Current ripple counting method and vehicle

Abstract

This invention relates to the field of vehicle technology and discloses a current ripple counting method and a vehicle. The method includes: acquiring the current ripple waveform of a component motor under current operating conditions; calculating the target cancellation delay of the anti-pinch trigger reverse angular displacement in the current ripple waveform; and counting the ripple waveform of the anti-pinch execution phase in the current ripple waveform based on the target cancellation delay to obtain a target ripple count. This invention solves the problem that the lack of accurate calculation of the angular displacement cancellation delay during the motor reverse phase after anti-pinch triggering leads to inaccurate ripple counting during the anti-pinch execution phase, affecting window positioning and anti-pinch function response.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and specifically to a current ripple counting method and a vehicle. Background Technology

[0002] Early car window motors mostly used Hall effect sensors to detect the number of rotations and direction. In recent years, many models use DC motor current ripple signals for counting, replacing Hall effect sensors. The quality of the ripple waveform is affected by factors such as motor operating voltage, ambient temperature, load, as well as the manufacturing process of the motor commutator, material defects, wear and aging. Its counting accuracy is a key indicator for evaluating the performance of the anti-pinch algorithm for car windows. Ripple counting errors may lead to false anti-pinch (the glass cannot rise normally) or failure to prevent pinching (the glass does not retract within the anti-pinch zone), directly affecting the safety and reliability of the car window system.

[0003] During the anti-pinch process of a car window, when the anti-pinch is triggered, the motor current jumps dramatically, severely disrupting the ripple waveform and preventing the controller from counting the ripple correctly. Existing technology uses a calibrated compensation amount to compensate for the angular displacement of the anti-pinch segment. However, due to factors such as ambient temperature, power supply voltage, the rigidity of the clamped object, and window aging, there are random errors between the calibrated compensation amount and the actual angular displacement. Furthermore, as the number of anti-pinch cycles increases, the error accumulates, reducing the ripple positioning accuracy. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide a current ripple counting method and a vehicle to solve the problem that the lack of accurate calculation of the angular displacement cancellation delay during the motor reversal stage after anti-pinch triggering leads to inaccurate ripple counting during the anti-pinch execution stage, affecting window positioning and anti-pinch function response.

[0005] In a first aspect, embodiments of the present invention provide a current ripple counting method, the method comprising:

[0006] Obtain the current ripple waveform of the component motor under the current operating conditions;

[0007] Calculate the target cancellation delay of the anti-pinch trigger reverse angle displacement in the current ripple waveform;

[0008] Based on the target cancellation delay, the ripple count is performed on the ripple waveform of the current ripple waveform during the anti-pinch execution phase to obtain the target ripple number.

[0009] Furthermore, the calculation of the target cancellation delay of the anti-pinch trigger reversal angle displacement in the current ripple waveform includes:

[0010] Identify the zero-crossing point and the first motor stop point in the current ripple waveform;

[0011] Obtain the angular displacement compensation value of the component motor due to the elastic reverse rotation of the brush holder under the current operating conditions;

[0012] The target cancellation delay of the anti-pinch triggered reverse angular displacement is determined based on the zero crossing point, the first motor stopping point, and the angular displacement cancellation value.

[0013] Furthermore, determining the target cancellation delay of the anti-pinch triggered reverse angular displacement based on the zero-crossing point, the first motor stop point, and the angular displacement cancellation value includes:

[0014] Obtain the angular displacement value in the current ripple waveform from the zero-crossing point to the first motor stop point;

[0015] Calculate the sum of the angular displacement and the angular displacement values;

[0016] Starting from the first motor stop point, sampling points are obtained from the current ripple waveform according to the waveform timing direction. The angular displacement change between the sampling point and the first motor stop point is the sum of the angular displacements. The motor brush position corresponding to the sampling point is the same as the motor brush position corresponding to the zero-crossing point.

[0017] The time interval between the zero-crossing point and the sampling point is used as the target cancellation delay of the anti-pinch triggered reverse angular displacement.

[0018] Furthermore, the method for determining the angular displacement compensation value includes:

[0019] The current ripple test waveform and incremental pulse waveform of the component motor under the current operating conditions are obtained. The incremental pulse waveform is the waveform output by the incremental encoder when the component motor is running. The incremental pulse waveform and the current ripple test waveform are in the same dimension. The incremental encoder is installed on the output shaft of the component motor.

