Control method and device for electrically-controlled tubular column and vehicle
By acquiring the positions of the target and reference tubing, and combining high-frequency displacement acquisition with dual closed-loop control, the problem of insufficient accuracy in the position detection of the electrically adjustable tubing was solved, achieving high-precision and stable position control.
Patent Information
- Application Number
- CN202511652423.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-12
- Publication Date
- 2026-01-02
AI Technical Summary
The existing ESC column has limited position detection accuracy, resulting in inaccurate control and poor reliability.
By acquiring the target and reference column positions, combined with high-frequency displacement acquisition and motor rotation direction, a dual closed-loop control strategy is adopted, including an outer position loop and an inner velocity loop, to achieve precise displacement accumulation and control.
This improves the accuracy and stability of the ESC column position control, avoids the acquisition error and cumulative deviation of the Hall sensor, and ensures the accuracy of position detection and the smoothness of control.
Smart Images
Figure CN121246909A_ABST
Abstract
Description
Technical Field
[0001] This application belongs to the field of vehicle technology, and in particular relates to an electronic control column control method, device and vehicle. Background Technology
[0002] In automotive steering systems, the column, as a core component connecting the steering wheel and steering gear, not only transmits steering force but also allows for vertical adjustment of the steering wheel to suit the individual needs of different drivers. With technological advancements, electronically adjustable columns can now adjust both the steering wheel angle and axial direction via integrated controllers, thereby enhancing driving comfort and ease of operation.
[0003] In current ESC (Electronic Speed Controller) column position control technology, some solutions use Hall effect sensors for position detection, but due to their limited accuracy, it is difficult to achieve high-accuracy control. Other solutions attempt to count the rising and falling edges of the Hall effect signal during motor forward and reverse rotation to more accurately obtain the actual position of the column. However, if the motor rotation direction is determined by counting the rising edges and the motor stops at the falling edge, accumulated errors can easily occur, affecting the reliability and accuracy of position control. Therefore, how to effectively improve the accuracy of ESC column position detection and control stability has become an urgent technical problem to be solved. Summary of the Invention
[0004] This application provides an electronically adjustable column control method, device, and vehicle that can achieve accurate acquisition of the column position, thereby significantly improving the accuracy and system stability in electronically adjustable column position control.
[0005] In a first aspect, embodiments of this application provide an electrically adjustable control column method, the method comprising:
[0006] Obtain the target tubing position and the reference tubing position;
[0007] Within the preset task cycle, the displacement of the ESC column is collected based on the preset acquisition cycle, and the cumulative displacement is determined based on the rotation direction and displacement of the ESC motor.
[0008] The actual tubing position is determined based on the reference tubing position and cumulative displacement.
[0009] The ESC motor is controlled based at least on the target tubing position and the actual tubing position to control the movement of the ESC tubing.
[0010] In a further embodiment, within a preset task cycle, the displacement of the ESC column is collected based on a preset acquisition cycle, and the cumulative displacement is determined based on the rotation direction and displacement of the ESC motor, including:
[0011] Within a preset acquisition period, the rotation direction of the ESC motor is acquired, and the edge signal of the ESC motor is acquired through a Hall sensor.
[0012] At the end of the preset acquisition cycle, the displacement of the electrically controlled column within the preset acquisition cycle is determined based on the number of edge signals.
[0013] Within a preset task cycle, based on at least one preset acquisition cycle and the corresponding rotation direction of the ESC motor, the displacement within at least one preset acquisition cycle is accumulated to obtain the cumulative displacement.
[0014] In a further embodiment, the displacement of the electrically controlled column is collected based on a preset acquisition period, including:
[0015] Within the preset acquisition period, the edge signal is determined based on the Hall signal of the ESC motor;
[0016] Each time an edge signal is acquired, the number of edge signals is incremented.
[0017] At the end of the preset acquisition period, the number of edge signals accumulated is obtained, and the displacement is determined based on the number.
[0018] In a further embodiment, the cumulative displacement is determined based on the rotation direction and displacement of the ESC motor, including:
[0019] At the end of each preset acquisition cycle, based on the current rotation direction of the ESC motor, the displacement is added to or subtracted from the cumulative displacement obtained at the end of the previous preset acquisition cycle to obtain the cumulative displacement after the current preset acquisition cycle.
