Multi-motor cooperative anti-pinch control method and system based on current-speed double-characteristic dynamic threshold value and application of multi-motor cooperative anti-pinch control method and system

Abstract

The invention discloses a multi-motor cooperative anti-pinch control method and system based on a current-speed double-feature dynamic threshold and application, motor types are accurately identified through speed and current double-time-domain features, and anti-pinch judgment is realized through a current and speed multiplying power mode in combination with dynamic adjustment of the threshold. The calculation of the multiplying power is predicted and identified based on historical data of the current operation state, the environment, voltage and load changes can be accurately sensed, the problems that a traditional calibration mode is unchangeable in threshold value, poor in fitness and serious in environment dependence are solved, the influence caused by structural aging or other factors can be effectively avoided, and the anti-pinch accuracy is improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of automobiles, and particularly relates to a multi-motor cooperative anti-pinch control method, system and application based on current-speed double characteristic dynamic threshold. BACKGROUND

[0002] With the development of technology, consumers have higher requirements for the intelligence and comfort of automobiles. In current automobiles, especially new energy vehicles, there are various devices that need to be automatically adjusted, such as automobile seats, power windows, power sunroofs and the like. The automatic adjustment of these devices must pay attention to the anti-pinch function, that is, to avoid causing damage to passengers.

[0003] Taking an automobile seat as an example, the automobile seat is one of the components that users contact most frequently, and its comfort, safety and intelligence level have gradually become one of the core elements that users pay attention to. At present, the automobile seat has been electrified, however, during the electric adjustment of the seat, the phenomenon of the seat pinching the passenger often occurs, such as the backrest pinching the legs of the rear passenger, the seat pinching the passenger along the slide rail, etc., which brings unnecessary harm and discomfort to the passenger.

[0004] The existing seat anti-pinch method mainly relies on motor current and Hall count for monitoring and judgment. This anti-pinch method has obvious deficiencies: 1. Due to the differences in passenger body shape and weight, as well as the design deviation of the seat, the controller power supply voltage, the temperature in the cabin and other factors, a large amount of calibration needs to be done in the early production stage. If the data coverage is insufficient, it is easy to cause the seat to be difficult to adjust or not to trigger the anti-pinch function. 2. Based on the design of the seat, the movement and torque output of the angle adjustment motor related to the angle of the backrest, footrest and the like and the slide rail motor related to the extension of the slide rail, the legrest and the like are different. If different motors cannot be distinguished, the anti-pinch function will be triggered by mistake. The power windows, power sunroofs and the like also have similar problems.

[0005] Based on this, the present application intends to propose a new multi-motor cooperative anti-pinch control method, system and application to solve the problem of easy mis-triggering in the prior art. SUMMARY

[0006] To solve the above technical problems, the purpose of the present application is to provide a multi-motor cooperative anti-pinch control method, system and application based on current-speed double characteristic dynamic threshold, which can accurately perceive the changes in the environment, voltage and load, avoid the problems of traditional calibration methods, threshold values that cannot be changed, poor adaptability and serious environmental dependence, effectively avoid the influence of seat aging or other factors, and improve the anti-pinch accuracy.

[0007] To achieve the above-mentioned purposes of the application, the technical solutions adopted by the present application are as follows:

[0008] In the first aspect of the present application, the present application provides a multi-motor cooperative anti-pinch control method based on current-speed double characteristic dynamic threshold, comprising the following steps:

[0009] S1, the system performs self-learning;

[0010] S2, the system sets a monitoring sampling period T, monitors the system voltage Volt, the motor current I and the Hall count H of each motor according to the sampling period T, and calculates the current position P based on the detected system voltage Volt, motor current I and / or Hall count H;

[0011] S3, based on the Hall count H and the sampling period T, the current speed V is calculated, and the collected system voltage Volt and motor current I are subjected to data purification processing;

[0012] Set the anti-pinch voltage range, and take the system voltage Volt as the basis for anti-pinch safety judgment. When the system voltage Volt is within the anti-pinch voltage range, it is judged that the anti-pinch state can be executed;