[0020] Based on the incremental pulse waveform, the anti-pinch trigger point, the second motor stop point, and the motor reverse point are determined in the current ripple test waveform.

[0021] The initial value of the angular displacement offset for the elastic reversal of the brush holder during each anti-pinch execution stage is determined based on the anti-pinch trigger point, the second motor stop point, and the motor reversal point.

[0022] The angular displacement cancellation value of the component motor under the current operating conditions is determined by using the initial value of angular displacement cancellation corresponding to each of the anti-pinch execution stages.

[0023] Furthermore, the calculation of the initial value of the angular displacement offset for the elastic reversal of the brush holder during each anti-pinch execution stage, based on the anti-pinch trigger point, the second motor stop point, and the motor reversal point, includes:

[0024] For each of the anti-pinch execution stages, the third angular displacement value of the motor between the peak point above the anti-pinch trigger point and the second motor stop point, and the fourth angular displacement value of the motor between the second motor stop point and the next peak point below the motor reversal point are obtained;

[0025] Calculate the first difference between the third angular displacement value and the fourth angular displacement value, and use the first difference as the initial value for offsetting the angular displacement of the brush holder elastic reversal during the anti-pinch execution phase.

[0026] Furthermore, determining the angular displacement cancellation value of the component motor under the current operating conditions for the brush holder elastic reversal using the initial value of angular displacement cancellation corresponding to each of the anti-pinch execution stages includes:

[0027] Calculate the mean angular displacement cancellation value of the multiple initial angular displacement cancellation values;

[0028] The average angular displacement cancellation value is determined as the angular displacement cancellation value of the component motor under the current operating conditions due to the elastic reversal of the brush holder.

[0029] Furthermore, the step of counting the ripples in the current ripple waveform during the anti-pinch execution phase based on the target cancellation delay to obtain the target ripple count includes:

[0030] Obtain the fifth angular displacement value in the current ripple waveform located in the non-full cycle before the target cancellation delay, and the sixth angular displacement value located in the non-full cycle after the target cancellation delay;

[0031] The target ripple number in the anti-pinch execution phase of the current ripple waveform is determined based on the fifth angular displacement value and the sixth angular displacement value.

[0032] Furthermore, determining the target ripple number in the anti-pinch execution phase of the current ripple waveform based on the fifth angular displacement value and the sixth angular displacement value includes:

[0033] Calculate the second difference between the fifth angular displacement value and the sixth angular displacement value;

[0034] Verify whether the second difference meets the peak alignment condition to obtain the verification result;

[0035] The target ripple number in the anti-pinch execution phase of the current ripple waveform is determined based on the verification results.

[0036] Furthermore, determining the target ripple number in the anti-pinch execution phase of the current ripple waveform based on the verification results includes:

[0037] If the verification result is that the second difference satisfies the peak alignment condition, then the second difference is taken as the target ripple number in the anti-pinch execution stage of the current ripple waveform;

[0038] Alternatively, if the verification result is that the second difference does not meet the peak alignment condition, the dynamic calibration mechanism is triggered to recalculate the angular displacement cancellation update value of the component motor under the current operating conditions of the brush holder elastic reversal, and the update cancellation delay is determined according to the angular displacement cancellation update value, and the target ripple number in the anti-pinch execution stage of the current ripple waveform is determined based on the update cancellation delay.

[0039] Secondly, embodiments of the present invention provide a vehicle, the vehicle including: a controller, the controller including: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, the processor executing the computer instructions to perform the method of the first aspect or any corresponding embodiment described above.

[0040] Thirdly, embodiments of the present invention provide a current ripple counting device, the device comprising:

[0041] The acquisition module is used to acquire the current ripple waveform of the component motor under the current operating conditions;

[0042] The calculation module is used to calculate the target cancellation delay of the anti-pinch trigger reverse angle displacement in the current ripple waveform;

[0043] The counting module is used to count the ripple of the current ripple waveform during the anti-pinch execution phase based on the target cancellation delay, and obtain the target ripple number.

[0044] Fourthly, embodiments of the present invention provide a computer device, including: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the computer instructions to perform the method described in the first aspect or any corresponding embodiment thereof.

[0045] Fifthly, embodiments of the present invention provide a computer-readable storage medium storing computer instructions for causing a computer to perform the method described in the first aspect or any corresponding embodiment thereof.

