Four-door handle synchronization calibration and fault processing method and system

Abstract

The invention provides a four-door handle synchronism calibration and fault processing method and system. The method comprises the steps that current magnetic field acting force displacement hysteretic curve data of magnetorheological dampers of preset four-door handles in the rotating shaft movement process are obtained; applying a magnetic field acting force to the magneto-rheological damper, so that the displacement hysteresis curve of the current magnetic field acting force is converted into a pulse width modulation waveform; dynamically controlling the intensity change of the magnetic field acting force by using a pulse width modulation waveform to generate a magnetic field intensity control signal; calculating a hysteresis curve area difference value of the four preset door handles, and converting the hysteresis curve area difference value into an accumulated wear equivalent difference value; when the accumulated abrasion equivalent difference value exceeds a preset threshold value, it is judged that the four preset door handles have mechanism abrasion faults; and in the four preset door handles, performing fault isolation processing on the handle with the mechanism wear fault, and performing real-time synchronous calibration on the motion trails of the remaining handles by applying a magnetic field intensity control signal. The method breaks through the limitation that traditional mechanical calibration depends on manual intervention.

Description

Technical Field

[0001] This invention relates to the field of synchronization calibration and fault handling technology, and in particular to a method and system for synchronizing and calibrating four door handles. Background Technology

[0002] As automotive products face increasingly stringent requirements for long-term quality and consistent user experience, the synchronization and fault prediction issues faced by door handles, as mechanical components frequently touched by users, during the durability test of 100,000 door opening and closing cycles are becoming increasingly prominent. Especially under complex environments and variable load conditions, the performance degradation of the internal transmission mechanisms of each door handle due to factors such as material aging, wear of friction pairs, and relaxation of assembly stress is unavoidable. Therefore, there is an urgent need for an intelligent control method that can assess the mechanical status of each door handle in real time throughout its entire life cycle, accurately identify performance deviations, and achieve active compensation to ensure that the high consistency of the four-door operation feel and the reliability of system operation can still be maintained under high-frequency use scenarios.

[0003] The current mainstream solution is based on high-precision encoders and vibration acceleration sensors to jointly monitor the rate of change of angular velocity and the micro-amplitude vibration spectrum during the movement of the four door handles. The characteristic parameters of the movement trajectory of each handle are extracted by signal time-frequency analysis and compared with a standard template. When a continuous delay in the movement response of a certain handle or an abnormal increase in vibration energy is detected, the system will determine that there is a risk of obstruction or loosening, and attempt to restore the overall synchronization by adjusting the driving torque distribution of the actuator. This method achieves non-contact monitoring and dynamic intervention of the movement state to a certain extent. Existing solutions have some inherent shortcomings, including reliance on indirect deduction based on external motion characteristics, which makes it difficult to deeply reflect the evolution of the intrinsic properties of the damping unit material inside the handle; when faced with slow-developing material performance degradation or changes in the phase state of the internal medium, deviations in kinematic parameters alone often lag behind the occurrence of actual damage, resulting in insufficient sensitivity in fault identification; lack of quantitative modeling capability for the degree of mechanical wear, making it impossible to convert signal differences into assessable physical wear indicators, causing the system to easily miss early latent damage; and in compensation control, over-reliance on driving force adjustment masks the true fault, ultimately affecting the accuracy of diagnosis and the effectiveness of maintenance, making it difficult to meet the needs for in-depth perception and precise intervention of the mechanism's health status under high-durability operating conditions. Summary of the Invention

[0004] This invention provides a method and system for synchronizing and troubleshooting four door handles. It addresses several issues in existing technologies, such as reliance on indirect deduction based on external motion characteristics, which fails to adequately reflect the evolution of the intrinsic properties of the damping unit material within the handle; the inability to accurately reflect the evolution of material properties due to slow-developing material degradation or changes in the internal medium phase, where kinematic parameter deviations often lag behind actual damage occurrence, leading to insufficient sensitivity in fault identification; a lack of quantitative modeling capabilities for mechanical wear, preventing the conversion of signal differences into assessable physical wear indicators, resulting in missed detections of early, latent damage; and over-reliance on drive force adjustment in compensation control, which masks the true fault, ultimately affecting diagnostic accuracy and maintenance effectiveness, and failing to meet the demands for deep perception and precise intervention of the mechanism's health status under high-durability operating conditions.

[0005] In a first aspect, the present invention provides a method for calibrating and troubleshooting the synchronization of four door handles, comprising:

[0006] Acquire the current-magnetic field force-displacement hysteresis curve data of the magnetorheological damper of the four door handles during the rotation process;

[0007] A magnetic field force is applied to the magnetorheological damper to adjust the liquid-solid phase transition ratio of the magnetorheological fluid in the magnetorheological damper, so that the displacement hysteresis curve of the current magnetic field force is converted into a pulse width modulation waveform.

[0008] The intensity change of the magnetic field force is dynamically controlled by the pulse width modulation waveform to generate a magnetic field strength control signal.

[0009] Calculate the hysteresis curve area difference value of the preset four door handles, and convert the hysteresis curve area difference value into the cumulative wear equivalent difference value;

[0010] When the cumulative wear equivalent difference value exceeds a preset threshold, it is determined that the preset four door handles have a mechanical wear fault;

[0011] In the four preset door handles, the handles that have experienced the wear failure of the mechanism are isolated, and the movement trajectory of the remaining handles is synchronized and calibrated in real time using the magnetic field strength control signal.

[0012] Optionally, data on the current-magnetic field force-displacement hysteresis curves of the pre-set four door handle magnetorheological dampers during shaft movement are obtained, including:

[0013] A preset array of magnetic field sensing elements is applied to the circumferential surface of the rotating shaft of the magnetorheological damper with four door handles to generate magnetic field monitoring points.

[0014] A preset periodic drive command is applied to the rotating shaft of the magnetorheological damper of the four door handles to make the rotating shaft rotate continuously.

[0015] The original electrical signal sequence of the magnetic field monitoring point during the continuous rotational motion is collected;

[0016] The original electrical signal sequence and the preset reference carrier signal are synchronously demodulated to generate a demodulated current signal and a demodulated displacement signal.

[0017] The demodulated current signal and the demodulated displacement signal are combined to generate current magnetic field force displacement hysteresis curve data.

[0018] Optionally, a magnetic field force is applied to the magnetorheological damper to adjust the liquid-to-solid phase transition ratio of the magnetorheological fluid within the damper, thereby converting the displacement hysteresis curve of the current-magnetic field force into a pulse width modulation waveform, including:

[0019] A preset excitation coil is placed in the annular magnetic gap of the magnetorheological damper, and a preset current loading value is input into the preset excitation coil to generate a magnetic field force acting on the magnetorheological fluid inside the magnetorheological damper.

[0020] The real-time strength value of the magnetic field force is detected, and the preset current loading value is adjusted according to the real-time strength value to generate the adjusted current loading value;

[0021] The adjusted current loading value is input into the preset excitation coil to update the magnetic field force and generate a new magnetic field force acting on the magnetorheological fluid.

[0022] Record the ratio of the liquid and solid regions of the magnetorheological fluid under the action of the updated magnetic field to generate phase transition ratio parameters;

[0023] The waveform inflection point position change characteristics of the displacement hysteresis curve of the current magnetic field force are extracted, and the waveform inflection point position change characteristics are adjusted based on the phase transition ratio parameter to generate a pulse width modulation waveform.

[0024] Optionally, the pulse width modulation waveform is used to dynamically control the intensity change of the magnetic field force to generate a magnetic field strength control signal, including:

[0025] The high-level duration and low-level duration of the pulse width modulation waveform are measured, and the ratio of the high-level duration to the low-level duration is calculated to generate a time proportion parameter.

[0026] The current strength value of the magnetic field force is detected, and the current strength value is subtracted from the preset target strength value to generate a strength deviation value.

[0027] The high-level duration ratio in the time ratio parameter is adjusted according to the intensity deviation value to generate the adjusted time ratio parameter;

[0028] The adjusted time percentage parameter is converted into a voltage control signal waveform to serve as a magnetic field strength control signal.

