Dual-motor control method and sun curtain rolling system

Abstract

The invention relates to a dual-motor control method and a sun curtain rolling system. The method comprises the steps that a first feedback signal of a first motor and a second feedback signal of a second motor are obtained; acquiring a cross coupling signal based on the first feedback signal and the second feedback signal, wherein the cross coupling signal is related to the total motor revolutions of the first motor and the second motor on the total stroke of the respective sun curtain rolling device; and performing feedback compensation on at least one motor based on the cross coupling signal, so that the position of a first roller sun curtain driven by the first motor and the position of a second roller sun curtain driven by the second motor are synchronous.

Description

Technical Field

[0001] The present disclosure relates to the field of automation technology, and more particularly, to a dual-motor control method and a roller sunshade system. Background Art

[0002] Roller sunshades can be installed in vehicles or buildings to serve as partitions or for shading purposes. Roller sunshades can be applied to the lift windows, sunroofs of automobiles, or the windows or doors of houses. A motor can be set to drive the rotation of the roller of the roller sunshade to retract or deploy the curtain fabric of the roller sunshade. In some scenarios, two or more individually motor-driven roller sunshades need to be provided. In the current motor control methods, it is impossible to achieve the motion synchronization of multiple roller sunshades. Summary of the Invention

[0003] To solve at least some of the above problems, the present disclosure proposes a dual-motor control method and a roller sunshade system, which can achieve the motion synchronization of multiple roller sunshades.

[0004] Specifically, a first aspect of the present disclosure content proposes a dual-motor control method applied to a dual-roller sunshade device driven by dual motors. The method includes: obtaining a first feedback signal of the first motor and a second feedback signal of the second motor; obtaining a cross-coupling signal based on the first feedback signal and the second feedback signal, where the cross-coupling signal is related to the total number of motor revolutions of the first motor and the second motor on the total stroke of their respective roller sunshade devices; and performing feedback compensation on at least one motor based on the cross-coupling signal, so that the positions of the first roller sunshade driven by the first motor and the second roller sunshade driven by the second motor are synchronized.

[0005] In addition, a second aspect of the present disclosure relates to an electronic device, which includes a memory and a processor. A computer-readable instruction is stored in the memory. When the computer-readable instruction is executed by the processor, the processor is caused to implement the dual-motor control method according to the first aspect of the present disclosure.

[0006] In addition, a third aspect of the present disclosure content relates to a roller sunshade system, which includes a first roller sunshade device, a second roller sunshade device, a first motor, a second motor, a sensing device, and a control device. The first motor and the second motor are configured to drive the first roller sunshade device and the second roller sunshade device respectively; the sensing device is configured to detect the working parameters in the roller sunshade system; and the control device, where the control device is configured to execute the dual-motor control method according to the first aspect of the present disclosure.

[0007] Furthermore, a fourth aspect of the present disclosure relates to a computer-readable storage medium having computer-executable instructions stored thereon for performing the dual-motor control method according to the first aspect of the present disclosure.

[0008] Finally, a fifth aspect of the present disclosure relates to a computer program product tangibly stored on a computer-readable storage medium and including computer-executable instructions that, when executed by at least one processor, cause the at least one processor to perform the dual-motor control method according to the first aspect of the present disclosure.

[0009] In summary, among the technical solutions according to the present disclosure, according to the dual-motor control method of the present disclosure, by obtaining the first feedback signal of the first motor and the second feedback signal of the second motor, and obtaining a cross-coupling signal based on the first feedback signal and the second feedback signal. The relationship between the total travel length of the motor and the roller blind device is considered during this coupling process, and at least one motor is feedback-compensated based on this cross-coupling signal, which can synchronize the positions of the roller blinds driven by each motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In conjunction with the accompanying drawings and with reference to the following detailed description, the features, advantages, and other aspects of the embodiments of the present disclosure will become more apparent. Several embodiments of the present disclosure are shown herein in an illustrative rather than restrictive manner. In the drawings:

[0011] Figure 1 A schematic structural diagram of a roller blind system according to an embodiment of the present disclosure is shown.

[0012] Figure 2 A schematic flow diagram of a dual-motor control method according to an embodiment of the present disclosure is shown.

[0013] Figure 3 A schematic flow diagram of a method for obtaining a cross-coupling signal according to an embodiment of the present disclosure is shown.

[0014] Figure 4 A schematic structural diagram of a cross-coupling control system according to an embodiment of the present disclosure is shown.

[0015] Figure 5 A schematic flow diagram of a method for obtaining the feedback signal of a motor according to an embodiment of the present disclosure is shown.

[0016] Figure 6 A schematic structural diagram of a cross-coupling control system according to an embodiment of the present disclosure is shown.

[0017] Figure 7The flowchart shows the schematic diagram of a dual-motor control method according to an embodiment of the present disclosure.

[0018] Figure 8 The structure diagram shows a cross-coupled control system according to an embodiment of the present disclosure.