[0020] At the end of the preset task cycle, the cumulative displacement obtained at the end of the last preset acquisition cycle within the preset task cycle is determined as the cumulative displacement of the electrically controlled column within the preset task cycle.
[0021] In a further embodiment, the ESC motor is controlled based at least on the target tubing position and the actual tubing position, including:
[0022] The target duty cycle should be determined based at least on the target string position and the actual string position.
[0023] The ESC motor is controlled according to the target duty cycle.
[0024] In a further embodiment, the target duty cycle is determined at least based on the target string position and the actual string position, including:
[0025] The target velocity is obtained based on the target tubing position, the actual tubing position, and the preset first proportional coefficient;
[0026] The target duty cycle is obtained based on the target speed, the preset second proportional coefficient, and the preset integral coefficient.
[0027] In a further embodiment, the method includes:
[0028] If the difference between the target tubing position and the actual tubing position is less than a preset threshold, then the operation of controlling the ESC motor according to the target duty cycle will stop.
[0029] In a further embodiment, the method includes: acquiring the Hall signal of the ESC motor using a single-phase Hall sensor.
[0030] Secondly, embodiments of this application provide an electrically adjustable tube control device, the device comprising:
[0031] The acquisition module is used to acquire the target tubing position and the reference tubing position;
[0032] The displacement calculation module is used to collect the displacement of the ESC column within a preset task cycle and based on a preset acquisition cycle, and to determine the cumulative displacement based on the rotation direction and displacement of the ESC motor.
[0033] The position determination module is used to determine the actual position of the tubing string based on the reference tubing string position and the cumulative displacement.
[0034] The control module is used to control the ESC motor based at least on the target string position and the actual string position, so as to control the movement of the ESC string.
[0035] Thirdly, embodiments of this application provide an electronic device, the device including: a processor and a memory storing computer program instructions; the processor executes the computer program instructions to implement the ESC column control method as described above.
[0036] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer program instructions, which, when executed by a processor, implement the ESC column control method described above.
[0037] Fifthly, embodiments of this application provide a computer program product in which instructions, when executed by the processor of an electronic device, cause the electronic device to perform any of the above-mentioned ESC column control methods.
[0038] In a sixth aspect, embodiments of this application provide a vehicle including at least one processor and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the at least one processor implements the ESC column control method as described above by executing the instructions stored in the memory.
[0039] Invention Function and Effect
[0040] The present application's embodiments of the electronically controlled servo motor (ECS) control method, apparatus, and vehicle include: acquiring the target servo motor position and the reference servo motor position; within a preset task cycle, acquiring the displacement of the ECS motor based on a preset acquisition cycle, and determining the cumulative displacement based on the rotation direction and displacement of the ECS motor; determining the actual servo motor position based on the reference servo motor position and the cumulative displacement; and controlling the ECS motor at least based on the target servo motor position and the actual servo motor position to control the movement of the ECS motor. Thus, in this embodiment, by acquiring the displacement at a high frequency within a preset task cycle, and combining this with the motor rotation direction to achieve accurate accumulation of the displacement, and using the reference position as the starting point, the actual position of the ECS motor is accurately obtained, effectively avoiding the positioning inaccuracy problem caused by the acquisition error or cumulative deviation of the single-phase Hall sensor. Furthermore, this application employs a dual closed-loop control strategy combining an outer position loop and an inner speed loop to control the ECS motor, further improving the accuracy and system stability in ECS motor position control. Attached Figure Description
[0041] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0042] Figure 1 This is one of the flowcharts illustrating the electrically controlled column control method provided in the embodiments of this application;
[0043] Figure 2 This is a second schematic flowchart of the electrically controlled column control method provided in the embodiments of this application;
[0044] Figure 3 This is the third flowchart illustrating the electrically controlled column control method provided in the embodiments of this application;
[0045] Figure 4 This is the fourth flowchart illustrating the electrically controlled column control method provided in the embodiments of this application;
[0046] Figure 5 This is a schematic diagram of the structure of the electrically adjustable tube column control device provided in the embodiments of this application;
[0047] Figure 6 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation
[0048] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.
[0049] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.
[0050] To address the problems of the prior art, this application provides an electrically adjustable carriage control method, device, and vehicle. The electrically adjustable carriage control method provided in this application will be described first. Figure 1 This document illustrates one of the flowcharts of the electrically controlled pipeline control method provided in an embodiment of this application, such as... Figure 1 As shown, the method includes the following steps:
[0051] S101. Obtain the target tubing position and the reference tubing position.