[0029] Optionally, the hysteresis curve area difference value of the preset four door handles is calculated, and the hysteresis curve area difference value is converted into a cumulative wear equivalent difference value, including:

[0030] Identify the boundary points of the closed region of the current magnetic field force displacement hysteresis curve of each of the four preset door handles to generate a closed contour coordinate sequence.

[0031] Perform clockwise integration on the closed contour coordinate sequence to generate the hysteresis curve area value of each handle;

[0032] The difference between the maximum area value and the minimum area value of each hysteresis curve is calculated to generate the hysteresis curve area difference value.

[0033] The area difference value is input into a preset wear conversion function for nonlinear mapping calculation to generate a cumulative wear equivalent difference value.

[0034] Optionally, when the cumulative wear equivalent difference value exceeds a preset threshold, it is determined that the preset four door handles have a mechanical wear fault, including:

[0035] The cumulative wear equivalent difference value is compared with a preset wear threshold to generate a difference status flag, wherein the difference status flag includes two forms: normal status flag and out-of-state flag.

[0036] When the difference status flag is the out-of-state flag, extract the independent wear equivalent data of each of the four preset door handles;

[0037] The independent wear equivalent data of each of the four door handles are compared with the preset wear baseline value to generate the wear exceeding status indicator of each handle among the four preset door handles;

[0038] The total number of wear-exceeding status indicators is counted. When the count reaches the preset fault trigger value, it is determined that the preset four door handles have a mechanical wear fault.

[0039] Optionally, among the four preset door handles, the handles experiencing the aforementioned mechanical wear failure are subjected to fault isolation processing, and the motion trajectory of the remaining handles is synchronously calibrated in real time using the magnetic field strength control signal, including:

[0040] In the preset four door handles, the location information of the faulty handle corresponding to the wear failure of the mechanism is obtained to generate a fault location identifier;

[0041] Based on the fault location identifier, the preset fault handling rules are activated to generate power-off control commands and mechanical locking commands;

[0042] The power-off control command and the mechanical locking command are respectively input into the drive circuit of the fault handle and the rotating shaft locking mechanism of the fault handle to drive the fault handle to perform the drive power disconnection operation and the mechanical position fixing operation.

[0043] The magnetic field strength control signal is processed by duty cycle magnetic field force-voltage conversion to generate a motor drive voltage signal;

[0044] The motor drive voltage signal is input to the shaft drive motor of the remaining handle to drive the remaining handle to perform a motion trajectory synchronization calibration operation.

[0045] Secondly, the present invention provides a four-door handle synchronization calibration and fault handling system, comprising:

[0046] The acquisition module is used to acquire the current, magnetic field, force, displacement, and hysteresis curve data of the magnetorheological damper of the four door handles during the rotation process.

[0047] The adjustment module is used to apply a magnetic field force to the magnetorheological damper to adjust the liquid-solid phase transition ratio of the magnetorheological fluid in the magnetorheological damper, so that the displacement hysteresis curve of the current magnetic field force is converted into a pulse width modulation waveform.

[0048] The control module is used to dynamically control the intensity change of the magnetic field force using the pulse width modulation waveform, and generate a magnetic field strength control signal.

[0049] The conversion module is used to calculate the hysteresis curve area difference value of the preset four door handles and convert the hysteresis curve area difference value into the cumulative wear equivalent difference value.

[0050] The determination module is used to determine that the preset four door handles have a mechanical wear fault when the cumulative wear equivalent difference value exceeds a preset threshold.

[0051] The processing module is used to perform fault isolation processing on the handles that have experienced the wear failure of the mechanism in the four preset door handles, and to apply the magnetic field strength control signal to perform real-time synchronous calibration of the motion trajectory of the remaining handles.

[0052] Thirdly, the present invention provides a computing device including a processor and a memory, wherein the memory stores a computer program, and the processor is configured to run the computer program to perform a four-door handle synchronization calibration and fault handling method as described in any of the first aspects.

[0053] Fourthly, the present invention provides a computer storage medium storing computer program instructions thereon, wherein the computer program instructions, when executed by a processor, implement a four-door handle synchronization calibration and fault handling method as described in any one of the first aspects.

[0054] This invention dynamically adjusts the liquid-to-solid phase transition ratio of the magnetorheological fluid by applying a magnetic field force to the magnetorheological damper, directly converting mechanical motion characteristics into electrical control signals and establishing a strong correlation mapping between physical state and electrical signals. Based on the wear quantification mechanism of phase transition ratio control, it accurately determines mechanical faults and performs real-time trajectory synchronous calibration of the remaining handles in combination with the magnetic field strength control signal. In fault isolation scenarios, it maintains the coordinated action of the four door handles, breaking through the limitation of traditional mechanical calibration relying on manual intervention.

[0055] Furthermore, by dynamically adjusting the current loading value of the excitation coil through a closed-loop feedback mechanism, the distribution of the solid-liquid phase transition region of the magnetorheological fluid is precisely controlled, generating a high-fidelity phase transition ratio parameter. This parameter is then used to adaptively correct the waveform transition characteristics of the displacement hysteresis curve of the current magnetic field force, ensuring that the pulse width modulation waveform accurately reflects the mechanical wear state, solving the signal distortion problem caused by magnetic field strength drift, and providing a lossless conversion basis for physical characteristics and electrical control for synchronous calibration.

[0056] These or other aspects of the invention will become more apparent from the following description of the embodiments. Attached Figure Description

[0057] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0058] Figure 1 A flowchart illustrating a method for synchronizing and troubleshooting four door handles, as provided in an embodiment of the present invention;

[0059] Figure 2A schematic diagram of a four-door handle synchronization calibration and fault handling system provided in an embodiment of the present invention;

[0060] Figure 3 This is a schematic diagram of the structure of a computing device provided in an embodiment of the present invention. Detailed Implementation

[0061] To enable those skilled in the art to better understand the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0062] In some of the processes described in the specification, claims, and accompanying drawings of this invention, multiple operations appearing in a specific order are included. However, it should be clearly understood that these operations may not be executed in the order they appear herein, or may be executed in parallel. The operation numbers, such as 101, 102, etc., are merely used to distinguish different operations and do not represent any execution order. Furthermore, these processes may include more or fewer operations, and these operations may be executed sequentially or in parallel. It should be noted that the descriptions such as "first," "second," etc., in this document are used to distinguish different messages, devices, modules, etc., and do not represent a sequential order, nor do they limit "first" and "second" to different types.

[0063] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0064] Figure 1 A flowchart of a method for synchronizing and troubleshooting four door handles is provided in this embodiment of the invention, as shown below. Figure 1 As shown, the method includes:

[0065] Existing synchronous calibration technology for four door handles suffers from three major drawbacks in durability testing scenarios: First, traditional sensors only monitor a single current or displacement parameter, failing to capture the coupling relationship between mechanical characteristics and electromagnetic states; second, magnetic field strength drift leads to inaccurate proportional phase transitions in magnetorheological liquids, distorting the quantification of mechanical wear; third, the lack of a real-time collaborative calibration mechanism for remaining units when a local fault is triggered results in system-level asynchronous actions. To address these issues, this invention proposes the following approach: Based on the solid-liquid phase transition characteristics of magnetorheological liquids, a bidirectional electromagnetic coupling model of mechanical magnetic field force is constructed. By dynamically adjusting the magnetic field force, the hysteresis curve of the current magnetic field force is converted into a pulse width modulation waveform, establishing a direct mapping between mechanical wear and electrical control signals. The difference in hysteresis curve area is used to quantify the wear state deviation of the four doors, combined with a preset threshold to achieve precise fault location. While isolating faulty units, the magnetic field strength control signal is reused to synchronously compensate the normal handle's execution trajectory in real time, forming a closed-loop control system for fault diagnosis and collaborative calibration, fundamentally solving the system synchronization problem caused by inaccurate physical state monitoring in traditional methods. Based on this, this invention provides a method for synchronous calibration and fault handling of four door handles, such as... Figure 1 ,include:

[0066] Step 101: Obtain the current-magnetic field force-displacement hysteresis curve data of the magnetorheological damper of the preset four door handles during the rotation process.