[0013] According to the current speed V and the purified motor current I, the motor type is identified;

[0014] S4, according to the speed, current and motor type in the current sampling period, the anti-pinch speed threshold and anti-pinch current threshold corresponding to the motor type are determined;

[0015] Set the current ratio and the speed ratio. When the current ratio is greater than or equal to the anti-pinch current threshold and the speed ratio is greater than or equal to the anti-pinch speed threshold, it is judged that the motor enters the anti-pinch state, and step S5 is entered, otherwise it is judged that the motor does not enter the anti-pinch state, and the motor continues to be monitored;

[0016] S5, when the motor enters the anti-pinch state, the motor reverse direction and reverse distance are set, and the motor is driven to reverse anti-pinch, and the anti-pinch driving execution situation is fed back in real time; after the anti-pinch state is ended, the motor continues to be monitored.

[0017] Preferably, in step S3, the formula for calculating the current speed V using the Hall count H and the sampling period T is: Wherein, Hn is the Hall count of the current sampling period, Hl is the Hall count of the last sampling period, and T is the sampling period.

[0018] Preferably, in step S3, the step of identifying the motor type according to the current speed V and the purified motor current I is as follows:

[0019] The current speed V and the processed motor current I calculated in multiple sampling periods are stored in FIFO queues Vlist and Ilist;

[0020] According to FIFO queue Ilist and Vlist;

[0021] Calculate speed variance V is current speed, N is FIFO queue size, is the average value before queue N-1;

[0022] Calculate current change rate DI = I n -I n-1 , I n is the current of the current sampling period, I n-1 is the current of the last sampling period;

[0023] When VarV > V RES and DI > I RES , the corresponding motor is identified as an angle adjustment motor, wherein V RES is the speed threshold for judging the angle adjustment motor, I RES is the current threshold for judging the angle adjustment motor;

[0024] When VarV < V RES1 and DI < I RES1 , the corresponding motor is identified as a slide rail motor, wherein V RES1 is the speed threshold for judging the slide rail motor, I RES1 is the current threshold for judging the slide rail motor.

[0025] Preferably, in step S4, the steps of dynamically calculating the anti-pinch threshold of the angle adjustment motor according to the motor type identified by the current and speed double characteristics are as follows:

[0026] Anti-pinch threshold of the angle adjustment motor: I thr = I TH + sinωt, wherein I thr is the anti-pinch current threshold, ω is the angular velocity, the value is related to the speed V value of the motor, the value is βV, β is a constant, I TH is the calibrated basic multiplier; V thr = V TH + sinωt, wherein V thr is the anti-pinch speed threshold, ω is the angular velocity, the value is related to the speed V value of the motor, the value is βV, β is a constant, V TH is the calibrated basic multiplier.

[0027] Preferably, in step S4, the steps of dynamically calculating the anti-pinch threshold of the slide rail motor according to the motor type identified by the current and speed double characteristics are as follows:

[0028] Anti-pinch threshold of the slide rail motor: I thr = I TH + αP, wherein I thrThe pinch prevention current threshold value, α is a linear constant, P is the current position, and I TH The calibrated basic magnification; V thr = V TH + αP, wherein V thr The pinch prevention current threshold value, α is a linear constant, P is the current position, and I TH The calibrated basic magnification.

[0029] Preferably, in step S4, the step of setting the current magnification is as follows:

[0030] According to the motor current I in the current sampling period and the average current speed Im in the previous multiple sampling periods, the current magnification K is calculated i , wherein I n is the current in the current sampling period, and I m is the average current in the past

[0031] Preferably, in step S4, the step of setting the current magnification is as follows: according to the speed V calculated in the current sampling period and the average speed Vm in the previous multiple sampling periods, the speed magnification K is calculated v , wherein V n is the speed in the current sampling period, and V m is the average speed in the past

[0032] In the second aspect of the present application, the present application further provides a multi-motor cooperative pinch prevention control system based on current-speed double characteristic dynamic threshold, comprising a controller, a voltage sensor, a current sensor, a Hall sensor and a motor driver. The data collected by the voltage sensor, the current sensor and the Hall sensor are transmitted to the controller, and the controller issues instructions to the motor driver.