[0052] This application provides users with multiple tubing position adjustment modes, including HMI slider mode, automatic button mode, and position memory mode. Users can perform tubing adjustment operations in any of these modes as needed. Figure 2 This illustrates a second schematic flowchart of the electrically controlled pipeline control method provided in an embodiment of this application, as shown below. Figure 2 As shown, after receiving the adjustment command, the host computer will automatically analyze and determine the target tubing position desired by the user, and at least based on this, realize flexible and precise closed-loop control of the tubing position.
[0053] In HMI slider mode, users can adjust the pipeline by dragging a slider on the vehicle's infotainment screen. The host computer generates a corresponding pipeline adjustment command based on the slider position and maps that position to the entire pipeline travel. Specifically, the numerical range of the host computer's slider (e.g., 0-255) is normalized and proportionally mapped to a HALL position range (e.g., 0-3000) representing the total pipeline travel. The mapped HALL position is used as the target position command in manual control to achieve closed-loop position control. The HALL position is a virtual unit defined during position calculation.
[0054] In automatic button mode, the vehicle's infotainment system provides a column adjustment button that supports both long press and tap operations. A press duration less than the delay time (e.g., 1 second) is considered a tap; otherwise, it's a long press. When the user taps the button, each press of the up button increases the target column position by 100 HALL positions; each press of the down button decreases the target column position by 100 HALL positions. During a long press, the target column position continuously changes at a rate of 1 HALL position increment / decrement every 2ms, depending on the button direction. It should be noted that the target column position is always limited to the total column travel range (e.g., 0-3000 HALL positions). The adjustment range during taps and the rate of change during long presses can be set according to actual conditions; this embodiment does not impose specific limitations on these settings.
[0055] In location memory mode, the system can store up to three memory locations. Figure 3 The third schematic flowchart of the electrically controlled pipeline control method provided in this application embodiment is shown. Figure 3 As shown, when the user selects any position from the memory positions, the control module can read the corresponding HALL position from the EEPROM as the target column position.
[0056] In this step, the vehicle's control module also reads the current column position stored in the EEPROM and uses it as the reference column position for subsequent adjustments to ensure accuracy. It should be noted that when the system initially acquires the column position, it first moves the column to its bottom position, sets the HALL signal to zero, and then calculates the real-time position by accumulating the rising and falling edges. When the system is powered down, the current column position is saved to the EEPROM so that it can be directly read as the reference column position the next time it is powered on.
[0057] S102. Within a preset task cycle, based on a preset acquisition cycle, the displacement of the ESC column is acquired, and based on the rotation direction of the ESC motor and the displacement, the cumulative displacement is determined.
[0058] This step includes: acquiring the rotation direction of the ESC motor within the preset acquisition period, and acquiring the edge signal of the ESC motor through a Hall sensor. Specifically, in this embodiment, the Hall signal of the ESC motor is acquired through a single-phase Hall sensor. For each revolution of the motor rotor, the sensor outputs four complete Hall signal cycles, thus providing four key position points for the system. In this way, this embodiment achieves basic position detection functionality while also achieving extreme cost control and structural simplification.
[0059] At the end of the preset acquisition period, the displacement of the ESC column within the preset acquisition period is determined based on the number of edge signals. Specifically, within the preset acquisition period, the system determines edge signals based on the Hall signals of the ESC motor; each time an edge signal is acquired, the number of edge signals is accumulated; at the end of the preset acquisition period, the accumulated number of edge signals is acquired, and the displacement is determined based on the number.
[0060] In this embodiment, by configuring an interrupt mode at the system level, each rising and falling edge of the HALL signal is captured in real time at a fixed preset acquisition period (e.g., 100µs), and the number of these edges is accumulated, thereby using the accumulated value as the absolute displacement of the tubing. High-frequency sampling enables high-precision, real-time, and continuous monitoring of tubing position changes. Simultaneously, by accumulating the number of edges, relative position information is converted into absolute displacement data, improving the accuracy of position detection and the system's responsiveness.
[0061] At the system's underlying configuration, an interrupt method is used to capture each rising and falling edge of the HALL signal within a preset acquisition period (e.g., 100µs). The cumulative value of the number of rising and falling edges of the HALL signal generated by the tubing is used as the absolute position (i.e., displacement) of the tubing.