[0067] In this step, the current-magnetic field force-displacement hysteresis curve data refers to the closed curve dataset collected by the magnetic field sensing element, which reflects the dynamic coupling relationship between current and displacement during the rotation process, including the time sequence correspondence between current signal and displacement signal.

[0068] In this embodiment of the invention, firstly, the original sequences of current and displacement signals during the rotation of the door handle shaft are acquired by an array of magnetic field sensing elements pre-installed within the magnetorheological damper of the four door handle shaft. Secondly, a synchronous demodulation operation is performed on the original electrical signal sequence to separate the current component and the displacement component. Finally, the demodulated current signal and displacement signal are combined along the time axis to generate current-magnetic-field force-displacement hysteresis curve data.

[0069] Step 102: Apply a magnetic field force to the magnetorheological damper to adjust the liquid-solid phase transition ratio of the magnetorheological fluid in the magnetorheological damper, so that the displacement hysteresis curve of the current magnetic field force is converted into a pulse width modulation waveform.

[0070] In this step, the magnetic field force refers to the adjustable electromagnetic force generated by the current in the excitation coil and acting on the magnetorheological fluid, used to change the arrangement of ferromagnetic particles; the adjustment operation refers to the process of dynamically correcting the current loading value based on the real-time intensity value of the magnetic field force to control the phase change distribution of the magnetorheological fluid; the magnetorheological fluid refers to the carbonyl iron suspension filling the annular magnetic gap of the damper, whose liquid phase change ratio and solid phase change ratio change in real time with the change of magnetic field strength; the liquid-solid phase change ratio refers to the area ratio parameter of the fluid dynamic region and the solidified region in the magnetorheological fluid, which directly determines the mechanical characteristics of the damper; the conversion operation refers to the signal processing process of adjusting the inflection point position characteristics of the hysteresis curve waveform based on the phase change ratio parameter and reconstructing it into a pulse width modulation waveform; the pulse width modulation waveform refers to the method of reflecting the mechanical wear state by the proportion of high-level duration, and is a square wave signal used to control the magnetic field strength.

[0071] In this embodiment of the invention, an initial current loading value is first input into the pre-set excitation coil in the annular magnetic gap of the magnetorheological damper to generate a magnetic field force acting on the magnetorheological fluid. Next, the real-time intensity value of the magnetic field force is detected, and the initial current loading value is adjusted based on the real-time intensity value to generate an adjusted current loading value. Then, the adjusted current loading value is re-input into the excitation coil to update the generated magnetic field force acting on the magnetorheological fluid. Next, the ratio of the liquid region area to the solid region area of ​​the magnetorheological fluid under the updated magnetic field force is recorded to generate a phase transition ratio parameter. Finally, the waveform inflection point position change characteristics of the current-magnetic-field force displacement hysteresis curve are extracted, and this characteristic is adjusted based on the phase transition ratio parameter to form a pulse width modulation waveform.

[0072] Step 103: Apply the pulse width modulation waveform to dynamically control the intensity change of the magnetic field force, and generate a magnetic field strength control signal.

[0073] In this step, dynamic control operation refers to the closed-loop feedback mechanism that adjusts the waveform duty cycle in real time according to the intensity deviation value through a proportional-integral controller; intensity change refers to the amplitude fluctuation phenomenon caused by the change of the magnetic field force with the change of the pulse width modulation waveform duty cycle; magnetic field intensity control signal refers to the voltage waveform signal generated by the voltage modulator that can directly drive the excitation coil.

[0074] In this embodiment of the invention, firstly, the ratio of the high-level duration of the pulse width modulation waveform to the total period of the waveform is measured to generate a time proportion parameter. Secondly, the current strength value of the magnetic field force is detected, and the current strength value is subtracted from a preset target strength value to generate a strength deviation value. Subsequently, the strength deviation value is input to a proportional-integral controller, which outputs a high-level proportional adjustment amount and adds it to the time proportion parameter to generate an adjusted time proportion parameter. Finally, the adjusted time proportion parameter is input to a voltage modulator to generate a voltage control signal waveform with a corresponding duty cycle as the magnetic field strength control signal.

[0075] Step 104: Calculate the hysteresis curve area difference value of the preset four door handles, and convert the hysteresis curve area difference value into the cumulative wear equivalent difference value.

[0076] In this step, the hysteresis curve area difference value refers to the area difference of the hysteresis curves of the four door handles, which is a numerical index used to quantify the synchronous deviation of mechanical wear; the conversion operation refers to the mathematical operation process of mapping the area difference value to the physical wear amount through a nonlinear function; the cumulative wear equivalent difference value refers to the comprehensive evaluation parameter reflecting the discretization of the wear degree of the four door mechanisms.

[0077] In this embodiment of the invention, firstly, the closed boundary points of the displacement hysteresis curve of the current magnetic field force of each handle are identified, generating a closed contour coordinate sequence. Secondly, numerical integration is performed on the coordinate sequence in a clockwise direction to obtain the hysteresis curve area value of each handle. Subsequently, the arithmetic difference between the maximum and minimum area values ​​of the four handles is calculated to generate an area difference value. Finally, the area difference value is input into a preset wear conversion function to perform a nonlinear mapping operation, generating a cumulative wear equivalent difference value.

[0078] Step 105: When the cumulative wear equivalent difference value exceeds the preset threshold, it is determined that the preset four door handles have a mechanical wear fault.

[0079] In this step, the preset threshold refers to the threshold value for triggering mechanical wear failures set according to the durability test standard.

[0080] In this embodiment of the invention, the cumulative wear equivalent difference value is first compared with a preset wear threshold to generate a difference status flag that includes a normal status flag or an out-of-state flag. Secondly, when the difference status flag is an out-of-state flag, the independent wear equivalent data for each handle is extracted. Then, each independent wear equivalent data is compared with a preset wear baseline value to generate a wear-exceeding status flag for the corresponding handle. Finally, the total number of wear-exceeding status flags is counted, and when the total number reaches a preset fault trigger value, a mechanism wear fault determination result is generated.

[0081] Step 106: Among the four preset door handles, perform fault isolation processing on the handles that have experienced the wear failure of the mechanism, and apply the magnetic field strength control signal to perform real-time synchronous calibration of the motion trajectory of the remaining handles.

[0082] In this step, fault isolation refers to a dual protection mechanism that cuts off the power supply to the faulty handle via a power-off command and simultaneously fixes the position of the rotating shaft via a mechanical locking command; real-time synchronous calibration operation refers to converting the magnetic field strength control signal into a drive voltage and inputting it in parallel to the normal handle motor to achieve track coordination.

[0083] In this embodiment of the invention, the faulty handle position is first located from the mechanism wear fault determination result, and a fault position identifier is generated. Next, a preset fault handling rule is activated based on the fault position identifier, generating a power-off control command and a mechanical locking command. Then, a power-off control command is sent to the faulty handle drive circuit to cut off the power supply, while a mechanical locking command is sent to the shaft locking mechanism to fix the position. Next, the magnetic field strength control signal is extracted and subjected to a linear conversion operation from duty cycle to voltage amplitude to generate a motor drive voltage signal. Finally, the motor drive voltage signal is synchronously input to the shaft drive motors of the remaining handles to perform real-time coordinated adjustment of the motion trajectory.

[0084] For example, firstly, a Hall sensor array pre-installed within the magnetorheological damper of the door handle shaft collects the original current and displacement signal sequences during shaft rotation. After synchronous demodulation, this data generates current-magnetic-field force-displacement hysteresis curve data. Secondly, an initial current is input to the damper's excitation coil to generate a magnetic field force. Based on the real-time detected intensity value, the current is adjusted to generate a new magnetic field force. The proportion of the liquid-solid region of the magnetorheological fluid under the new magnetic field is recorded, and the hysteresis curve inflection point characteristics are adjusted accordingly to form a pulse width modulation waveform. Subsequently, the high-level proportion of this waveform is measured, and combined with the magnetic field strength deviation value, the parameters are optimized through a proportional-integral controller and converted into a magnetic field strength control signal by a voltage modulator. Next, the surface area difference of the hysteresis curves of the four door handles is calculated, and a cumulative wear equivalent difference value is generated through a wear conversion function. When this value exceeds a preset threshold, a fault diagnosis process is initiated: independent wear data of each handle is extracted and compared with the baseline value to generate an out-of-range indicator. When the number of out-of-range indicators reaches the trigger value, a mechanism wear fault is determined. Finally, the faulty handle is located and a position mark is generated. The preset rules are activated to send power-off and mechanical locking commands to isolate the faulty unit. At the same time, the magnetic field control signal is converted into a drive voltage and synchronously input to the remaining handle motors to perform real-time calibration of the motion trajectory.