[0033] Preferably, the controller comprises a processor and a memory;

[0034] The processor comprises a signal acquisition and processing module, a feature extraction module, an algorithm control logic module and a control output module. The signal acquisition and processing module acquires Hall count and pulse width, system voltage and system current, and performs filtering and purification processing. The feature extraction module identifies the motor type. The algorithm control logic module is responsible for pinch prevention algorithm judgment. The control output module issues an execution motor pinch prevention instruction;

[0035] The memory stores the controller motor parameters, the pinch prevention motor preparation parameters and the calibrated magnification in the Flash, and stores the running voltage, speed, current and other real-time data in the RAM.

[0036] ​​​​In a third aspect of the present application, the present application also proposes an application of a multi-motor cooperative anti-pinch control based on a current-speed double characteristic dynamic threshold, which is applied to a vehicle, such as an electric seat, an electric window, an electric sunroof, a tailgate, a side sliding door, etc.

[0037] Advantages:

[0038] The present application accurately identifies the motor type through the speed and current double time domain characteristics, realizes anti-pinch judgment through the current and speed ratio mode, and combines dynamic adjustment of the threshold, the calculation of the ratio is based on the historical data of the current running state for prediction and identification, can accurately perceive the environment, voltage and load change, avoids the problems of traditional calibration mode, threshold cannot be changed, poor adaptability and serious environmental dependence, can effectively avoid the influence of structure aging or other factors, and improves the anti-pinch accuracy. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 The system logic control diagram of the present application is shown;

[0040] Figure 2 The motor feature identification diagram of the present application is shown, wherein the upper diagram is the running current and speed characteristics of the slide rail motor, and the lower diagram is the running current and speed characteristics of the angle motor;

[0041] Figure 3 The current / speed change over time diagram during the motor anti-pinch processing of the present application is shown, wherein the upper diagram is the corresponding diagram of the slide rail motor anti-pinch processing, and the lower diagram is the corresponding diagram of the angle motor anti-pinch processing;

[0042] Figure 4 The foreground and background task switching logic diagram of the present application is shown;

[0043] Figure 5 The system diagram of the present application is shown. DETAILED DESCRIPTION

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, specific implementation manners of the present application will be described below with reference to the drawings. Obviously, the drawings in the following description only show some embodiments of the present application, and for those skilled in the art, other drawings can be obtained from these drawings without creative labor, and other embodiments can also be obtained.

[0045] The present application proposes a multi-motor cooperative anti-pinch control method based on a current-speed double characteristic dynamic threshold, which comprises the following steps:

[0046] S1, the system performs self-learning;

[0047] S2, the system sets a sampling period T for monitoring, monitors the system voltage Volt, the motor current I and the Hall count H of each motor according to the sampling period T, and calculates the current position P based on the detected system voltage Volt, motor current I and / or Hall count H;

[0048] S3, the current speed V is calculated based on the Hall count H and the sampling period T, and the collected system voltage Volt and motor current I are subjected to data purification processing;

[0049] The system voltage Volt is set as the basis for anti-pinch safety judgment, and when the system voltage Volt is within the anti-pinch voltage range, it is judged that the anti-pinch state can be executed;

[0050] The motor type is identified according to the current speed V and the purified motor current I;

[0051] S4, according to the speed, current and motor type in the current sampling period, the anti-pinch speed threshold and the anti-pinch current threshold corresponding to the motor type are determined;

[0052] The current ratio and the speed ratio are set, and when the current ratio is greater than or equal to the anti-pinch current threshold and the speed ratio is greater than or equal to the anti-pinch speed threshold, it is judged that the motor enters the anti-pinch state, and step S5 is entered, otherwise it is judged that the motor does not enter the anti-pinch state, and the motor continues to be monitored;

[0053] S5, when the motor enters the anti-pinch state, the reverse direction and the reverse distance of the motor are set, and the motor is driven to reverse the anti-pinch, and the anti-pinch driving execution situation is fed back in real time; after the anti-pinch state is ended, the motor continues to be monitored.