[0019] Figure 9 The schematic diagram shows an electronic device according to another embodiment of the present disclosure. Detailed Description of Specific Embodiments

[0020] The following describes in detail various exemplary embodiments of the present disclosure with reference to the accompanying drawings. Although the exemplary methods and apparatuses described below include software and / or firmware executed on hardware among other components, it should be noted that these examples are merely illustrative and should not be considered restrictive. Although the exemplary methods and apparatuses have been described below, those skilled in the art should readily understand that the examples provided are not used to limit the ways of implementing these methods and apparatuses.

[0021] In addition, the flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of the methods and systems according to various embodiments of the present disclosure. It should be noted that the functions marked in the blocks may also occur in an order different from that marked in the accompanying drawings. For example, two consecutively represented blocks may actually be executed substantially in parallel, or they may sometimes be executed in the reverse order, depending on the functions involved.

[0022] The terms "including", "comprising" and similar terms used in the present disclosure are open terms, that is, "including / comprising but not limited to", indicating that other contents may also be included. The term "based on" means "at least partially based on". The term "an embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment", and so on.

[0023] In the present disclosure, the expressions such as "first", "second", etc. are not used to limit the order and the number of components unless otherwise specified. In the present disclosure, the meaning of "a plurality" means two or more, unless otherwise clearly and specifically defined. For those skilled in the art, the specific meanings of the above terms in this text can be understood according to specific circumstances.

[0024] Sun visors or sunshade roller blinds are usually used on car windows for sunshading. For example, the sun visor is slidably connected to the car sunroof and is usually made with a plastic plate as the base and a fabric pasted on the surface of the plastic plate base. The sunshade roller blind is provided with a reel, which is usually arranged on the front or rear side of the car sunroof, and the curtain cloth wound on the reel is pulled out for sunshading.

[0025] When two or more sunshade devices are provided, the multiple sunshade devices can be opened or closed at the same time, that is, they are operated synchronously. In some examples, the driving motor of the sunshade roller blind is installed on the front frame or the rear frame of the skylight, and the motor gear and chain drive the curtain to be unfolded and folded. The motor drives the sunshade roller blind through devices such as gears and chains. In this example, the differences in motor operating parameters or structural parameters of the sunshade roller blinds will cause the asynchronous operation of multiple sunshade roller blinds. In other words, even if the multiple sunshade roller blinds and motors are the same, mechanical tolerances and the like will cause the multiple sunshade roller blinds to be asynchronous.

[0026] In some other examples, the roller of the sunshade roller blind is directly driven by a motor. With repeated use of the sunshade roller blind, or due to external interference, aging of the mechanical structure of the sunshade roller blind and surrounding devices, temperature changes, etc., the absolute position of the sunshade roller blind will change. In this case, even if the working parameters of the drive motor are the same, multiple sunshades will run asynchronously.

[0027] Figure 1 A schematic diagram of a roller blind system according to an embodiment of the present application is shown. Figure 1 In the embodiment, the sun blind system 100 is installed on the roof of the vehicle and used in conjunction with the sunroof. The sun blind system 100 includes two sun blind devices 110 and 120 of the same structure and arranged in parallel.

[0028] The sunshade device 110 includes a reel assembly 111, a rod assembly 112, a curtain 113 and a guide rail 114. The guide rail 114 is a combination of two guide rails that are parallel to each other and spaced apart. One end of the curtain 113 is fixed to the reel assembly 111. The rod assembly 112 is installed at the other end of the curtain 113 to stretch the curtain. Both ends of the rod assembly 112 are slidably matched with the guide rail 114 through a pulley 116. The rod assembly 112 is provided with a spring arranged along the extension direction of the rod assembly. The reel assembly 111 includes a reel body 1111, a rope reel 1112 and a pull rope 1113. The reel assembly 111 is arranged between the two guide rails 114. The rope reel 1112 is located at both ends of the reel body 1111, one end of the pull rope 1113 is connected to the rod assembly 112 by passing through the pulley 116, and the other end of the pull rope 1113 is wound on the rope reel 1112. When the reel assembly 111 rotates, the rod assembly 112 moves toward or away from the reel assembly along the guide rail 114 , thereby driving the curtain 113 to be released from the reel assembly to be unfolded or retracted onto the reel assembly.

[0029] A motor 115 may be provided on the roller blind device 110. The motor 115 is connected to the reel body 1111 and is used to drive the rotation of the reel body. In other words, the motor 115 directly drives the rotation of the reel assembly 111. The reel assembly 111 may be installed on the front / rear frame of the sunroof. When the reel assembly 111 is installed on the rear frame of the sunroof, the tie rod assembly 112 can be moved to the left side of the front frame 30 of the sunroof to completely cover the left half of the sunroof with the curtain 113.

[0030] Similar to the roller blind device 110, the roller blind device 120 includes a reel assembly 121, a tie rod assembly 122, a curtain 123, and guide rails 124. The guide rails 124 are a combination of two guide rails that are parallel to each other and spaced apart. Both ends of the tie rod assembly 122 are slidably engaged with the guide rails 124 through pulleys 126. A spring is provided in the tie rod assembly 122 along the extending direction of the tie rod assembly. The reel assembly 121 includes a reel body 1211, a rope winder 1212, and a pulling rope 1213. A motor 125 may be provided on the roller blind device 120. The motor 125 is connected to the reel body 1211 and is used to drive the rotation of the reel body, that is, directly drive the rotation of the reel assembly 121. When the reel assembly 121 is installed on the rear frame of the sunroof, the tie rod assembly 112 can be moved to the right side of the front frame 30 of the sunroof to completely cover the right half of the sunroof with the curtain 113.