[0085] This invention, through dynamic control of the phase change ratio of magnetorheological liquid, non-destructively converts mechanical motion characteristics into electrical control signals, achieving precise visualization of wear status; it establishes a wear equivalent quantification model based on the nonlinear mapping of hysteresis curve area difference, overcoming the misjudgment limitations of the traditional threshold method; and it reuses the magnetic field control signal to perform real-time collaborative calibration on normal handles during fault isolation, forming an electromechanical closed-loop control system, completely solving the system step loss problem caused by local wear of four door handles.

[0086] To address the data distortion caused by current-displacement coupling interference in the original electrical signal, this step acquires the signal using a preset magnetic field sensing element array, and combines this with reference carrier synchronous demodulation to separate the current / displacement components, generating high-fidelity hysteresis curve data. This invention provides a specific embodiment: Step 101, acquiring the current-magnetic field force-displacement hysteresis curve data of the pre-set four-door handle magnetorheological damper during shaft rotation, specifically includes the following steps:

[0087] Step 111: Apply a preset array of magnetic field sensing elements to the circumferential surface of the magnetorheological damper of the four door handles to generate magnetic field monitoring points.

[0088] In this step, the preset magnetic field sensing element array refers to the Hall sensor group pre-installed on the surface of the rotating shaft, which is used to capture magnetic field changes at discrete points in space, including multiple sensing units evenly distributed along the circumference; the magnetic field monitoring point refers to the effective detection position of each magnetic field sensing element, reflecting the electromagnetic field strength characteristics of a specific angular region of the rotating shaft.

[0089] In this embodiment of the invention, a pre-set array of magnetic field sensing elements is first installed on the outer circumferential surface of the rotating shaft of the four door handle magnetorheological damper, with each sensing element distributed at equal angular intervals. Then, power is applied to activate the sensing elements, forming spatially discrete magnetic field monitoring points that cover the entire circumferential motion trajectory of the rotating shaft.

[0090] Step 112: Apply a preset periodic drive command to the rotating shaft of the magnetorheological damper of the four door handles to make the rotating shaft rotate continuously.

[0091] In this step, the preset periodic drive command refers to the standard motion mode command set stored in the control system, which is used to drive the rotating shaft to perform repetitive rotational movements.

[0092] In this embodiment of the invention, a preset periodic drive instruction library is first invoked, and a sine wave mode instruction is selected. Then, the instruction is applied to the rotating shaft via a shaft drive motor, causing the shaft to rotate continuously at a uniform speed, simulating the action of a handle switch.

[0093] Step 113: Collect the original electrical signal sequence of the magnetic field monitoring point during the continuous rotational motion.

[0094] In this step, the original electrical signal sequence refers to the set of unprocessed voltage waveforms output by the magnetic field monitoring point, which includes the coupling interference components of current excitation and mechanical displacement.

[0095] In this embodiment of the invention, the data acquisition modules of all magnetic field monitoring points are first activated synchronously. Then, during the continuous rotation of the shaft, the original voltage fluctuation sequence of each monitoring point is recorded in real time, forming an original electrical signal sequence containing electromagnetic field change characteristics.

[0096] Step 114: Perform synchronous demodulation processing on the original electrical signal sequence and the preset reference carrier signal to generate a demodulated current signal and a demodulated displacement signal.

[0097] In this step, the preset reference carrier signal refers to a standard sine wave with the same frequency and phase as the original current excitation, which serves as the demodulation reference signal; synchronous demodulation processing refers to the technique of separating mixed signals using the reference carrier, including signal multiplication and low-frequency component extraction; the demodulated current signal refers to the pure current intensity component obtained after synchronous demodulation, which reflects the real-time energy consumption characteristics of the electromagnetic coil; the demodulated displacement signal refers to the pure displacement change component obtained after synchronous demodulation, which characterizes the process of the shaft rotation angle change.

[0098] In this embodiment of the invention, a preset reference carrier signal is first loaded, the frequency of which is from the same source as the original excitation current. Next, the original electrical signal sequence is multiplied and low-pass filtered by the reference carrier input to a phase-sensitive detector. Finally, the demodulated current signal reflecting the current intensity and the demodulated displacement signal characterizing the displacement change are separated.

[0099] Step 115: Combine the demodulated current signal and the demodulated displacement signal to generate current magnetic field force displacement hysteresis curve data.

[0100] In this step, the combination operation refers to the technique of reconstructing the demodulated current signal and the displacement signal according to the time axis to form a visual curve of the electromagnetic coupling relationship between mechanical magnetic field force.

[0101] In this embodiment of the invention, a timestamp alignment mechanism is first established to pair demodulated current signals and demodulated displacement signals at the same time. Next, a dynamic trajectory is plotted with the displacement signal as the abscissa and the current signal as the ordinate. Finally, the trajectories of consecutive time points are connected to form a closed loop curve, generating current-magnetic-force-displacement hysteresis curve data.

[0102] This invention captures the full-circumferential motion characteristics of the rotating shaft through spatially distributed magnetic field monitoring points, and achieves standardized testing by combining preset periodic drive; it effectively separates the coupling interference signals of current and displacement by using reference carrier synchronous demodulation technology; and it reconstructs high-fidelity hysteresis curves by aligning timestamps, providing an accurate data basis for mechanical wear analysis.

[0103] To address the issue of phase transition ratio misalignment caused by magnetic field strength drift, this step controls the solid-liquid phase transition distribution of the magnetorheological fluid through closed-loop current adjustment, and generates a pulse width modulation waveform based on the adaptive correction of the hysteresis curve inflection characteristics using phase transition parameters. A specific embodiment of this invention is provided: Step 102, applying a magnetic field force to the magnetorheological damper to adjust the liquid-solid phase transition ratio of the magnetorheological fluid within the damper, thereby converting the current-magnetic field force displacement hysteresis curve into a pulse width modulation waveform, specifically including the following steps:

[0104] Step 201: Set the preset excitation coil in the annular magnetic gap of the magnetorheological damper, and input the preset current loading value into the preset excitation coil to generate a magnetic field force acting on the magnetorheological fluid in the magnetorheological damper.

[0105] In this step, the pre-set excitation coil refers to the electromagnetic induction device pre-integrated in the annular magnetic gap of the damper, which is used to convert the current into a directional magnetic field, including enameled copper wire winding and ferrite core; the annular magnetic gap refers to the annular cavity structure filled with magnetorheological fluid inside the magnetorheological damper, and its width determines the range of the magnetic field.

[0106] In this embodiment of the invention, a preset excitation coil is first fixedly installed inside the annular magnetic gap of the magnetorheological damper, ensuring that the coil axis is aligned with the center of the magnetic gap. Next, a preset current loading value parameter library is called, and an initial current value is selected and input into the excitation coil. Finally, the coil is energized to activate it, generating a directional magnetic field force that penetrates the magnetorheological fluid.

[0107] Step 202: Detect the real-time intensity value of the magnetic field force, adjust the preset current loading value according to the real-time intensity value, and generate the adjusted current loading value.

[0108] In this step, the preset current loading value refers to the set of initial driving current parameters preset according to the characteristics of the magnetorheological fluid, which includes multiple adjustable current levels; the real-time intensity value refers to the instantaneous magnetic field intensity data measured by the Hall sensor, reflecting the actual controlled state of the magnetorheological fluid; the adjustment operation refers to the process of dynamically correcting the current value based on the deviation between the real-time intensity value and the target value, including proportional-integral-derivative operations; the adjusted current loading value refers to the current driving parameters optimized by closed-loop control, which are used to generate a stable magnetic field environment.