[0054] Taking the seat system as an example, the self-learning of the system in step S1 can be a kind of advanced intelligent technology of electric seat, which improves the adjustment accuracy and efficiency of the seat through automatic optimization of adjustment parameters, and the seat system can automatically determine the appropriate stop position and other parameters through the steps of driving motor rotation and judging position. The self-learning of the seat system or other electric adjustment system is prior art and is not the innovation point of the present application, which will not be described here.

[0055] Step S2 is the data acquisition of the system, and the controller of the system samples at a fixed period, such as 40ms, 60ms, 80ms, 100ms, etc. It is easy to understand that the sampling period T can also be set to other time intervals. In the sampling period, the system voltage Volt, the motor current I and the Hall count H are collected, and the current position is calculated according to the real-time detected data, and the real-time detected data is used for subsequent dynamic adjustment of the anti-pinch threshold.

[0056] In step S2, the current position P is preferably calculated by Hall count. Taking a car seat as an example, the seat formation can be determined according to the seat design. It is assumed that the seat stroke length corresponds to 1000 Hall counts in a sampling period T, if the current position is 200 Hall counts, and then the driving motor moves 10 Hall counts in the positive direction, then the current position P = (200 + 10) / 1000 * 100% = 21%, at this time the current position P is 21%.

[0057] In step S3, the collected data is processed, wherein the system voltage Volt is used as the basis for anti-pinch safety judgment, and the anti-pinch condition needs to be executed within an effective voltage range, for example, the anti-pinch voltage range is set to 9-16V.

[0058] In step S3, the formula for calculating the current speed V using the Hall count H and the sampling period T can be various, and one of the calculation methods is as follows: Wherein, Hn is the Hall count of the current sampling period, Hl is the Hall count of the last sampling period, and T is the sampling period.

[0059] In step S3, the data purification processing method of the system voltage Volt and the motor current I is the existing data processing method, for example, it can be processed by IIR and median filtering, which will not be described here.

[0060] In step S3, according to the current speed V and the purified motor current I, the motor type is identified as follows:

[0061] The current speed V calculated in multiple sampling periods and the processed motor current I are stored in FIFO queues Vlist and Ilist;

[0062] According to the FIFO queues Ilist and Vlist;

[0063] Calculate the speed variance V is the current speed, N is the FIFO queue size, is the average value before queue N-1;

[0064] Calculate the current change rate ΔI = I n -I n-1 , I n is the current of the current sampling period, I n-1 is the current of the last sampling period;

[0065] When VarV > V RES and ΔI > I RES , the corresponding motor is identified as an angle adjusting motor, wherein V RES is the speed threshold for judging the angle adjusting motor, and I RES is the current threshold for judging the angle adjusting motor;

[0066] When VarV < V RES1 and ΔI < I RES1 , the corresponding motor is identified as a slide rail motor, wherein V RES1 is a speed threshold for judging the slide rail motor, and I RES1 is a current threshold for judging the slide rail motor.

[0067] In the present application, the angle adjusting motor refers to a motor related to adjusting an angle, and the slide rail motor refers to a motor related to adjusting an extension length. The present application identifies the motor type based on the current and speed characteristics, and then performs accurate dynamic adjustment of the anti-pinch threshold according to the specific motor type, as shown in FIG. 1. Figure 2

[0068] In step S4, the anti-pinch threshold is dynamically calculated according to the motor type identified based on the current and speed characteristics, and specifically;

[0069] The anti-pinch threshold of the angle adjusting motor: I thr = I TH + sinωt, wherein I thr is the anti-pinch current threshold, ω is the angular velocity, the value is related to the speed V value corresponding to the motor, the value is βV, β is a constant, and I TH is the calibrated basic multiplier; V thr = V TH + sinωt, wherein V thr is the anti-pinch speed threshold, ω is the angular velocity, the value is related to the speed V value corresponding to the motor, the value is βV, β is a constant, and V TH is the calibrated basic multiplier.