[0031] In Figure 1 the example, the structures of the roller blind devices 110 and 120 are the same. After multiple uses, due to various factors such as temperature and the influence of long-term placement, the thickness of the roller blind will change, resulting in a change in the travel of the curtain. For example, when the thickness becomes thinner, the travel becomes longer (the number of turns of the motor rotation is preset and unchanged). All these will cause a difference in the absolute position of the tie rod assembly of the roller blind device compared to the initial use, resulting in the asynchronous operation of the roller blind devices 110 and 120. When the user issues an instruction for the two roller blind devices to run synchronously, it can be visually seen that the positions of the two tie rod assemblies are not aligned. In addition, when the user issues an instruction for the two roller blind devices to open or close simultaneously, the rotation sounds of the two motors will disappear at different times when the operation of the two roller blind devices stops, so the asynchrony can be perceived auditorily. If the motor synchronization scheme in the related art is used to adjust the working parameters of the motors to synchronize the two motors, the roller blind devices cannot be synchronized, that is, the position synchronization of the tie rod assemblies cannot be achieved.

[0032] To improve the operation synchronization of the sunshade device, an embodiment of the present disclosure discloses a dual-motor control method to solve the above problems. The content of the present invention will be described below according to several embodiments.

[0033] Figure 2Schematic flowchart of a dual-motor control method 200 according to an embodiment of the present disclosure. Any one or more steps in method 200 can be implemented by, for example Figure 9 an electronic device 500 as shown, or any device in the roller blind system of the present disclosure. As Figure 2 shown, the dual-motor control method 200 can be specifically described as follows.

[0034] In S201, a first feedback signal of the first motor and a second feedback signal of the second motor are obtained.

[0035] The dual-motor control method 200 is applied to a dual-roller blind device driven by dual motors. Taking the Figure 1 roller blind system 100 as an example, the first motor 115 and the second motor 125 are respectively used to drive the movements of the roller blind devices 110 and 120. Specifically, the first motor 115 and the second motor 125 respectively and independently drive the rotations of the reel assemblies 111 and 121. It can be understood that the method 200 can also be applicable to multi-motor control methods driven by multiple motors, such as a roller blind system driven by three motors and including three roller blind devices.

[0036] In some examples, the first feedback signal and the second feedback signal may include real-time parameter signals during the operation of the motor, such as current signals, voltage signals, rotation speed signals, etc. The rotation parameters of the motor can be collected by sensors or samplers provided on the first motor 115 and the second motor 125 to obtain the corresponding first feedback signal and second feedback signal. In some examples, the first feedback signal and the second feedback signal may include parameters of the device driven by the motor, such as the position of the roller blind device driven by the motor, which can refer to the Figure 1 travel position of the pull rod assembly in the figure.

[0037] In S202, a cross-coupling signal is obtained based on the first feedback signal and the second feedback signal, where the cross-coupling signal is related to the total number of motor rotations of the first motor and the second motor on the total travel of their respective roller blind devices.

[0038] In some examples, the structures of the first motor and the second motor may be different, for example, their calibration parameters are different. If the roller blind devices need to run synchronously, the first feedback signal and the second feedback signal are different. In some other examples, the structures of the first motor and the second motor are the same, but due to mechanical tolerances, or aging and interference during the use of the sunshade device, the first feedback signal and the second feedback signal are different.

[0039] Couple the first feedback signal and the second feedback signal to obtain a cross-coupled signal. The coupling process here can be a process of calculating the difference between the first feedback signal and the second feedback signal. Correspondingly, in some examples, the cross-coupled signal can be the difference between the first feedback signal and the second feedback signal, or the difference between the first feedback signal and the second feedback signal after gain, or the difference between parameters obtained based on the first feedback signal and the second feedback signal.

[0040] In the above examples, no matter in what way the cross-coupled signal is obtained, the cross-coupled signal is related to the total number of motor revolutions of the first motor and the second motor on the total stroke of their respective roller blinds devices, that is, the cross-coupling process takes into account the relationship between the total number of revolutions of each motor and the total stroke length of the roller blinds device.

[0041] In S203, at least one motor is feedback-compensated based on the cross-coupled signal, so that the positions of the first roller blind driven by the first motor and the second roller blind driven by the second motor are synchronized.

[0042] In some examples, the feedback compensation can be gain compensation for the motor with a smaller feedback signal, or loss compensation for the motor with a larger feedback signal. In some examples, both gain compensation and loss compensation can be performed. For example, when the first feedback signal is greater than the second feedback signal, the speed of the second motor can be increased until the positions of the first roller blind and the second roller blind are the same. Here, the position of the roller blind refers to the position of the end of the roller blind curtain, for example, the position of the middle pull rod assembly on the guide rail. Figure 1 The position of the middle pull rod assembly on the guide rail.