[0046] The method provided in this application has the following beneficial effects:

[0047] The method provided in this application acquires the current ripple waveform of the motor under the current operating conditions, enabling real-time capture of the original signal reflecting the actual operating state and providing a data foundation for subsequent analysis. It calculates the target cancellation delay of the anti-pinch trigger reverse angular displacement, dynamically determining the time interval from the zero-crossing point to the re-establishment of stable contact between the carbon brush and the commutator during the anti-pinch reverse process. This overcomes the uncertainty of time delay caused by factors such as carbon brush elasticity, system inertia, and load changes, quantifying and compensating for previously ignored or roughly estimated physical processes. Based on this target cancellation delay, the ripple waveform during the anti-pinch execution phase is counted, enabling precise alignment of ripple peaks and cancellation of reverse displacement during the anti-pinch phase when the motor current changes drastically. This eliminates the ripple counting error in this phase, obtaining a target ripple count that truly reflects the motor's angular displacement, improving the positioning accuracy of the window glass and the response reliability of the anti-pinch function. Attached Figure Description

[0048] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific 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 from these drawings without creative effort.

[0049] Figure 1 This is a schematic diagram of the existing electric window structure and anti-pinch requirements;

[0050] Figure 2 This is a schematic diagram of the ripple waveform of the car window motor;

[0051] Figure 3 This is a waveform diagram of the routine ripple counting during the anti-pinch process of the car window;

[0052] Figure 4 This is a schematic flowchart of a current ripple counting method according to an embodiment of the present invention;

[0053] Figure 5 This is a schematic diagram illustrating the anti-pinch triggering reverse angle displacement cancellation delay according to an embodiment of the present invention;

[0054] Figure 6 This is a schematic diagram of ripple counting reverse cancellation peak alignment according to an embodiment of the present invention;

[0055] Figure 7 This is a schematic flowchart of another current ripple counting method according to an embodiment of the present invention;

[0056] Figure 8 This is a schematic diagram of the brush holder elastic reversal angle displacement compensation value according to an embodiment of the present invention;

[0057] Figure 9 This is a structural block diagram of a current ripple counting device according to an embodiment of the present invention;

[0058] Figure 10 This is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. Detailed Implementation

[0059] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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, 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.

[0060] According to embodiments of the present invention, a current ripple counting method and a vehicle are provided. It should be noted that the steps shown in the flowcharts in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowcharts, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0061] Figure 1 This is a schematic diagram of the existing electric window structure and anti-pinch requirements. Figure a shows the existing electric window structure, in which a DC motor, through a drive mechanism consisting of a steel wire rope, a cable sleeve, and a lifting adjuster, raises and lowers the window glass, which moves up and down within the window guide groove. Figure b shows the anti-pinch requirements for the electric window, which mainly include: anti-pinch detection distance range of 4mm-200mm; maximum pinching force of 100N; reverse retraction after pinching is detected; and detection rod deflection of 5N / mm-20N / mm. Figure 2 This is a schematic diagram of the ripple waveform of a car window motor. The ripple waveform of a car window motor is a ripple waveform formed by periodic fluctuations superimposed on a DC current. The counting of ripples is the basic technology for all car window ripple positioning and anti-pinch algorithms. The counting error directly affects the controller's positioning result of the car window glass. When the positioning error exceeds the allowable range, it will cause false anti-pinch (causing the glass to mistakenly fall down on its own when it is in the groove and rises to the top, failing to enter the groove normally) and no anti-pinch (the object is in the anti-pinch zone, but the glass does not retreat but forcibly clamps the object).

[0062] Figure 3This is a waveform diagram illustrating the routine ripple counting during the anti-pinch process of a car window. Before triggering the anti-pinch mechanism, the controller continuously counts the motor ripple during the upward movement of the glass and updates the glass position accordingly. After triggering the anti-pinch mechanism, the motor current undergoes a significant and rapid change. During this period, the motor ripple is masked, and the controller cannot perform normal ripple counting. The angular displacement of the motor during the anti-pinch phase is compensated using a calibration value. In the later stages of the anti-pinch phase, the motor reverses and reaches a certain speed, the ripple is re-established, and the controller can then perform normal ripple counting during the downward movement of the glass. Due to factors such as ambient temperature, power supply voltage, the rigidity of the clamped object, and window aging, even after calibration, there are random errors in the stroke compensation amount and the actual motor angular displacement during the anti-pinch phase. Furthermore, these errors have a cumulative effect with the increase in the number of anti-pinch attempts.