[0109] In this embodiment of the invention, the strength of the magnetic field force is first detected in real time using a magnetic flux sensor. Next, the detected value is compared with a preset target strength range; if the value is below the lower limit, the current value is increased; if it is above the upper limit, the current value is decreased. Finally, the current loading value is dynamically adjusted to generate an adjusted current loading value.

[0110] Step 203: Input the adjusted current loading value into the preset excitation coil to update the magnetic field force and generate a new magnetic field force acting on the magnetorheological fluid.

[0111] In this step, the updated magnetic field force refers to the electromagnetic field intensity distribution re-excited by the adjusted current, which has better uniformity than the initial magnetic field.

[0112] In this embodiment of the invention, the adjusted current loading value is first re-input into the same excitation coil. Secondly, a new electromagnetic field distribution is calculated based on the current-magnetic field force-magnetic field conversion model. Finally, an updated magnetic field force covering the entire magnetorheological fluid domain is generated.

[0113] Step 204: Record the ratio of the liquid region and the solid region of the magnetorheological fluid under the action of the updated magnetic field to generate phase transition ratio parameters.

[0114] In this step, the liquid region refers to the flowable region in the magnetorheological fluid where ferromagnetic particles are dispersed, appearing as dark patches under a microscope; the solid region refers to the solidified region formed by the chaining of ferromagnetic particles, appearing as a bright network structure under a microscope; the percentage data refers to the percentage of liquid region pixels to the total number of pixels calculated through image analysis; the phase transition ratio parameter refers to the physical characteristic parameter that quantifies the proportion of liquid and solid regions, used to characterize the rheological properties of the magnetorheological fluid.

[0115] In this embodiment of the invention, a microscopic image acquisition system is first used to capture images of the magnetorheological fluid under the action of a updating magnetic field. Secondly, an image segmentation algorithm is used to identify the boundary contours between the liquid flow region and the solidified region. Finally, the percentage of the liquid region's area relative to the total area is calculated to generate phase transition ratio parameters.

[0116] Step 205: Extract the waveform inflection point position change characteristics of the displacement hysteresis curve of the current magnetic field force, and adjust the waveform inflection point position change characteristics based on the phase transition ratio parameter to generate a pulse width modulation waveform.

[0117] In this step, the waveform inflection point position change characteristic refers to the coordinate offset of the curvature change point in the hysteresis curve, which characterizes the change in the material yield strength; the adjustment operation refers to the geometric transformation process of linearly scaling the inflection point coordinate value according to the phase transformation ratio parameter.

[0118] In this embodiment of the invention, the coordinates of the waveform inflection point where the slope abruptly changes in the displacement hysteresis curve under the influence of the current magnetic field are first located. Next, the distance between the inflection point and the origin is scaled proportionally according to the phase transition scaling parameter. Finally, the adjusted inflection points are connected to reconstruct the waveform profile, generating a pulse width modulation waveform.

[0119] The embodiments of the present invention achieve dynamic stability of magnetic field strength through closed-loop current control, ensuring the accuracy of phase transition ratio detection; generate phase transition parameters based on microscopic image analysis, objectively reflecting the physical state of magnetorheological fluid; and achieve lossless conversion from hysteresis curve to pulse width modulation waveform through inflection point coordinate scaling, providing a high-fidelity signal source for electromechanical control.

[0120] To address the mismatch between magnetic field strength and waveform characteristics under open-loop control, this step dynamically adjusts the duty cycle parameter of the pulse width modulation waveform based on real-time strength deviation, and then generates a precise and controllable magnetic field strength control signal via voltage conversion. This invention provides a specific embodiment where step 103, applying the pulse width modulation waveform to dynamically control the intensity change of the magnetic field force to generate the magnetic field strength control signal, specifically includes the following steps:

[0121] Step 301: Measure the high-level duration and low-level duration of the pulse width modulation waveform, and calculate the ratio of the high-level duration to the low-level duration to generate a time ratio parameter.

[0122] In this step, the high-level duration refers to the continuous length of time that the voltage value in the pulse width modulation waveform maintains its peak value, reflecting the theoretical strength of the magnetic field force; the low-level duration refers to the continuous length of time that the voltage value in the pulse width modulation waveform maintains its valley value, determining the magnetic field interval period; the ratio operation refers to the process of calculating the proportion of the high-level duration to the sum of the high-level duration and the low-level duration, generating the duty cycle value; the time proportion parameter refers to the quantitative parameter characterizing the proportion of the high-level duration within the signal period, and its value ranges from zero to one.

[0123] In this embodiment of the invention, a digital oscilloscope is first used to capture the complete periodic signal of the pulse width modulation waveform, accurately measuring the duration of the high-level and low-level periods. Next, the high-level duration is divided by the sum of the low-level and high-level durations to calculate the proportion of the high-level duration to the total period. Finally, a quantized time proportion parameter is generated.

[0124] Step 302: Detect the current strength value of the magnetic field force, and subtract the current strength value from the preset target strength value to generate a strength deviation value.

[0125] In this step, the current intensity value refers to the instantaneous magnetic field force intensity measured by the magnetic sensor, reflecting the actual controlled state of the magnetorheological fluid; the preset target intensity value refers to the ideal magnetic field intensity benchmark value set according to the characteristics of the magnetorheological fluid; the subtraction operation refers to the algebraic difference calculation between the current intensity value and the target intensity value, generating a directional deviation; the intensity deviation value refers to the difference between the measured magnetic field intensity and the target value, with a positive value indicating insufficient intensity and a negative value indicating excessive intensity.

[0126] In this embodiment of the invention, the intensity of the magnetic field force in the magnetorheological fluid's action area is first detected in real time using a flux density meter. Next, a reference value is read from a preset target intensity value parameter library. Finally, an arithmetic operation is performed to subtract the target intensity value from the current intensity value, generating a signed intensity deviation value.

[0127] Step 303: Adjust the high-level duration ratio in the time ratio parameter according to the intensity deviation value to generate the adjusted time ratio parameter.

[0128] In this step, the high-level duration ratio refers to the core control variable in the time ratio parameter that directly determines the strength of the magnetic field force; the adjustment operation refers to the process of dynamically correcting the time ratio parameter based on the strength deviation value through the control algorithm; the adjusted time ratio parameter refers to the duty cycle value after closed-loop optimization, which is used to generate a precise control signal.

[0129] In this embodiment of the invention, the intensity deviation value is first input to the proportional-integral controller, which outputs a high-level proportional correction. Next, this correction is added to the original time proportion parameter to generate the adjusted time proportion parameter. Finally, the parameter is limited to ensure it remains within an effective range.

[0130] Step 304: Convert the adjusted time percentage parameter into a voltage control signal waveform to serve as a magnetic field strength control signal.

[0131] In this step, the conversion operation refers to the physical signal reconstruction process of converting the digitized time ratio parameter into an analog voltage waveform; the voltage control signal waveform refers to the drive voltage signal with a specific duty cycle square wave characteristic, which can be directly applied to the excitation coil.

[0132] In this embodiment of the invention, the adjusted time percentage parameter is first input to the digital-to-analog converter module. Next, a square wave signal with the corresponding duty cycle is generated based on the parameter value. Finally, the square wave signal is amplified to the driving voltage amplitude, forming a voltage control signal waveform that can directly control the excitation coil.

[0133] This invention generates a time ratio parameter by accurately measuring the timing characteristics of the pulse width modulation waveform, establishing a quantitative correlation between waveform characteristics and magnetic field strength; dynamically adjusts the duty cycle parameter based on the real-time magnetic field strength deviation to form a closed-loop feedback control; and finally outputs a high-precision voltage control signal to ensure the stability of magnetorheological liquid phase change control.

[0134] To address the issue that linear models cannot accurately quantify physical wear differences, this step calculates the surface area difference using geometric integrals and generates physically meaningful wear equivalent difference values ​​through nonlinear function mapping. This invention provides a specific embodiment: Step 104 calculates the hysteresis curve area difference value of the preset four door handles and converts the hysteresis curve area difference value into a cumulative wear equivalent difference value, specifically including the following steps:

[0135] Step 401: Identify the boundary points of the closed region of the displacement hysteresis curve of the current magnetic field force of each of the four preset door handles, so as to generate a closed contour coordinate sequence.

