisition module is configured to, when the motor type of the target motor is a ripple motor, acquire the ripple current of the target motor as position monitoring data, and convert the ripple current into a target pulse signal based on a second conversion relationship.

5. The motor control system according to claim 2, characterized in that, Further including: A first control interface, one end of the first control interface is respectively connected to the at least one first terminal, and the other end of the first control interface is connected to the first end of the motor control module, and is used to receive and forward the motor control instruction provided by the at least one first terminal.

6. The motor control system according to claim 5, characterized in that Further including: A position detection module, the first end of the position detection module is connected to the other end of the first control interface, and the second end of the position detection module is connected to the second end of the information acquisition module, and is configured to respond to the motor control instruction, retrieve the pulse width of the target pulse signal and the number of pulses of the target pulse signal from the information acquisition module, and determine the current position of the target motor according to the pulse width of the target pulse signal, the number of pulses of the target pulse signal and the reference position parameter of the target motor.

7. The motor control system according to claim 6, characterized in that Further including: A second control interface, one end of the second control interface is connected to a second terminal, and the other end of the second control interface is connected to the third end of the position detection module, and the second terminal is used to provide a self-learning control command, and the second control interface is configured to receive and forward the self-learning control command; The fourth terminal of the position detection module is connected to the fourth terminal of the motor control module. The position detection module is further configured to determine a self-learning motor among the plurality of motors according to the self-learning control command, and generate a self-learning control instruction corresponding to the self-learning motor and a second data retrieval instruction, so as to control the motor control module to drive the self-learning motor based on the self-learning control instruction, obtain the target operation data of the self-learning motor through the information acquisition module based on the second data retrieval instruction, and determine the reference position parameter of the self-learning motor according to the target operation data of the self-learning motor.

8. The motor control system according to claim 7, wherein Further comprising: A stall judgment module, the first terminal of the stall judgment module is connected to the other end of the first control interface, the second terminal of the stall judgment module is connected to the second terminal of the information acquisition module, and the stall judgment module is configured to, in response to the motor control instruction, retrieve the target operation data of the target motor from the information acquisition module, and perform a stall judgment according to the target operation data of the target motor to generate a stall flag.

9. The motor control system according to claim 8, wherein The third terminal of the stall judgment module is connected to the fifth terminal of the position detection module, and the position detection module is further configured to confirm the maximum stroke of the self-learning motor based on the stall flag.

10. The motor control system according to claim 7, wherein Further comprising: An anti-pinch judgment module, the first terminal of the anti-pinch judgment module is connected to the other end of the first control interface, the second terminal of the anti-pinch judgment module is connected to the second terminal of the information acquisition module, the third terminal of the anti-pinch judgment module is connected to the sixth terminal of the position detection module, and the fourth terminal of the anti-pinch judgment module is connected to the fifth terminal of the motor control unit. The anti-pinch judgment module is configured to, in response to the motor control instruction, retrieve the target operation data of the target motor from the information acquisition module, perform an anti-pinch judgment according to the target operation data of the target motor, and generate an anti-pinch retraction instruction when it is determined that an anti-pinch situation occurs, so that the motor control module performs anti-pinch control on the target motor based on the anti-pinch retraction instruction.

11. The motor control system according to claim 10, characterized in that, The motor control module is further configured to, when receiving multiple instructions among the motor control instruction, the self-learning control instruction, and the anti-pinch retraction instruction, determine the execution order of the multiple instructions according to a preset module priority, and perform motor driving according to the execution order of the multiple instructions.

12. A vehicle, characterized in that, Including the motor control system according to any one of claims 1-11.

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