[0063] This embodiment provides a current ripple counting method. Figure 4 This is a flowchart of a current ripple counting method according to an embodiment of the present invention, such as... Figure 4 As shown, the process includes the following steps:

[0064] Step S101: Obtain the current ripple waveform of the component motor under the current operating conditions.

[0065] In this embodiment, the current signal flowing through the component motor (i.e., the DC brushed motor that drives the window glass to rise and fall) is collected in real time through the current sampling circuit of the window controller, thereby obtaining the current ripple waveform under specific current operating conditions (including motor operating voltage, ambient temperature, window system load, etc.). The current ripple waveform specifically refers to the high-frequency fluctuation signal superimposed on the motor's DC operating current, generated by the periodic commutation of the motor commutator and carbon brushes. Obtaining the current ripple waveform is the data foundation for achieving high-precision ripple counting, and the quality of the acquired waveform directly determines the accuracy of subsequent processing. To achieve this, the system needs to have the capability to sample the motor current at high speed and high resolution, and convert the analog current signal into a digital waveform signal for subsequent algorithm processing.

[0066] Step S102: Calculate the target cancellation delay of the anti-pinch trigger reverse angle displacement in the current ripple waveform.

[0067] In this embodiment, the target cancellation delay of the anti-pinch trigger reverse angular displacement is calculated based on the acquired current ripple waveform. First, the zero-crossing point (the point where the current changes from positive to negative after the anti-pinch trigger) and the first motor stop point (the instant when the forward speed drops to zero) in the current ripple waveform are identified. Then, the angular displacement cancellation value of the component motor under the current operating conditions (characterizing the small angular displacement caused by the elastic deformation of the carbon brush) is obtained from the pre-stored calibration data. Next, the angular displacement value between the zero-crossing point and the first motor stop point is calculated, and based on this angular displacement value and the angular displacement cancellation value, a sampling point is determined in the current ripple waveform. The position of the motor carbon brush at this point is exactly the same as at the zero-crossing point. Finally, the time interval between the zero-crossing point and this sampling point is used as the final target cancellation delay.

[0068] As an example, such as Figure 5 As shown, between the zero-crossing point after the anti-pinch trigger and the carbon brush position reset point: the angular displacement from the zero-crossing point to the first motor stop point is +1.42 Ripple; the angular displacement compensation required to overcome the brush holder elasticity is -0.30 Ripple; the angular displacement from the motor reversing to the position reset motor reversal point is -1.42 Ripple. The total net change in angular displacement during this process is: 1.42 + (-0.30) + (-1.42) = -0.30 Ripple. The absolute value of this net displacement is exactly equal to the brush holder elastic angular displacement calibration value, indicating that the brush holder elastic deformation has been accurately compensated. The total time required to achieve this angular displacement change, i.e., the target compensation delay, is measured to be 13.40 ms by encoder pulse timing. This delay is the time elapsed from the zero-crossing point to the complete spatial reset of the carbon brush on the commutator. In practical applications, this type of angular displacement relationship can be converted into corresponding time parameters by establishing a speed-angular displacement model.

[0069] Step S103: Based on the target cancellation delay, count the ripple waveform of the current ripple waveform during the anti-pinch execution stage to obtain the target ripple number.

[0070] In this embodiment, based on the target cancellation delay, the ripple waveform during the anti-pinch execution phase is accurately counted to obtain the target ripple number. First, the fifth angular displacement value and the sixth angular displacement value in the current ripple waveform, located in the non-full cycle before and after the target cancellation delay, are obtained. Then, the second difference between these two angular displacement values ​​is calculated, and it is verified whether the second difference meets the peak alignment condition (usually determined by whether its absolute value is less than 0.5 ripple cycles), and the verification result is obtained. Finally, the target ripple number is determined based on the verification result: if the alignment condition is met, the second difference is directly used as the target ripple number; if the alignment condition is not met, a dynamic calibration mechanism is triggered, the angular displacement cancellation update value is recalculated, and the update cancellation delay is determined accordingly. Finally, the target ripple number is re-determined based on the new delay parameters.