[0043] In method 200, obtain the first feedback signal of the first motor and the second feedback signal of the second motor, and obtain a cross-coupled signal based on the first feedback signal and the second feedback signal. In this coupling process, the relationship between the motor and the total stroke length of the roller blinds device is taken into account. When the absolute position of the roller blind changes due to various reasons, at least one motor is feedback-compensated based on the cross-coupled signal, which can make the positions of the roller blinds driven by each motor synchronized.

[0044] In some embodiments, the feedback signal of the motor can include the speed of the motor. In some examples, the cross-coupled signal can be obtained based on the difference between parameters obtained from the first feedback signal and the second feedback signal. Figure 3 Method 210 for obtaining a cross-coupled signal according to an embodiment of the present application is shown. Method 210 includes steps S211-S213.

[0045] In S211, obtain the first reference speed of the first motor and the second reference speed of the second motor, where the first ratio of the first reference speed and the second reference speed is positively correlated with the second ratio of the total number of revolutions of the first motor and the total number of revolutions of the second motor.

[0046] The first feedback signal includes the first detected rotational speed of the first motor, and the second feedback signal includes the second detected rotational speed of the second motor. The first and second detected rotational speeds can be the current rotational speeds of the motors respectively. For example, the first feedback signal is the current rotational speed ω1 of the first motor, and the second feedback signal is the current rotational speed ω2 of the second motor. The detected rotational speed of the motor can be obtained in various ways, such as by an encoder, a Hall sensor, a photoelectric sensor or current ripple to obtain the real-time rotational speed of the motor.

[0047] The first reference rotational speed of the first motor and the second reference rotational speed of the second motor are the preset rotational speeds of their respective motors. The first reference rotational speed of the first motor is ω ref1 , and the second reference rotational speed of the second motor is ω ref2 . The reference rotational speed of the motor can be preset. In addition, the reference rotational speeds of the two motors are related to the total number of rotations of the motor. The number of rotations of the motor refers to the number of turns the motor rotates, and the total number of rotations refers to the total number of turns the motor rotates during the entire stroke of the rolling sunshade. Specifically, during the total stroke of the first rolling sunshade device from fully open to fully closed, the total number of rotations of the first motor is R1; during the total stroke of the second rolling sunshade device from fully open to fully closed, the total number of rotations of the second motor is R2. Then the ratio between the first reference rotational speed ω ref1 and the second reference rotational speed ω ref2 and the ratio of the number of rotations can satisfy the following relationship:

[0048]

[0049] Due to the influence of the aforementioned multiple factors, the stroke of the curtain fabric will change. Therefore, when the motors rotate the same number of turns, the position of the pull rod assembly will change. In addition, since the starting and ending positions of the rolling sunshade assembly will be calibrated regularly, the starting point, ending point or total stroke length of the pull rod assembly will change. When its stroke length becomes longer, the motor needs to rotate more turns to reach the previous position. Therefore, according to the positive correlation between the rotational speed and the number of rotations, the rotational speed needs to be increased to meet the synchronization requirement.

[0050] The number of rotations of the motor can be obtained in various ways, such as by pulse counting of a Hall sensor, the number of current ripples, etc. to characterize the number of turns the motor rotates during the total stroke. For example, when the motor leaves the factory, the number of rotations in the total stroke of the rolling sunshade device is 2000 Hall pulse counts. After using it for a period of time, the number of rotations of the first motor is 2000 counts, while the number of rotations of the second motor is 2100 counts. In this case, different from the setting in the related art where the reference rotational speeds of the two motors are the same, the second reference rotational speed ω ref2 can be set to ω ref1 × (2100 / 2000).

[0051] In S212, obtain a first difference between a first reference speed and a first detected speed, and obtain a second difference between a second reference speed and a second detected speed.

[0052] Based on each motor reference speed and detected speed, the speed error of each motor can be calculated. Specifically, reference can be made to formulas (2)-(3).

[0053] e1 = ω ref1 - ω1 (2)

[0054] e2 = ω ref2 - ω2 (3)

[0055] In S213, couple the first difference and the second difference.

[0056] During the coupling process, the speed of the motor can be compensated based on the cross-coupling signal. In some examples, the speeds of the first motor and / or the second motor can be adjusted to reduce the speed error of each motor. Since the components including the motors in the two rolling sunshade devices are the same, and the total number of rotations of the motors has been taken into account in the reference speeds of their respective motors, the positions of the rolling sunshades can be synchronized by setting different reference speeds.

[0057] In some examples, the motor errors can be coupled based on the PID algorithm for compensation. For example, reference can be made to formula (4) to couple the speed errors e1 and e2 of the two motors obtained in S212 and obtain a coupling error term e coupled .

[0058] e coupled = k × (e1 - e2) (4)

[0059] where k is the coupling gain.

[0060] In addition, formulas (5)-(6) give an example of calculating the control input using the PID algorithm. It can be understood that the calculation of the control input in this application is not limited to this, and can also be a variant based on formulas (5)-(6).