[0136] In this step, the current-magnetic-force-displacement hysteresis curve refers to the closed loop trajectory formed by the current and displacement during the rotation of the shaft, reflecting the energy consumption characteristics of the mechanical system, including the energy loss difference during loading and unloading; the boundary point of the closed region refers to the coordinates of the turning point of the curvature direction change in the hysteresis curve, used to define the energy loss calculation area, including the curve apex and inflection point; the closed contour coordinate sequence refers to the set of boundary point coordinates ordered according to the direction of motion, forming a polygonal calculation unit, containing an ordered arrangement of displacement-magnetic-force-current numerical pairs.

[0137] In this embodiment of the invention, firstly, the data points of the current-magnetic-force-displacement hysteresis curve of each handle are traversed to identify the critical coordinate positions where the current and displacement values ​​reverse synchronously. Secondly, adjacent critical points are connected according to the direction of movement to form a polygonal boundary. Finally, the coordinates of the polygon vertices are recorded sequentially to generate a closed contour coordinate sequence.

[0138] Step 402: Perform clockwise integration on the closed contour coordinate sequence to generate the hysteresis curve area value of each handle.

[0139] In this step, the clockwise integration operation refers to the method of accumulating the trapezoidal area clockwise along the polygon boundary, which is used to accurately calculate the region enclosed by the closed curve, including the process of displacement axis projection and current value accumulation; the hysteresis curve area value refers to the scalar value obtained through integration operation, which quantifies the degree of mechanical wear of the single handle. The larger the value, the more serious the energy loss.

[0140] In this embodiment of the invention, firstly, the displacement values ​​of all vertices in the closed contour coordinate sequence are read as the abscissa and the current values ​​as the ordinate. Secondly, adjacent coordinate points are connected clockwise starting from the starting point. Subsequently, the area of ​​the trapezoid formed by each connecting line and the abscissa is accumulated. Finally, the area of ​​the hysteresis curve reflecting mechanical energy consumption is obtained.

[0141] Step 403: Perform a difference calculation between the maximum area value and the minimum area value among the hysteresis curve area values ​​to generate a hysteresis curve area difference value.

[0142] In this step, the difference operation refers to the process of calculating the arithmetic difference between the maximum and minimum values, which is used to evaluate the dispersion of the wear status of the four door handles, including data sorting and subtraction implementation steps.

[0143] In this embodiment of the invention, the hysteresis curve area values ​​corresponding to the four handles are first sorted by size. Next, the maximum and minimum values ​​after sorting are selected. Finally, an arithmetic operation is performed by subtracting the minimum value from the maximum value to generate the hysteresis curve area difference value.

[0144] Step 404: Input the area difference value into a preset wear conversion function for nonlinear mapping calculation to generate a cumulative wear equivalent difference value.

[0145] In this step, the preset wear conversion function refers to the physical model established based on material fatigue experiments, which maps the area difference value to the actual wear amount, and includes a nonlinear relationship with exponential decay or logarithmic growth characteristics; the nonlinear mapping operation refers to the process of converting numerical dimensions through functional relationships to achieve the equivalent conversion of mechanical parameters to physical wear amount, including function calls and numerical calculation implementation.

[0146] In this embodiment of the invention, a preset wear conversion function library is first invoked to select a mapping function that matches the material properties. Next, the difference in the area under the hysteresis curve is input into the function for exponential nonlinear calculation. Finally, the cumulative wear equivalent difference value, characterizing the physical wear dispersion, is output.

[0147] This invention provides a precise quantification of the mechanical wear degree of each handle through geometric feature extraction, and reveals the synchronization deviation of the four doors using range calculation. Based on a preset nonlinear function, it achieves a high-fidelity conversion from area difference to physical wear equivalent, breaking through the accuracy limitations of linear models and providing a quantitative basis with clear physical meaning for fault determination.

[0148] To address the issues of false triggering of system-level difference thresholds and failure in fault unit location, this step employs a two-level judgment mechanism: first detecting the overall difference, then analyzing the number of individual exceeding the standard, to achieve accurate fault diagnosis. This invention provides a specific embodiment: Step 105, when the cumulative wear equivalent difference value exceeds a preset threshold, determines that the preset four door handles have a mechanical wear fault, specifically including the following steps:

[0149] Step 501: Compare the cumulative wear equivalent difference value with a preset wear threshold to generate a difference status flag, wherein the difference status flag includes two forms: normal status flag and out-of-state flag.

[0150] In this step, the preset wear threshold refers to the system-level wear difference threshold value set according to the durability test standard, which is used to trigger the individual analysis process, including the correlation parameters between material fatigue strength and mechanism life; the difference status flag refers to the logical variable characterizing the degree of wear dispersion of the system, including two mutually exclusive forms: normal status flag and out-of-state flag, which is used to control the branches of the diagnostic process; the normal status flag refers to the logical mark when the cumulative wear difference value does not exceed the threshold, reflecting that the wear status of the four-door mechanism is within the allowable range; the out-of-state flag refers to the logical mark when the cumulative wear difference value exceeds the threshold, triggering the individual wear analysis process of the handle.

[0151] In this embodiment of the invention, a preset wear threshold parameter is first invoked, and the cumulative wear equivalent difference value is compared with the threshold. Secondly, a normal state flag is generated when the difference value is less than or equal to the threshold, and an out-of-state flag is generated when the difference value is greater than the threshold. Finally, a difference state flag containing both state types is output.

[0152] Step 502: When the difference status flag is the out-of-state flag, extract the independent wear equivalent data of each of the four preset door handles.

[0153] In this step, the independent wear equivalent data refers to the physical wear quantification value corresponding to a single handle, which is collected and stored by a dedicated sensor to reflect the degree of wear of the local mechanism.

[0154] In this embodiment of the invention, the current state of the difference status flag is first monitored. Secondly, when the flag state exceeds the status indicator, the original independent wear equivalent data for each of the four handles is retrieved from the storage module. Finally, the complete dataset is extracted in order of handle number.

[0155] Step 503: Compare the independent wear equivalent data of each of the four door handles with the preset wear baseline value to generate the wear exceeding status indicator of each handle among the four preset door handles.

[0156] In this step, the preset wear baseline value refers to the maximum allowable wear limit for a single handle, which is set based on the material yield strength test and is used to determine local failures; the wear exceeding the standard status indicator refers to a binary marker for the wear data of a single handle exceeding the baseline value, including two states: "0" for not exceeding the standard and "1" for exceeding the standard.

[0157] In this embodiment of the invention, independent wear equivalent data for each handle is read sequentially. Next, each data point is compared one-to-one with a preset wear baseline value. Finally, a binary wear exceedance status indicator is generated for each handle: a "not exceedance" indicator or a "exceedance" indicator.

[0158] Step 504: Count the total number of wear-exceeding status indicators. When the count reaches the preset fault trigger value, determine that the preset four door handles have a mechanical wear fault.

[0159] In this step, the preset fault trigger value refers to the minimum threshold number of handles exceeding the limit that triggers system-level fault determination, and is set according to fault-tolerant design requirements.

[0160] In this embodiment of the invention, the wear-exceeding status indicators of the four handles are first traversed. Next, the number of occurrences of the exceeding indicator is counted. This number is then compared with a preset fault trigger value. Finally, when the count reaches the trigger value, a mechanism wear fault determination result is generated.

[0161] The embodiments of the present invention achieve accurate fault location through a two-level judgment mechanism: system-level difference detection avoids false triggering, and individual-level out-of-range analysis locks the faulty unit; the fault-tolerant design based on preset trigger values ​​ensures that a single point of failure does not cause system misjudgment, and provides fault location capability while maintaining operational stability.