[0071] As an example, such as Figure 6 As shown, assuming the measured fifth angular displacement before the target cancellation delay is 0.7 ripples, the sixth angular displacement after the target cancellation delay is also 0.7 ripples. The calculated second difference is 0 ripples, satisfying the peak alignment condition. Therefore, this second difference of 0 ripples is directly used as the target ripple number for this anti-pinch execution phase, indicating that the positive and negative angular displacements are completely canceled out with no net displacement error. However, if the two measured angular displacement values ​​are 0.2 ripples and 0.9 ripples respectively, the second difference is -0.7 ripples, which does not satisfy the alignment condition. In this case, the dynamic calibration mechanism is triggered to recalibrate the parameters.

[0072] In this embodiment of the application, calculating the target cancellation delay of the anti-pinch trigger reversal angle displacement in the current ripple waveform includes:

[0073] Step A1: Identify the zero-crossing point in the current ripple waveform and the stopping point of the first motor.

[0074] Specifically, two key event points are identified in the current ripple waveform during the anti-pinch execution phase (i.e., the entire process from the triggering of the anti-pinch function to the completion of motor reversal and the re-establishment of a stable ripple). First, the zero-crossing point is identified, which is the instant when the motor current changes from a positive value to a negative value due to the application of reverse drive voltage after the anti-pinch trigger. This point can be determined by real-time monitoring of current sampling data and the change in the positive and negative signs. Second, the first motor stop point is identified, which is the instant when the motor speed drops to zero under the reverse drive of the current and is about to start reversing. This point can be determined based on the characteristics of the current ripple waveform: when the motor speed is extremely low until it stops, the ripple period will be significantly lengthened until it temporarily disappears. Therefore, it can be determined by detecting the characteristics of a sharp divergence in the ripple period or a brief interruption in the ripple signal, combined with the estimated value of the motor speed approaching zero.

[0075] Step A2: Obtain the angular displacement compensation value of the component motor due to the elastic reversal of the brush holder under the current operating conditions.

[0076] Specifically, from the pre-stored calibration data, the system retrieves fixed parameter values ​​pre-measured and stored for this model of motor under current operating conditions (covering voltage and temperature range), namely, the angular displacement compensation value for brush holder elastic reversal. This calibration value characterizes the angular displacement corresponding to the specific physical process during the initial stage of anti-pinch reversal, where the pressure between the carbon brush and the elastic metal brush holder prevents the carbon brush from immediately sliding in the opposite direction with the commutator segments. Instead, stable electrical contact is established only after the motor shaft has rotated a small angle in the opposite direction. This value is obtained by performing multiple anti-pinch tests on the actual motor using high-precision incremental encoders and other measuring equipment during the development phase, and by statistically averaging the results according to a specific algorithm (such as calculating the difference between the fractional parts of the angular displacements from the anti-pinch trigger to the stop point and from the stop point to the subsequent peak point). This value is a constant directly referenced in subsequent online calculations to compensate for this systemic deviation.

[0077] Step A3: Determine the target cancellation delay of the anti-pinch trigger reverse angular displacement based on the zero crossing point, the first motor stop point, and the angular displacement cancellation value.

[0078] Specifically, the target cancellation delay of the anti-pinch trigger reverse angular displacement is determined based on the zero-crossing point, the first motor stopping point, and the angular displacement cancellation value. This includes: acquiring the angular displacement value from the zero-crossing point to the first motor stopping point in the current ripple waveform; calculating the sum of the angular displacement and the angular displacement value; taking the first motor stopping point as the starting point, acquiring sampling points from the current ripple waveform according to the waveform timing direction, with the change in angular displacement between the sampling point and the first motor stopping point being the sum of the angular displacement, and the motor brush position corresponding to the sampling point being the same as the motor brush position corresponding to the zero-crossing point; and using the time interval between the zero-crossing point and the sampling point as the target cancellation delay of the anti-pinch trigger reverse angular displacement.

[0079] First, based on the identified current zero-crossing point and the first motor stopping point, two key calculations are performed: First, the angular displacement value from the zero-crossing point to the first motor stopping point is calculated, i.e., the cumulative angle rotated by the motor during deceleration; second, a specific sampling point is determined in the current ripple waveform, where the relative spatial position of the motor brushes and commutator is exactly the same as at the zero-crossing point. This sampling point is determined based on the following: starting from the motor stopping point, the change in angular displacement of the motor's reverse rotation must be equal to the sum of the aforementioned angular displacement value and the angular displacement cancellation value (i.e., the calibrated angular displacement of the brush holder's elastic reverse rotation). Subsequently, the time interval between the zero-crossing point and this sampling point is defined as the target cancellation delay of the anti-pinch trigger reverse angular displacement. This delay represents the total time elapsed from the start of the current zero-crossing until the motor completes its reverse rotation and the brush spatial position is fully reset.