[0070] In the present application, the speed V is calculated according to the Hall count, for example, if the Hall count changes by 100 in the past 1s, then the speed V = 100 / 1 = 100, the angular velocity ω represents how many turns the motor turns per minute, and the number of Hall counts corresponding to each turn of the motor is determined, for example, the number of Hall counts corresponding to each turn of the motor is 2, assuming ω = 3000 rpm, i.e. 50 r per second, then the Hall count per second is 100, at this time the value of the speed V is the same as the value of ω, i.e. the speed V and the angular velocity ω have a corresponding relationship. Therefore, the value of the angular velocity ω of the present application is βV, and β is a constant artificially set, for example, when β is 1, the value of the angular velocity ω is V.

[0071] The anti-pinch threshold of the slide rail motor: I thr = I TH + αP, wherein I thr is the anti-pinch current threshold, α is a linear constant, P is the current position, I TH is the calibrated basic multiplier; V thr = V​TH + aP, where, V thr is the anti-pinch current threshold, a is a linear constant, P is the current position, V TH is the basic magnification of calibration. Wherein, a is artificial calibration, according to the actual design, the invention does not limit.

[0072] It is easy to understand that the anti-pinch threshold of the angle adjusting motor and the slide rail motor is dynamically changed, which is based on the data collected in the sampling period.

[0073] In step S4, the method for determining whether the motor enters the anti-pinch state is as follows:

[0074] According to the speed V calculated in the current sampling period and the average speed Vm of the previous multiple sampling periods, the speed magnification K v is calculated. Wherein, V n is the speed of the current sampling period, V m is the average speed of the past ;

[0075] According to the motor current I in the current sampling period and the average current speed Im of the previous multiple sampling periods, the current magnification K i is calculated. Wherein, I n is the current of the current sampling period, I m is the average current of the past ;

[0076] When K i ≥ I thr and K v ≥ V thr , it is determined that the corresponding motor enters the anti-pinch state, otherwise it is determined that the motor does not enter the anti-pinch state and continues to be normally monitored.

[0077] The "past " in the above formula is understood as follows: assuming that the sampling period is 100 ms and N=60, the entire FIFO queue records data (current data, voltage data, speed data, etc.) of the past 6 s, and the past means that the data of the past 4 s is used for average processing (current average, speed average). It is easy to understand that N can be modified according to requirements, and here N=60 is taken as an example.

[0078] In step S5, when a certain motor enters the anti-pinch state, Mot_X_AntiFlag is set in the system foreground, the motor entering the anti-pinch state enters the system background processing, the motor reverse direction and reverse distance are set, and the motor anti-pinch reverse is driven, while the anti-pinch driving execution is fed back in real time, if completed, the corresponding motor Mot_X_AntiFlag set flag is cleared, and the system foreground continues to monitor the motor operation.

[0079] As shown in the upper graph in Figure 3 , the speed and current fluctuation of the slide rail motor are small when the motor is running, the speed and current change greatly when the anti-pinch is triggered, so the judgment when triggered is more rapid, in the graph, the relatively flat area in the lower part represents the current change with time when the motor is running normally, the steep rising area represents the process that the motor is triggered to anti-pinch, and the relatively flat area in the upper part represents that the motor enters the anti-pinch state at this time, accordingly, the motor speed also decreases with the change of the motor state.

[0080] As shown in the lower graph in Figure 3 , the speed and current of the angle adjustment motor fluctuate greatly when the motor is running, if it cannot be identified, it is easy to misjudge the anti-pinch, the current will change gradually when the anti-pinch judgment process is triggered, and the speed is also the same, the judgment time needs to be longer, and the influence of the angle adjustment is avoided.