[0162] To address the issue of normal unit movements losing synchronization during fault isolation, this step generates an isolation command via fault location identification and reuses the magnetic field control signal to synchronously drive the remaining handles to perform trajectory calibration. This invention provides a specific embodiment: Step 106, among the preset four door handles, performs fault isolation processing on the handle experiencing the aforementioned mechanism wear fault, and applies the magnetic field strength control signal to perform real-time synchronous calibration of the movement trajectory of the remaining handles, specifically including the following steps:

[0163] Step 601: Among the preset four door handles, obtain the location information of the faulty handle corresponding to the wear failure of the mechanism to generate a fault location identifier.

[0164] In this step, the fault location identifier refers to the orientation code generated based on the mechanism wear fault unit, which is used to locate the physical location of the faulty handle, including the combination of the door partition number and the handle serial number.

[0165] In this embodiment of the invention, the fault unit number information in the mechanism wear fault determination result is first parsed. Next, the number is matched against a pre-set spatial position mapping table for the four door handles. Finally, the corresponding physical position coordinate code is output to generate a fault location identifier.

[0166] Step 602: Activate the preset fault handling rules according to the fault location identifier, and generate power-off control command and mechanical locking command.

[0167] In this step, the activation operation refers to the process of retrieving a preset rule base and instantiating instructions based on the location identifier, including rule matching and parameter binding techniques; the preset fault handling rules refer to the set of instruction templates stored in the control system, defining response strategies for faults in different locations, including power cut-off timing and mechanical locking force parameters; the power-off control instruction refers to the digital command executable by the drive circuit, used to trigger the power relay to disconnect, including the target circuit address and action timestamp; the mechanical locking instruction refers to the pulse signal controlling the locking mechanism, used to activate the solenoid valve to push the locking pin, including the duration and force level parameters.

[0168] In this embodiment of the invention, the control strategy associated with the fault location identifier is first queried from a preset fault handling rule base. Next, the power management instruction and mechanical control instruction templates contained in the strategy are extracted. Finally, the location parameters are injected into the templates to generate customized power-off control instructions and mechanical locking instructions.

[0169] Step 603: Input the power-off control command and the mechanical locking command into the drive circuit of the fault handle and the rotating shaft locking mechanism of the fault handle respectively, so as to drive the fault handle to perform the drive power disconnection operation and the mechanical position fixing operation.

[0170] In this step, the drive circuit refers to the power electronic module that controls the handle motor, which performs power on / off operations after receiving commands, and includes a relay array and an overcurrent protection unit; the shaft locking mechanism refers to a mechanical position fixing device that drives the locking pin to insert into the shaft groove through a solenoid valve, and includes a spring energy storage mechanism and a position sensor.

[0171] In this embodiment of the invention, a power-off control command is first sent to the fault handle drive circuit via the bus. Next, the drive circuit executes a relay disconnection action to cut off the motor power. Simultaneously, a mechanical locking command is sent to the solenoid valve of the shaft locking mechanism. Finally, the locking pin is activated and inserted into the shaft slot to achieve mechanical fixation.

[0172] Step 604: Perform duty cycle magnetic field force voltage conversion processing on the magnetic field strength control signal to generate a motor drive voltage signal.

[0173] In this step, the duty cycle magnetic field force voltage conversion processing refers to the technique of linearly mapping the duty cycle of the pulse signal to the voltage amplitude, including numerical calculation and analog signal reconstruction processes; the motor drive voltage signal refers to the analog voltage waveform that can directly drive the DC motor, the amplitude of which determines the motor speed, and the waveform consistency ensures motion synchronization.

[0174] In this embodiment of the invention, the pulse duty cycle value of the magnetic field strength control signal is first read. Next, the target voltage value is calculated based on the linear relationship between the duty cycle and the voltage amplitude. Finally, a motor drive voltage signal with the corresponding voltage amplitude is generated using a digital-to-analog converter.

[0175] Step 605: Input the motor drive voltage signal into the shaft drive motor of the remaining handle to drive the remaining handle to perform motion trajectory synchronization calibration operation.

[0176] In this step, the shaft drive motor refers to the DC geared motor that drives the handle shaft to rotate, and is used to receive voltage signals to control the motion trajectory; the motion trajectory synchronization calibration operation refers to the coordinated control process in which multiple shaft drive motors perform equal-angle rotations according to the same voltage signal.

[0177] In this embodiment of the invention, the motor drive voltage signal is first copied into multiple parallel outputs. Then, it is synchronously transmitted to the remaining three handle shaft drive motors via an isolation circuit. Finally, the drive motors perform coordinated motion along the same trajectory according to the same voltage waveform.

[0178] This invention enables precise and targeted instruction delivery through fault location identification, ensuring rapid isolation of faulty units; it also reuses magnetic field control signals to generate multiple synchronous drive voltages, maintaining consistent normal handle movements even under fault conditions, thus overcoming the limitation of traditional systems where local faults lead to overall system paralysis.

[0179] Figure 2 This invention provides a schematic diagram of a four-door handle synchronization calibration and fault handling system, as shown in the embodiment of the invention. Figure 2 As shown, the system includes:

[0180] The acquisition module 21 is used to acquire the current, magnetic field, force, displacement, and hysteresis curve data of the magnetorheological damper of the four door handles during the rotation process.

[0181] Adjustment module 22 is used to apply a magnetic field force to the magnetorheological damper to adjust the liquid-solid phase transition ratio of the magnetorheological fluid in the magnetorheological damper, so that the displacement hysteresis curve of the current magnetic field force is converted into a pulse width modulation waveform.

[0182] Control module 23 is used to dynamically control the intensity change of the magnetic field force using the pulse width modulation waveform, and generate a magnetic field strength control signal;

[0183] The conversion module 24 is used to calculate the hysteresis curve area difference value of the preset four door handles and convert the hysteresis curve area difference value into the cumulative wear equivalent difference value.

[0184] The determination module 25 is used to determine that the preset four door handles have a mechanical wear fault when the cumulative wear equivalent difference value exceeds a preset threshold.

[0185] The processing module 26 is used to perform fault isolation processing on the handles that have experienced the wear failure of the mechanism in the four preset door handles, and to apply the magnetic field strength control signal to perform real-time synchronous calibration of the motion trajectory of the remaining handles.

[0186] Figure 2 The aforementioned four-door handle synchronization calibration and fault handling system can perform... Figure 1 The implementation principle and technical effects of the four-door handle synchronization calibration and fault handling method described in the illustrated embodiment will not be repeated here. The specific operation methods of each module and unit in the four-door handle synchronization calibration and fault handling system described in the above embodiments have been described in detail in the embodiments related to this method, and will not be elaborated upon here.

[0187] In one possible design, Figure 2 The four-door handle synchronization calibration and fault handling system of the embodiment shown can be implemented as a computing device, such as... Figure 3 As shown, the computing device may include a storage component 31 and a processing component 32;

[0188] The storage component 31 stores one or more computer instructions, wherein the one or more computer instructions are invoked and executed by the processing component 32.

[0189] The processing component 32 is used to: acquire the current-magnetic field force displacement hysteresis curve data of the magnetorheological damper of the preset four door handles during the rotation process; apply a magnetic field force to the magnetorheological damper to adjust the liquid-solid phase transition ratio of the magnetorheological fluid in the magnetorheological damper, so that the current-magnetic field force displacement hysteresis curve is converted into a pulse width modulation waveform; apply the pulse width modulation waveform to dynamically control the intensity change of the magnetic field force and generate a magnetic field strength control signal; calculate the hysteresis curve area difference value of the preset four door handles and convert the hysteresis curve area difference value into a cumulative wear equivalent difference value; when the cumulative wear equivalent difference value exceeds a preset threshold, determine that the preset four door handles have a mechanical wear fault; in the preset four door handles, perform fault isolation processing on the handles with the mechanical wear fault, and apply the magnetic field strength control signal to perform real-time synchronous calibration of the motion trajectory of the remaining handles.

[0190] The processing component 32 may include one or more processors to execute computer instructions to complete all or part of the steps in the above-described method. Alternatively, the processing component may be implemented as one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the above-described method.

[0191] Storage component 31 is configured to store various types of data to support operations at the terminal. The storage component can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0192] Of course, computing devices may also include other components, such as input / output interfaces, display components, communication components, etc.