[0061]

[0062]

[0063] where K p is the proportional gain, K i is the integral gain, and K d is the derivative gain. Each gain can be adjusted through experiments or simulations to synchronize the positions of the two rolling sunshade devices finally.

[0064] In method 210, the reference speed of each motor is determined according to the relationship between the rotation speed of the motor and the total stroke of the roller blind device. The change in the rotation speed of the motor during the total stroke of the roller blind in the use process is reflected in the reference speed of the motor, so as to reduce the position error of different roller blinds to an acceptable range and achieve the position synchronization of the roller blinds.

[0065] In some examples, master-slave control can be adopted. The master motor can select the motor with a larger real-time speed. For example, when the first detected speed of the first motor is greater than the second detected speed of the second motor, the first motor is selected as the master motor and the second motor is the slave motor. The reference speed of the second motor is based on the real-time detected speed of the first motor. That is, the first reference speed is the first detected speed, and the second reference speed is the first detected speed divided by the second ratio R1 / R2. Formula (1) can be changed to formula (7).

[0066]

[0067] During feedback compensation, the second motor can be feedback-compensated based on the difference between the second detected speed and the second reference speed of the second motor until the positions of the two roller blinds are synchronized. In master-slave control, the slave motor is controlled based on the real-time state of the master motor, without multi-variable coordinated calculation, which can reduce computing resources.

[0068] Figure 4 The structure diagram of the cross-coupling control system according to an embodiment of the present application is shown. The first motor M1 is the master motor, and the second motor M2 is the slave motor. The target speed of the second motor is the target speed of the first motor multiplied by the coefficient k1, and k1 is R2 / R1. The feedback speeds ω1 and ω2 of the two motors pass through a comparison unit to obtain the speed error e. The speed error is input to the controller C2 of the second motor for compensating the second motor.

[0069] In some embodiments, the feedback signal of the motor can also include the position of the roller blind, that is Figure 1 the position of the middle pull rod assembly on the guide rail. For example, the first feedback signal is the position P1 (the first position) of the first roller blind, and the second feedback signal is the position P2 (the second position) of the second roller blind.

[0070] In some examples, a position sensor can be used to obtain the position of the roller blind. For example, the position of the pull rod assembly of the roller blind on the guide rail is determined by a position sensor arranged near the guide rail. In some other examples, the position of the roller blind can be indirectly represented by the Hall pulse count of the motor, and additional sensors can be omitted.

[0071] Figure 5Method 300 for obtaining a feedback signal of a motor according to an embodiment of the present application is shown, where the feedback signal is the position of a rolling sunshade. Method 300 includes steps S301 - S304.

[0072] In S301, obtain a first stroke of a first rolling sunshade device and a second stroke of a second rolling sunshade device.

[0073] Refer to Figure 1 , the stroke of the rolling sunshade device is the distance between the two ends of the guide rail when the pull rod assembly moves from one end of the guide rail (at this time the curtain is fully unfolded to completely block the sunroof) to the other end of the guide rail (at this time the curtain is fully retracted to completely expose the sunroof). Obtaining the stroke of the rolling sunshade may refer to determining the starting point and the ending point of the rolling sunshade. The starting point and the ending point on the stroke can be determined in various ways, such as the stall algorithm or the anti - pinch algorithm.

[0074] In S302, obtain a first total number of revolutions of a first motor in the first stroke and a second total number of revolutions of a second motor in the second stroke.

[0075] The total number of revolutions of the motor on the stroke refers to the number of turns the motor makes from the starting point to the ending point of the stroke. The difference between the motor revolutions at the ending point and the motor revolutions at the starting point can be recorded as the total number of revolutions. For example, when the revolutions of the motor are characterized by Hall pulse counting, taking the Hall pulse count at the starting point as a reference, when the rolling sunshade moves to the ending point, the Hall pulse count H represents the total number of revolutions of the motor on the stroke. Thus, the total number of revolutions H1 of the first motor and the total number of revolutions H2 of the second motor can be obtained.

[0076] In S303, obtain a first current number of revolutions of a first motor and a second current number of revolutions of a second motor.

[0077] The number of revolutions of the motor can be used to represent the distance the rolling sunshade moves. During the movement of the rolling sunshade, the current number of revolutions of the motor can be obtained to determine the current position of the rolling sunshade. The current number of revolutions of the motor refers to the number of revolutions of the motor during the movement of the rolling sunshade with the starting point of the rolling sunshade movement as a reference.

[0078] In S304, determine a first position based on the ratio of the first current number of revolutions to the first total number of revolutions, and determine a second position based on the ratio of the second current number of revolutions to the second total number of revolutions.

[0079] In some examples, based on the current rotation speed of the motor, the total rotation speed, and the travel length of the rolling sunshade, taking the rotation speed of the motor characterized by Hall pulse counting as an example, the total rotation speed of the motor is 2000 counts, the current rotation speed is 1000 counts, and the travel length of the rolling sunshade is L. Then the position of the rolling sunshade is L×1000 / 2000. In some examples, the position of the rolling sunshade can be directly determined based on the ratio of the current rotation speed and the total rotation speed of the motor. For example, the position of the rolling sunshade is 1000 / 2000, that is, the position of the rolling sunshade is at 50% of the travel. In some examples, the position of the rolling sunshade can be calibrated according to factors such as the change in the diameter of the reel assembly. The calibration method adopts the conventional method in the related art and will not be elaborated here.