[0081] As shown in Figure 1 , taking a car seat as an example, in the present application, the anti-pinch logic control mainly includes three parts, first, the system is initialized, the motor parameters of the controller, the anti-pinch configuration condition is judged, and the buffer FIFO queue is initialized, the foreground and background necessary are created, and the system of the seat is self-learned; after entering the foreground system, the running state of the motor is monitored in real time, in each sampling period, if the motor is in a stationary state, the data remains unchanged, if the motor is moving, the system voltage Volt, the moving motor current I and the Hall count H are collected and recorded in real time, and the corresponding data is stored and updated in the FIFO queue, the motor characteristics are calculated based on the real-time data to judge the motor type and the anti-pinch type. The anti-pinch judgment is based on the real-time historical data to predict and judge the anti-pinch state that will occur, so that the current and the anti-pinch judgment threshold can be adjusted in real time according to the load change, and the accuracy of the anti-pinch trigger is improved.

[0082] In the present application, the foreground and background task processing is as shown in Figure 4As shown, the front-end system is responsible for the normal operation state monitoring of the motor, executes signal acquisition, feature calculation and anti-pinch judgment, if a seat anti-pinch event occurs, the background task scheduling system is started, and a separate thread is started for the anti-pinch motor to implement anti-pinch action, including reverse drive, log recording and anti-pinch flag management, if the execution is completed, the thread resource is released, and the task reenters the sleep state, if the execution process, other motors also trigger anti-pinch, then activate different threads to process different seat anti-pinch processing. The background task is in a dormant state for a long time, reducing system overhead. The front-end task is in a monitoring state, avoiding missing other motor anti-pinch after a motor enters anti-pinch. Through the front-end and background systems, and multi-task concurrent processing, the seat controller can realize that all motors enter the anti-pinch state at the same time, and execute the anti-pinch action.

[0083] As shown, Figure 5 The application also proposes a multi-motor cooperative anti-pinch control system based on current-speed double feature dynamic threshold, including a controller, a voltage sensor, a current sensor, a Hall sensor and a motor driver, the data collected by the voltage sensor, the current sensor and the Hall sensor are transmitted to the controller, and the controller issues instructions to the motor driver.

[0084] The controller includes a processor and a memory.

[0085] The processor includes a signal acquisition processing module, a feature extraction module, an algorithm control logic module and a control output module, the signal acquisition processing module acquires Hall count and pulse width, system voltage and system current, performs filtering and purification processing, the feature extraction module identifies the motor type, the algorithm control logic module is responsible for anti-pinch algorithm judgment, and the control output module issues an anti-pinch motor execution instruction.

[0086] The memory stores the motor parameters of the controller, the anti-pinch motor preparation parameters, the calibration ratio in the Flash, and the real-time data such as operating voltage, speed and current in the RAM. Among them, Figure 5 The Hall ratio in the formula is the speed ratio.

[0087] The multi-motor cooperative anti-pinch control method of the application can be applied to automobile electric seats such as backrest control, slide rail control, high adjustment control, leg support control, rotation control, electric windows, electric sunroofs, tailgates, side sliding doors and other devices, and can accurately identify anti-pinch action and perform adaptive compensation.

[0088] The application realizes accurate identification of motor types through speed variance and current change rate by double time domain characteristics; according to the dynamic realization of anti-pinch judgment threshold automatic adjustment of the angle motor and the slide rail motor; through the speed and current ratio, it automatically adapts to the environment (-40-105 DEG C), load changes such as different types of people, no load, etc., voltage changes such as 9-16V, judges the anti-pinch needs to integrate speed and current 2 factors, reduces the probability of false triggering, and guarantees the anti-pinch identification accuracy.

[0089] The application is managed according to the front and back stage systems, the front stage system is responsible for monitoring and calculation, the back stage system is in a dormant state under normal circumstances, and the back stage system is activated as needed only after the anti-pinch event occurs. Through this way, the anti-pinch response event can be improved, the MCU execution efficiency can be improved, and the RAM and storage space expenditure can be reduced.