[0193] Input / output interfaces provide interfaces between processing components and peripheral interface modules, which can be output devices, input devices, etc.

[0194] The communication components are configured to facilitate wired or wireless communication between computing devices and other devices.

[0195] The computing device can be a physical device or an elastic computing host provided by a cloud computing platform. In this case, the computing device can refer to a cloud server, and the aforementioned processing components, storage components, etc., can be basic server resources rented or purchased from the cloud computing platform.

[0196] This invention also provides a computer storage medium storing a computer program, which, when executed by a computer, can perform the above-described functions. Figure 1 The embodiment shown is a method for synchronizing and troubleshooting four door handles.

[0197] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0198] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0199] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0200] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for synchronizing and troubleshooting four door handles, characterized in that, include: Acquire the current-magnetic field force-displacement hysteresis curve data of the magnetorheological damper of the four door handles during the rotation process; A magnetic field force is applied to the magnetorheological damper to adjust the liquid-solid phase transition ratio of the magnetorheological fluid in the magnetorheological damper, so that the displacement hysteresis curve of the current magnetic field force is converted into a pulse width modulation waveform. The intensity change of the magnetic field force is dynamically controlled by the pulse width modulation waveform to generate a magnetic field strength control signal. Calculate the hysteresis curve area difference value of the preset four door handles, and convert the hysteresis curve area difference value into the cumulative wear equivalent difference value; When the cumulative wear equivalent difference value exceeds a preset threshold, it is determined that the preset four door handles have a mechanical wear fault; In the four preset door handles, the handles that have experienced the wear failure of the mechanism are isolated, and the movement trajectory of the remaining handles is synchronized and calibrated in real time using the magnetic field strength control signal.

2. The method according to claim 1, characterized in that, Acquire the current-magnetic field force-displacement hysteresis curve data of the magnetorheological damper of the four pre-set door handles during the rotation process, including: A preset array of magnetic field sensing elements is applied to the circumferential surface of the rotating shaft of the magnetorheological damper with four door handles to generate magnetic field monitoring points. A preset periodic drive command is applied to the rotating shaft of the magnetorheological damper of the four door handles to make the rotating shaft rotate continuously. The original electrical signal sequence of the magnetic field monitoring point during the continuous rotational motion is collected; The original electrical signal sequence and the preset reference carrier signal are synchronously demodulated to generate a demodulated current signal and a demodulated displacement signal. The demodulated current signal and the demodulated displacement signal are combined to generate current magnetic field force displacement hysteresis curve data.

3. The method according to claim 1, characterized in that, Applying a magnetic field force to the magnetorheological damper to adjust the liquid-to-solid phase transition ratio of the magnetorheological fluid within the damper, thereby converting the displacement hysteresis curve of the current-magnetic field force into a pulse width modulation waveform, including: A preset excitation coil is placed in the annular magnetic gap of the magnetorheological damper, and a preset current loading value is input into the preset excitation coil to generate a magnetic field force acting on the magnetorheological fluid inside the magnetorheological damper. The real-time strength value of the magnetic field force is detected, and the preset current loading value is adjusted according to the real-time strength value to generate the adjusted current loading value; The adjusted current loading value is input into the preset excitation coil to update the magnetic field force and generate a new magnetic field force acting on the magnetorheological fluid. Record the ratio of the liquid and solid regions of the magnetorheological fluid under the action of the updated magnetic field to generate phase transition ratio parameters; The waveform inflection point position change characteristics of the displacement hysteresis curve of the current magnetic field force are extracted, and the waveform inflection point position change characteristics are adjusted based on the phase transition ratio parameter to generate a pulse width modulation waveform.

4. The method according to claim 1, characterized in that, The application of the pulse width modulation waveform to dynamically control the intensity change of the magnetic field force generates a magnetic field strength control signal, including: The high-level duration and low-level duration of the pulse width modulation waveform are measured, and the ratio of the high-level duration to the low-level duration is calculated to generate a time proportion parameter. The current strength value of the magnetic field force is detected, and the current strength value is subtracted from the preset target strength value to generate a strength deviation value. The high-level duration ratio in the time ratio parameter is adjusted according to the intensity deviation value to generate the adjusted time ratio parameter; The adjusted time percentage parameter is converted into a voltage control signal waveform to serve as a magnetic field strength control signal.

5. The method according to claim 1, characterized in that, Calculate the hysteresis curve area difference value of the preset four door handles, and convert the hysteresis curve area difference value into a cumulative wear equivalent difference value, including: Identify the boundary points of the closed region of the current magnetic field force displacement hysteresis curve of each of the four preset door handles to generate a closed contour coordinate sequence. Perform clockwise integration on the closed contour coordinate sequence to generate the hysteresis curve area value of each handle; The difference between the maximum area value and the minimum area value of each hysteresis curve is calculated to generate the hysteresis curve area difference value. The area difference value is input into a preset wear conversion function for nonlinear mapping calculation to generate a cumulative wear equivalent difference value.

6. The method according to claim 1, characterized in that, When the cumulative wear equivalent difference value exceeds a preset threshold, it is determined that the preset four door handles have a mechanical wear fault, including: The cumulative wear equivalent difference value is compared with a preset wear threshold to generate a difference status flag, wherein the difference status flag includes two forms: normal status flag and out-of-state flag. When the difference status flag is the out-of-state flag, extract the independent wear equivalent data of each of the four preset door handles; The independent wear equivalent data of each of the four door handles are compared with the preset wear baseline value to generate the wear exceeding status indicator of each handle among the four preset door handles; The total number of wear-exceeding status indicators is counted. When the count reaches the preset fault trigger value, it is determined that the preset four door handles have a mechanical wear fault.

7. The method according to claim 1, characterized in that, In the preset four door handles, the handles experiencing the aforementioned mechanism wear failure are isolated, and the movement trajectory of the remaining handles is synchronized in real time using the magnetic field strength control signal, including: In the preset four door handles, the location information of the faulty handle corresponding to the wear failure of the mechanism is obtained to generate a fault location identifier; Based on the fault location identifier, the preset fault handling rules are activated to generate power-off control commands and mechanical locking commands; The power-off control command and the mechanical locking command are respectively input into the drive circuit of the fault handle and the rotating shaft locking mechanism of the fault handle to drive the fault handle to perform the drive power disconnection operation and the mechanical position fixing operation. The magnetic field strength control signal is processed by duty cycle magnetic field force-voltage conversion to generate a motor drive voltage signal; The motor drive voltage signal is input to the shaft drive motor of the remaining handle to drive the remaining handle to perform a motion trajectory synchronization calibration operation.

8. A four-door handle synchronization calibration and fault handling system, characterized in that, include: The acquisition module is used to acquire the current, magnetic field, force, displacement, and hysteresis curve data of the magnetorheological damper of the four door handles during the rotation process. The adjustment module is used to apply a magnetic field force to the magnetorheological damper to adjust the liquid-solid phase transition ratio of the magnetorheological fluid in the magnetorheological damper, so that the displacement hysteresis curve of the current magnetic field force is converted into a pulse width modulation waveform. The control module is used to dynamically control the intensity change of the magnetic field force using the pulse width modulation waveform, and generate a magnetic field strength control signal. The conversion module is used to calculate the hysteresis curve area difference value of the preset four door handles and convert the hysteresis curve area difference value into the cumulative wear equivalent difference value. The determination module is used to determine that the preset four door handles have a mechanical wear fault when the cumulative wear equivalent difference value exceeds a preset threshold. The processing module is used to perform fault isolation processing on the handles that have experienced the wear failure of the mechanism in the four preset door handles, and to apply the magnetic field strength control signal to perform real-time synchronous calibration of the motion trajectory of the remaining handles.

9. A computing device, characterized in that, It includes a processing component and a storage component; the storage component stores one or more computer instructions; the one or more computer instructions are invoked and executed by the processing component to implement a four-door handle synchronization calibration and fault handling method as described in any one of claims 1 to 7.

10. A computer storage medium, characterized in that, The device contains a computer program that, when executed by a computer, implements a four-door handle synchronization calibration and fault handling method as described in any one of claims 1 to 7.

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