[0080] When taking the position of the rolling sunshade as the feedback, at least one motor can be feedback-compensated with reference to formulas (2)-(6) similarly to make the positions of the rolling sunshades synchronous.

[0081] Figure 6 The structural diagram of the cross-coupling control system according to an embodiment of the present application is shown. The first motor is the main motor, and the second motor is the slave motor. Taking the positions P1 and P2 of the rolling sunshades driven by each motor as the feedback, after passing through the comparison unit, the position error e' is obtained. The position error is input into the controller of the second motor to compensate the second motor. The rotation speed is adjusted according to the position error to make the positions of the two rolling sunshades synchronous.

[0082] As discussed above, the motor is feedback-regulated respectively with the motor rotation speed error and the position error of the rolling sunshade. When taking the motor rotation speed error as the feedback, the positions of the rolling sunshades are made synchronous by setting different target rotation speeds. Taking the motor rotation speed error as the feedback has the characteristic of fast response. When taking the position error of the rolling sunshade as the feedback, adjusting the motor rotation speed according to the position error can perform real-time position control, and the synchronous control is more accurate.

[0083] In some embodiments, the motor can be comprehensively regulated according to the motor rotation speed error and the position error of the rolling sunshade. Considering these two errors, the time error for the rolling sunshade device to reach a certain position (for example, the midpoint or the end point) can be controlled within a few hundred milliseconds.

[0084] Figure 7 The dual-motor control method 400 according to an embodiment of the present application is shown, where the feedback signal is the position of the rolling sunshade. The method 400 includes steps S401-S404.

[0085] In S401, a first feedback signal of the first motor and a second feedback signal of the second motor are obtained. The feedback signal of the motor includes the real-time speed of the motor and the position of the rolling sunshade.

[0086] Obtain the first detected rotation speed of the first motor, the detected rotation speed of the second motor, the first position of the first rolling sunshade, and the second position of the second rolling sunshade.

[0087] In S402, obtain the first reference speed of the first motor and the second reference speed of the second motor, where the first ratio of the first reference speed and the second reference speed is positively correlated with the second ratio of the total number of revolutions of the first motor and the total number of revolutions of the second motor.

[0088] This step can refer to S211 above and will not be elaborated here.

[0089] In S403, obtain the first difference between the first reference speed and the first detected speed, and obtain the second difference between the second reference speed and the second detected speed.

[0090] This step can refer to S212 above and will not be elaborated here.

[0091] In S404, compare whether the difference between the first difference and the second difference is greater than the first threshold.

[0092] The difference between the first difference e1 and the second difference e2 can refer to formula (8).

[0093] ∣e1 - e2∣ = ∣ω ref1 - ω1 - ω ref2 + ω2∣ (8)

[0094] The first threshold can be preset. For example, the first motor is the main motor and the second motor is the slave motor, and its real-time detected speed of the first motor is used as the reference speed. Referring to formula (7), formula (8) can be converted to formula (9).

[0095]

[0096] When the difference in formula (9) is greater than the first threshold, it indicates that the motor speed difference is large, and S405 can be entered to first reduce the difference through speed adjustment; otherwise, enter S406.

[0097] In S405, perform feedback compensation on at least one motor based on the difference between the first difference and the second difference.

[0098] Perform feedback compensation on at least one motor based on the third difference between the first difference and the second difference. During the feedback process, compare the updated difference with the first threshold again, that is, return to S403 and S404 until the difference between the two does not exceed the first threshold. This compensation process can refer to the compensation method based on the motor speed described above.

[0099] In S406, perform feedback compensation on at least one motor based on the difference between the first position and the second position until the positions of the two roller blinds are synchronized. The feedback compensation in this step can refer to the position-based compensation method described above.

[0100] In method 400, first, feedback regulation is performed based on the motor speed error, and the error can be quickly adjusted to a smaller range according to the speed; then, feedback regulation is performed based on the position error of the roller blind until the positions of the two are synchronized.

[0101] In some examples, feedback regulation can be performed by considering both the motor speed error and the position error of the roller blind.

[0102] For example, referring to the PID algorithm in formulas (4)-(6) above, the coupling error terms are calculated respectively, two sets of gain coefficients are set for the two errors in the control inputs of each motor, and then the positions of the two roller blind devices are synchronized by adjusting each gain coefficient.

[0103] Figure 8 The structure diagram of a cross-coupling control system according to an embodiment of the present application is shown. The first motor is the main motor, and the second motor is the slave motor. Taking the rotational speeds of the motors and the positions of the roller blinds driven by the motors as feedback, corresponding errors are obtained through their respective comparison units. The two errors are input into the controller of the second motor to compensate the second motor, and finally the positions of the two roller blinds are synchronized.