[0090] The back stage scheduling system of the application adopts different thread processing according to the motor activation condition, realizes multi-motor processing capacity, and can realize multi-seat multi-motor concurrent anti-pinch according to the hardware support condition, and is especially suitable for the condition that a controller (such as

[0091] CCU, ZCU, SCM) controls multiple seats, multiple motors, and requires concurrent triggering. After the back stage thread processing is completed, the storage and calculation thread resources are automatically released, and after all the threads are processed, the back stage system enters a dormant state, ensuring maximum efficiency.

[0092] The application has self-learning ability, including automatic learning of motor types, automatic sensing of environment, load, voltage change condition, automatic learning of seat aging state, calculation of speed ratio and current ratio double time domain characteristics based on the motor historical operation data and current operation data, automatic adjustment of anti-pinch threshold according to the dynamically identified motor type, thereby realizing the anti-pinch self-learning ability.

[0093] The application only needs to calibrate the basic ratio of current and speed in theory to complete the calibration work, can reduce the large amount of calibration work based on different positions, different temperatures and different voltages caused by the traditional way, and reduce the probability of false triggering of anti-pinch. That is, the application can automatically calibrate, adapt to types, loads and the like, reduce the calibration work and the storage of calibration data.

[0094] The above provides a detailed description of the embodiments of the application. The principle and implementation mode of the application are described by applying specific examples. The above embodiment description is only used to help understand the core idea of the application. It should be noted that for ordinary skilled persons in the technical field, without departing from the principle of the application, the application can be improved and modified, and these improvements and modifications also fall within the protection scope of the claims of the application.

Claims

1. A multi-motor cooperative anti-pinch control method based on current-speed double characteristic dynamic threshold, characterized in that, The method comprises the following steps: S1, the system performs self-learning; S2, the system sets a monitoring sampling period T, monitors the system voltage Volt, the motor current I and the Hall count H of each motor according to the sampling period T, and calculates the current position P; S3, the current speed V is calculated based on the Hall count H and the sampling period T, and the collected system voltage Volt and motor current I are subjected to data purification processing; A pinch voltage range is set, and the system voltage Volt is used as the basis for pinch safety judgment. When the system voltage Volt is within the pinch voltage range, it is judged that the pinch state can be executed; The motor type is identified according to the current speed V and the purified motor current I; S4, according to the speed, current and motor type in the current sampling period, the pinch speed threshold and the pinch current threshold corresponding to the motor type are determined; The current ratio and the speed ratio are set. When the current ratio is greater than or equal to the pinch current threshold and the speed ratio is greater than or equal to the pinch speed threshold, it is judged that the motor enters the pinch state, and step S5 is entered. Otherwise, it is judged that the motor has not entered the pinch state, and the motor continues to be monitored. S5, when the motor enters the pinch state, the reverse direction and the reverse distance of the motor are set, and the motor is driven to reverse to prevent pinch, and the pinch driving execution situation is fed back in real time. After the pinch state is ended, the motor continues to be monitored.

2. The current-speed dual characteristic dynamic threshold based multi-motor cooperative anti-pinch control method according to claim 1, characterized in that, In step S3, the formula for calculating the current speed V using the Hall count H and the sampling period T is: where Hn is the Hall count for the current sampling period, HI is the Hall count for the previous sampling period, and T is the sampling period.

3. The current-speed dual characteristic dynamic threshold based multi-motor cooperative anti-pinch control method according to claim 2, characterized in that, In step S3, the steps of identifying the motor type according to the current speed V and the purified motor current I are as follows: The current speed V and the processed motor current I calculated in multiple sampling periods are stored in FIFO queues Vlist and Ilist; According to FIFO queues Ilist and Vlist; Computing the variance of the speed V is the current speed, N is the FIFO queue size, is the mean value before queue N-1; Calculate the rate of change of current ΔI = I n -I n-1 I n I is the current in the current sampling period. n-1 This represents the current from the previous sampling period; When VarV>V RES and ΔI>I RES , the corresponding motor is identified as an angle-adjusting motor, wherein V RES is a speed threshold for judging the angle-adjusting motor, and I RES is a current threshold for judging the angle-adjusting motor. When VarV < V RES1 and ΔI < I RES1 , the corresponding motor is identified as a slide rail motor, wherein V RES1 is a speed threshold for judging the slide rail motor, and I RES1 is a current threshold for judging the slide rail motor.