[0062] Within the preset task cycle, based on at least one preset acquisition cycle and the rotation direction of the corresponding ESC motor, the displacement within at least one preset acquisition cycle is accumulated to obtain the cumulative displacement.
[0063] Specifically, at the end of each preset acquisition cycle, based on the current rotation direction of the ESC motor, the displacement is added to or subtracted from the cumulative displacement obtained at the end of the previous preset acquisition cycle to obtain the cumulative displacement after the current preset acquisition cycle—adding if the motor rotates forward and subtracting if it rotates backward. At the end of the preset task cycle, the cumulative displacement obtained at the end of the last preset acquisition cycle within the preset task cycle is determined as the cumulative displacement of the ESC column within the preset task cycle.
[0064] It is understandable that, in addition to calculating and updating the cumulative displacement in real time at the end of each preset acquisition cycle as described above, one can also record the motor rotation and displacement corresponding to each preset acquisition cycle within the preset task cycle, and then perform a unified cumulative calculation at the end of the entire preset task cycle to directly obtain the final cumulative displacement within that task cycle.
[0065] In this embodiment, the preset task cycle is scheduled by the application layer and can be set to execute within a 1ms cycle task. To achieve time alignment, every 10 preset acquisition cycles (i.e., 100µs) accumulate to 1ms, at which point data is sent to the application layer once. This data includes the number of rising and falling edges of the HALL signal captured within 1ms. The application layer accumulates or subtracts these counts based on the forward and reverse rotation of the motor to calculate the actual cumulative displacement of the tubing.
[0066] Specifically, within a 100µs acquisition period, the system counts based on the edge changes of the HALL signal: if there is no rising or falling edge, it reports 0; if a rising edge occurs, it reports 1; if both a rising and a falling edge occur simultaneously, it reports 2. Within a 1ms task cycle, the application layer calculates these reported values based on the motor's direction of rotation: it accumulates when the motor is rotating forward and subtracts when it is rotating in reverse.
[0067] It should be noted that when using a single-phase Hall sensor to acquire the motor position, the absolute position of the motor cannot be calculated based on a single Hall signal, leading to inaccurate closed-loop control of the ESC column position. However, this embodiment captures the level transitions of the Hall signal in real time using high-frequency sampling. Each transition corresponds to a known, precise mechanical angle position, ensuring the system responds immediately to level changes and significantly reducing position estimation delays and errors. Furthermore, this application incorporates the ESC motor's direction of rotation information within each acquisition cycle to accumulate or subtract the displacement, thereby achieving precise acquisition of the column position and ensuring the accuracy of the ESC column position closed-loop control.
[0068] S103. Determine the actual tubing position based on the reference tubing position and the cumulative displacement.
[0069] Specifically, the actual column position can be calculated in real time by adding the reference column position to the cumulative displacement. Since the cumulative displacement is calculated through high-frequency sampling of the motor HALL signal level transitions, the obtained actual column position has high accuracy, thereby effectively improving the accuracy of column position control.
[0070] S104. Based at least on the target tubing position and the actual tubing position, control the ESC motor to control the movement of the ESC tubing.
[0071] This step includes: determining the target duty cycle based at least on the target string position and the actual string position. Specifically, the target velocity is obtained based on the target string position, the actual string position, and a preset first proportionality coefficient, using the following formula:
[0072] Target velocity = (Target string position - Actual string position) * Kp
[0073] In the formula, Kp is the first proportionality coefficient.
[0074] Subsequently, based on the target speed, the preset second proportional coefficient, and the preset integral coefficient, the target duty cycle can be obtained, and the calculation formula is as follows:
[0075] Duty cycle = kp * target velocity + ∫ki * target velocity
[0076] In the formula, kp is the second proportionality coefficient, and ki is the integral coefficient.
[0077] Finally, based on the target duty cycle, the ESC motor can be controlled to drive it to rotate forward or in reverse. Specifically, when the control column adjusts the motor to rotate forward, the duty cycle signal is sent to the H-bridge circuit, turning on bridges A and C while turning off bridges B and D; conversely, when rotating in reverse, bridges A and C are turned off, while bridges B and D are turned on. This control technology is relatively mature, and specific implementation details can be further referred to relevant technical materials in this field, which will not be elaborated here.
[0078] In this embodiment, by introducing a speed loop control after the position loop and supporting speed value calibration, the running speed of the tubing can be effectively kept stable throughout the entire stroke, avoiding large fluctuations in speed during the adjustment process due to tubing friction or other external interference factors, thereby improving the stability and consistency of control.