[0104] It can be understood that although Figure 4 , Figure 6 , Figure 8 in the cross-coupling control, the master-slave control is used to perform gain compensation on the motor with a smaller feedback signal, in other embodiments of the present application, loss compensation can also be performed on the motor with a larger feedback signal.

[0105] Now referring to Figure 9 , Figure 9 a schematic diagram of an electronic device 500 according to an embodiment of the present disclosure is shown. The electronic device 500 includes a processor 501 and a memory 502 coupled to the processor 501. The memory 502 is used to store computer-executable instructions, and when the computer-executable instructions are executed, the processor 501 executes the method in the above embodiments.

[0106] In some examples, the electronic device can be an on-board computer set in a vehicle, also known as an on-board ECU (Electronic Control Unit). In some examples, the electronic device can also be a control ECU of a certain device set in the vehicle or a dedicated controller of a removable component. There is no limitation here, as long as the electronic device controls the opening or closing of the removable component according to the corresponding instructions. The electronic device can include any suitable controller, for example, a programmable logic device, a processor, an application-specific integrated circuit, etc.

[0107] An embodiment of the present application also discloses a rolling sunshade system, including a first rolling sunshade device, a second rolling sunshade device, a first motor, a second motor, a sensing device, and a control device. The first rolling sunshade device, the second rolling sunshade device, the first motor, and the second motor can refer to Figure 1 the examples and related descriptions.

[0108] The control device can be the electronic device 500 as shown in Figure 9 . The control device can be an independent hardware structure or a module integrated in other hardware. Alternatively, the control device can be a software module, for example, containing a set of control instructions. In some examples, relevant information about the travel of the rolling sunshade device and the rotation speed of the motor can be stored in the control device or other storage devices. The control device can have an I / O port, which can be connected to a motor drive circuit. The motor drive circuit controls the operation of the motor, and the drive connecting shaft of the motor drives the rolling sunshade device to move. In some examples, the control device can include a circuit that is directly integrated into the motor or the sensing device, or integrated in their combination. The first motor, the second motor, and the control device can obtain power through an AC-to-DC conversion method or through a battery built inside or outside the control system.

[0109] The sensing device is connected to the control device and is used to detect the operating parameters of each component in the rolling sunshade system. The sensing device can provide the control device with relevant information about the rotation of the first motor and the second motor. The control device can record the number of turns or the rotation angle of the motor according to the information provided by the sensing device. The sensing device can be any suitable rotational position sensing device, such as an optical, resistive, or electromagnetic sensing device. For example, the sensing device includes a Hall sensor, which is disposed on the drive connecting shaft of the motor and feeds back travel pulses to the control device according to the rotation of the drive connecting shaft.

[0110] In some examples, the control device can also include a travel pulse counter, which counts the travel pulses according to the feedback from the sensing device. The control device can obtain a pulse count reference value based on the start and end positions of the rolling sunshade device, and can determine the moving direction and position of the rolling sunshade based on the travel pulse count and the pulse count reference value.

[0111] In some examples, the motor can directly drive the reel assembly of the rolling sunshade device. Additionally, it can be understood that the number of rolling sunshade devices in the rolling sunshade system disclosed in the present application is not limited to this, and can also be more.

[0112] In addition, alternatively, the above method can be implemented via a computer-readable storage medium. The computer-readable storage medium stores computer-readable program instructions for executing various embodiments of the present invention. A computer-readable storage medium can be a tangible device that can hold and store instructions used by an instruction execution device. A computer-readable storage medium can be, for example, but is not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (non-exhaustive) of the computer-readable storage medium include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disc (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punched card or raised structures in grooves storing instructions thereon, and any suitable combination of the foregoing. The computer-readable storage medium used herein is not construed as an instantaneous signal itself, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagated through a waveguide or other transmission medium (e.g., an optical pulse through an optical fiber cable), or an electrical signal transmitted through a wire.

[0113] Thus, in another embodiment, the present invention provides a computer-readable storage medium having computer-executable instructions stored thereon for performing the methods in various embodiments of the present invention.

[0114] The present invention also provides a computer program product tangibly stored on a computer-readable storage medium and including computer-executable instructions that, when executed, cause at least one processor to perform the methods in various embodiments of the present invention.

[0115] Generally, the various example embodiments of the present disclosure can be implemented in hardware or dedicated circuits, software, firmware, logic, or any combination thereof. Some aspects can be implemented in hardware, while other aspects can be implemented in firmware or software that can be executed by a controller, a microprocessor, or other computing devices. When aspects of the embodiments of the present disclosure are illustrated or described as block diagrams, flowcharts, or using some other graphical representation, it will be understood that the blocks, devices, systems, techniques, or methods described herein can be implemented as non-limiting examples in hardware, software, firmware, dedicated circuits or logic, general hardware or controllers or other computing devices, or some combination thereof.

[0116] The computer-readable program instructions or computer program products for implementing various embodiments of the present invention can also be stored in the cloud. When needed, users can access the computer-readable program instructions stored in the cloud for implementing an embodiment of the present invention through the mobile Internet, fixed network, or other networks, so as to implement the technical solutions disclosed according to the various embodiments of the present invention.