4. The current-speed dual characteristic dynamic threshold based multi-motor cooperative anti-pinch control method according to claim 3, characterized in that, In step S4, the steps of dynamically calculating the pinch threshold of the variable-angle motor according to the motor type identified by the current and speed double characteristics are as follows: Anti-pinch threshold of the angle-adjusting motor: I thr = I TH + sin ωt, wherein I thr is the anti-pinch current threshold, ω is the angular velocity, takes the value of βV, β is a constant, I TH is the calibrated basic multiplier; V thr = V TH + sin ωt, wherein V thr is the anti-pinch velocity threshold, ω is the angular velocity, takes the value of βV, β is a constant, V TH is the calibrated basic multiplier.

5. The current-speed dual characteristic dynamic threshold based multi-motor cooperative anti-pinch control method according to claim 3, characterized in that, In step S4, the steps of dynamically calculating the pinch threshold of the slide rail motor according to the motor type identified by the current and speed double characteristics are as follows: Anti-pinch threshold of slide rail motor: I thr =I TH +αP, where I thr The current threshold for preventing pinching is given, α is a linear constant, P is the current position, and I is the current value. TH V is the calibrated base ratio; thr =V TH +αP, where V thr The current threshold for preventing pinching is given, α is a linear constant, P is the current position, and V is the current threshold. TH This is the calibrated base ratio.

6. The current-speed dual characteristic dynamic threshold based multi-motor cooperative anti-pinch control method according to claim 1, characterized in that, In step S4, the steps of setting the current ratio are as follows: The current multiple K is calculated according to the motor current I in the current sampling period and the average current speed Im in the previous sampling periods i , Where I is the current in the current sampling period, Im is the average current in the past n sampling periods. m ​​ 7. The current-speed dual characteristic dynamic threshold based multi-motor cooperative anti-pinch control method according to claim 1, characterized in that, In step S4, the steps of setting the current ratio are as follows: According to the speed V calculated in the current sampling period and the average speed Vm of the previous sampling periods, the speed ratio K is calculated v , where V n is the speed in the current sampling period, and V m is the average speed of the past sampling periods.

8. A multi-motor cooperative anti-pinch control system based on current-speed double characteristic dynamic threshold, characterized in that, The method is suitable for the multi-motor collaborative pinch control method based on the current-speed double characteristic dynamic threshold of any one of claims 1-7, comprising a controller, a voltage sensor, a current sensor, a Hall sensor and a motor driver. The data collected by the voltage sensor, the current sensor and the Hall sensor is transmitted to the controller, and the controller issues instructions to the motor driver.

9. The current-speed dual characteristic dynamic threshold based multi-motor cooperative anti-pinch control system according to claim 8, wherein, The controller comprises a processor and a memory; The processor comprises a signal acquisition and processing module, a feature extraction module, an algorithm control logic module and a control output module. The signal acquisition and processing module acquires the Hall count and pulse width, the system voltage, the system current, performs filtering and purification processing, the feature extraction module identifies the motor type, the algorithm control logic module is responsible for the pinch algorithm judgment, and the control output module issues the motor pinch execution instruction; The memory stores the motor parameters, the pinch motor preparation parameters, the calibration ratio in the Flash, and the real-time data such as operating voltage, speed and current in the RAM.

10. Application of multi-motor cooperative anti-pinch control based on current- speed double characteristic dynamic threshold, characterized in that, The current-speed dual characteristic dynamic threshold-based multi-motor cooperative anti-pinch control method of any one of claims 1-7 is applied to an automobile.

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