[0079] For further details, please see Figure 4 This illustrates the fourth flowchart of the electrically controlled column control method provided in this application embodiment, as shown below. Figure 4 As shown, in order to avoid system noise and unnecessary power consumption caused by continuously outputting a small duty cycle after the tube column reaches the target position, in this embodiment of the application, if the difference between the target tube column position and the actual tube column position is less than a preset threshold, the operation of controlling the ESC motor according to the target duty cycle is stopped.
[0080] The electronically controlled switch (ECS) column control method of this application includes: acquiring the target column position and the reference column position; within a preset task cycle, acquiring the displacement of the ECS column based on a preset acquisition cycle, and determining the cumulative displacement based on the rotation direction and displacement of the ECS motor; determining the actual column position based on the reference column position and the cumulative displacement; and controlling the ECS motor at least based on the target column position and the actual column position to control the movement of the ECS column. Thus, in this application embodiment, by acquiring the displacement at a high frequency within a preset task cycle and combining it with the motor rotation direction to achieve accurate accumulation of the displacement, and by accurately acquiring the actual position of the ECS column starting from the reference position, the positioning inaccuracy problem caused by the acquisition error or cumulative deviation of the single-phase Hall sensor is effectively avoided. Furthermore, this application employs a dual closed-loop control strategy combining an outer position loop and an inner speed loop to control the ECS column, further improving the accuracy and system stability in ECS column position control.
[0081] Based on the electrically adjustable tube control method provided in the above embodiments, this application also provides specific implementation methods of the electrically adjustable tube control device. Please refer to the following embodiments.
[0082] like Figure 5 As shown in the embodiment of this application, the electrically adjustable tube control device includes:
[0083] The acquisition module 501 is used to acquire the target tubing position and the reference tubing position.
[0084] The displacement calculation module 502 is used to collect the displacement of the ESC column within a preset task cycle based on a preset acquisition cycle, and to determine the cumulative displacement based on the rotation direction of the ESC motor and the displacement.
[0085] The position determination module 503 is used to determine the actual position of the tubing based on the reference tubing position and the cumulative displacement.
[0086] The control module 504 is used to control the ESC motor based at least on the target tubing position and the actual tubing position, so as to control the movement of the ESC tubing.
[0087] Figure 6 A schematic diagram of the hardware structure of the electronic device provided in an embodiment of this application is shown.
[0088] An electronic device may include a processor 601 and a memory 602 storing computer program instructions.
[0089] Specifically, the processor 601 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.
[0090] Memory 602 may include mass storage for data or instructions. For example, and not limitingly, memory 602 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 602 may include removable or non-removable (or fixed) media. Where appropriate, memory 602 may be internal or external to the integrated gateway disaster recovery device. In a particular embodiment, memory 602 is non-volatile solid-state memory.
[0091] In a particular embodiment, memory 602 may include read-only memory (ROM), random access memory (RAM), disk storage media device, optical storage media device, flash memory device, electrical, optical, or other physical / tangible memory storage device. Thus, generally, memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to one aspect of this disclosure.
[0092] The processor 601 reads and executes computer program instructions stored in the memory 602 to implement any of the electronic control column control methods in the above embodiments.
[0093] In one example, the electronic device may also include a communication interface 603 and a bus 610. For example, Figure 6 As shown, the processor 601, memory 602, and communication interface 603 are connected through bus 610 and complete communication with each other.
[0094] The communication interface 603 is mainly used to realize communication between various modules, devices, units and / or equipment in the embodiments of this application.
[0095] Bus 610 includes hardware, software, or both, that couples components of an electronic device together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 610 may include one or more buses. Although specific buses are described and illustrated in embodiments of this application, any suitable bus or interconnect is contemplated herein.
[0096] This electronic device can execute the electrically controlled column control method in the embodiments of this application, thereby achieving the combination Figure 1 and Figure 5 The described method and apparatus for controlling an electrically controlled tube column.
[0097] Furthermore, in conjunction with the electrically adjustable transistor control method in the above embodiments, this application embodiment can provide a computer-readable storage medium for implementation. This computer-readable storage medium stores computer program instructions; when these computer program instructions are executed by a processor, they implement any of the electrically adjustable transistor control methods in the above embodiments.