[0117] Although the embodiments of the present invention have been described with reference to several specific embodiments, it should be understood that the embodiments of the present invention are not limited to the specific embodiments disclosed. The embodiments of the present invention are intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. The scope of the claims is to be accorded the broadest interpretation so as to encompass all such modifications and equivalent structures and functions.

Claims

1. A dual-motor control method is applied to a double-roll solar curtain device driven by dual motors, characterized in that The method includes: Obtaining a first feedback signal of the first motor and a second feedback signal of the second motor; Obtaining a cross-coupling signal based on the first feedback signal and the second feedback signal, where the cross-coupling signal is related to the total number of motor revolutions of the first motor and the second motor over the total travel of their respective roller blinds; and Compensating at least one motor feedback based on the cross-coupling signal so that the positions of the first roller blind driven by the first motor and the second roller blind driven by the second motor are synchronized.

2. The dual-motor control method according to claim 1, wherein The first feedback signal includes a first detected rotational speed of the first motor, the second feedback signal includes a second detected rotational speed of the second motor, and obtaining a cross-coupling signal based on the first feedback signal and the second feedback signal includes: Obtaining a first reference rotational speed of the first motor and a second reference rotational speed of the second motor, where a first ratio of the first reference rotational speed and the second reference rotational speed is positively correlated with a second ratio of the total number of revolutions of the first motor to the total number of revolutions of the second motor; Obtaining a first difference between the first reference rotational speed and the first detected rotational speed, and obtaining a second difference between the second reference rotational speed and the second detected rotational speed; and Coupling the first difference and the second difference.

3. The dual-motor control method according to claim 2, wherein The first reference rotational speed is the first detected rotational speed, and the second reference rotational speed is the first detected rotational speed divided by the second ratio.

4. The dual-motor control method according to claim 1, characterized in that The first feedback signal includes a first position of the first roller blind, and the second feedback signal includes a second position of the second roller blind.

5. The dual-motor control method according to claim 2, wherein The first feedback signal includes a first position of the first roller blind, and the second feedback signal includes a second position of the second roller blind.

6. The dual-motor control method according to claim 4 or 5, characterized in that, Obtaining the first feedback signal of the first motor and the second feedback signal of the second motor includes: Obtaining a first travel of the first roller blind device and a second travel of the second roller blind device; Obtaining a first total number of revolutions of the first motor over the first travel and a second total number of revolutions of the second motor over the second travel; Obtaining a first current number of revolutions of the first motor and a second current number of revolutions of the second motor; and Determining the first position based on the ratio of the first current number of revolutions to the first total number of revolutions, and determining the second position based on the ratio of the second current number of revolutions to the second total number of revolutions.

7. The dual-motor control method according to claim 6, wherein The motor revolutions of the first motor and the second motor are characterized by Hall pulse counting.

8. The dual-motor control method according to claim 5, wherein Compensating at least one motor feedback based on the cross-coupling signal so that the positions of the first roller blind driven by the first motor and the second roller blind driven by the second motor are synchronized includes, In response to a third difference between the first difference and the second difference being greater than a first threshold, compensating at least one motor feedback based on the third difference until the third difference is less than the first threshold; And Compensating at least one motor feedback based on the difference between the first position and the second position until the positions of the first roller blind and the second roller blind are synchronized.

9. An electronic device, characterized in that, The electronic device includes a memory and a processor. Computer-readable instructions are stored in the memory, and when the computer-readable instructions are executed by the processor, the processor is caused to implement the dual-motor control method according to any one of claims 1-8.

10. A rolling sunshade system, characterized in that, It includes a first roller blind device, a second roller blind device, a first motor, a second motor, a sensing device, and a control device, wherein the first motor and the second motor are configured to drive the first roller blind device and the second roller blind device respectively; the sensing device is configured to detect the working parameters in the roller blind system; and the control device is configured to execute the dual-motor control method according to any one of claims 1-8.

11. The rolling sunshade system according to claim 10, characterized in that, Both the first roller blind device and the second roller blind device include two guide rails, a reel assembly, a curtain cloth, and a pull rod assembly. The first motor and the second motor are configured to directly drive the corresponding reel assemblies to rotate respectively. For each roller blind device: the two guide rails are parallel and spaced apart from each other, and pulleys are provided at one end of the two guide rails; the reel assembly includes a reel body, a rope winder, and a pulling rope. The reel assembly is arranged between the two guide rails. The rope winder is located at both ends of the reel body. One end of the pulling rope bypasses the pulley and is connected to the pull rod assembly, and the other end of the pulling rope is wound around the rope winder; one end of the curtain cloth is fixed to the reel assembly, and the other end of the curtain cloth is fixed to the pull rod assembly.

12. The rolling sunshade system according to claim 10, characterized in that, The sensing device includes a Hall sensor.

13. A computer-readable storage medium having computer-executable instructions stored thereon for executing the dual-motor control method according to any one of claims 1-8.

14. A computer program product tangibly stored on a computer-readable storage medium and including computer-executable instructions that, when executed by at least one processor, cause at least one processor to execute the dual-motor control method according to any one of claims 1-8.

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