[0098] In conjunction with the ESC column control method in the above embodiments, this application embodiment can provide a computer program product, in which the instructions in the computer program product, when executed by the processor of an electronic device, cause the electronic device to perform any of the above ESC column control methods.
[0099] In conjunction with the ESC control method described in the above embodiments, this application embodiment can provide a vehicle to implement this method. The vehicle includes at least one of the following: the ESC control device described above; the computer-readable storage medium described above; the computer program product described above; a processor and a memory storing computer program instructions; the processor, when executing the computer program instructions, implements the ESC control method described in any one of the above embodiments.
[0100] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.
[0101] The functional blocks shown in the above block diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. Programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.
[0102] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. However, this application is not limited to the order of the above steps; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.
[0103] The aspects of this disclosure have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by special-purpose hardware performing the specified functions or actions, or can be implemented by a combination of special-purpose hardware and computer instructions.
[0104] The above are merely specific embodiments of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.
Claims
1. A method of controlling an electrical phasing column, characterized by, The method comprises: acquiring a target column position and a reference column position; acquiring a displacement amount of an electrically adjustable column in a preset acquisition period, and determining a displacement cumulative amount based on a rotation direction of an electrically adjustable motor and the displacement amount, in a preset task period; determining an actual column position based on the reference column position and the displacement cumulative amount; controlling the electrically adjustable motor based on at least the target column position and the actual column position, to control movement of the electrically adjustable column.
2. The electrical trombone control method of claim 1, wherein, The method comprises: acquiring the rotation direction of the electrically adjustable motor and acquiring an edge signal of the electrically adjustable motor through a Hall sensor, in the preset acquisition period; determining the displacement amount of the electrically adjustable column in the preset acquisition period based on the number of edge signals, at the end of the preset acquisition period; accumulating the displacement amount in at least one preset acquisition period based on the rotation direction of the electrically adjustable motor in the at least one preset acquisition period, to obtain the displacement cumulative amount, in the preset task period.
3. The electrical trombone control method of claim 2, wherein, The method comprises: determining an edge signal based on a Hall signal of the electrically adjustable motor, in the preset acquisition period; accumulating the number of edge signals each time the edge signal is acquired; acquiring the number of accumulated edge signals at the end of the preset acquisition period, and determining the displacement amount based on the number.
4. The electrical trombone control method of claim 1, wherein, The method comprises: adding or subtracting the displacement amount from the displacement cumulative amount obtained at the end of the previous preset acquisition period based on the rotation direction of the electrically adjustable motor at the end of the current preset acquisition period, to obtain the displacement cumulative amount after the current preset acquisition period; determining the displacement cumulative amount of the electrically adjustable column in the preset task period as the displacement cumulative amount obtained at the end of the last preset acquisition period in the preset task period.
5. The electrical trombone control method of claim 1, wherein, The method comprises: determining a target duty cycle based on at least the target column position and the actual column position; controlling the electrically adjustable motor based on the target duty cycle.
6. The electrical trombone control method of claim 5, wherein, The method comprises: obtaining a target speed based on the target column position, the actual column position and a preset first proportional coefficient; obtaining the target duty cycle based on the target speed, a preset second proportional coefficient and a preset integral coefficient.
7. The electrical trombone control method of claim 5, wherein, The method comprises: stopping the operation of controlling the electrically adjustable motor based on the target duty cycle, if the difference between the target column position and the actual column position is less than a preset threshold.
8. The electrical trombone control method of claim 1, wherein, The method comprises: collecting a Hall signal of the electrically-adjusted motor by a single-phase Hall sensor.
9. An electrical trombone control device, characterized by The device comprises: An acquisition module is configured to acquire a target pipe column position and a reference pipe column position; A displacement amount calculation module is configured to collect a displacement amount of an electrically-adjusted pipe column based on a preset acquisition period within a preset task period, and determine a displacement cumulative amount based on a rotation direction of an electrically-adjusted motor and the displacement amount; A position determination module is configured to determine an actual pipe column position based on the reference pipe column position and the displacement cumulative amount; A control module is configured to control the electrically-adjusted motor based on at least the target pipe column position and the actual pipe column position, so as to control movement of the electrically-adjusted pipe column.
10. A vehicle characterized by comprising: The vehicle comprises a processor and a memory storing computer program instructions; the processor executes the computer program instructions to implement the electrically-adjusted pipe column control method according to any one of claims 1-8.