[0080] In this embodiment of the application, the ripple count of the current ripple waveform during the anti-pinch execution phase is performed based on the target cancellation delay to obtain the target ripple count, including:

[0081] Step B1: Obtain the fifth angular displacement value in the current ripple waveform located in the non-full cycle before the target cancellation delay, and the sixth angular displacement value located in the non-full cycle after the target cancellation delay.

[0082] It should be noted that the first non-full cycle refers to the incomplete ripple cycle from the point after the anti-pinch trigger, when the current crosses zero, until the start of the target cancellation delay. Because the current changes drastically after the anti-pinch trigger, the ripple waveform is disrupted, and the ripple during this period is not a complete periodic waveform. The motor angle corresponding to this ripple is a decimal angular displacement value less than a complete ripple cycle. The second non-full cycle refers to the incomplete ripple cycle from the end of the target cancellation delay until the first complete and stable ripple peak appears. At this time, the motor has begun to reverse and gradually accelerate; the ripple is being reconstructed but has not yet entered a stable periodic state, therefore it is also not a complete periodic waveform, and its corresponding angular displacement needs to be estimated. The target cancellation delay is a critical time period, starting at the current crosses zero and ending at the sampling point where the motor brushes return to the same position as at the zero-crossing point. This time period spans the entire dynamic process of the motor from deceleration to stopping and then reversing back to the origin.

[0083] Specifically, before and after the determined target cancellation delay key time point, angular displacement estimation is performed on two incomplete ripple segments. First, the fifth angular displacement value is obtained, which is the motor rotation angle corresponding to the last incomplete ripple cycle (the previous non-full cycle) in the current ripple waveform, from the zero-crossing point of the anti-pinch execution phase to the starting point of the target cancellation delay. This value is a decimal angular displacement less than a full ripple cycle. Next, the sixth angular displacement value is obtained, which is the motor rotation angle corresponding to the first incomplete ripple cycle (the subsequent non-full cycle) in the current ripple waveform, from the end point of the target cancellation delay to the first complete and stable ripple peak that appears thereafter. Obtaining these two angular displacement values ​​requires the application of specific signal processing and estimation algorithms (such as a uniform acceleration model) to clip, sharpen peaks, and estimate the period of the non-full-cycle ripple waveform, calculating the precise angular displacement they represent.

[0084] Step B2: Determine the target ripple number in the anti-pinch execution stage of the current ripple waveform based on the fifth and sixth angular displacement values.

[0085] In this embodiment of the application, determining the target ripple number in the anti-pinch execution phase of the current ripple waveform based on the fifth angular displacement value and the sixth angular displacement value includes:

[0086] Step B201: Calculate the second difference between the fifth angular displacement value and the sixth angular displacement value.

[0087] Specifically, based on the obtained fifth angular displacement value (the angular displacement in the non-full cycle before the target cancellation delay) and sixth angular displacement value (the angular displacement in the non-full cycle after the target cancellation delay), an arithmetic subtraction operation is performed, that is, the fifth angular displacement value is subtracted from the sixth angular displacement value, and the result is defined as the second difference. This calculation is the core operation for realizing ripple counting reverse cancellation and peak alignment judgment. Its physical meaning lies in quantifying the deviation between the angular displacements represented by the ripples in the two non-full cycles before and after the target cancellation delay.

[0088] Step B202: Verify whether the second difference meets the peak alignment condition and obtain the verification result.

[0089] Specifically, the absolute value of the calculated second difference is compared with a preset judgment threshold (e.g., 0.5 ripple cycles) to verify whether it meets the physical peak alignment condition. The core of this condition is determining whether the two ripple peaks before and after the target cancellation delay are spatially aligned, i.e., whether the carbon brush has returned to the same position on the commutator. The verification result is a logical judgment output: if the absolute value of the second difference is less than the threshold, it is determined that the alignment condition is met, and the verification result is yes; otherwise, it is determined that the alignment condition is not met, and the verification result is no. This step is crucial for achieving high-precision ripple counting and error self-diagnosis.

[0090] Step B203: Determine the target ripple number in the anti-pinch execution stage of the current ripple waveform based on the verification results.

[0091] Specifically, the target ripple number in the anti-pinch execution phase of the current ripple waveform is determined based on the verification results, including the following two cases: Case 1: If the verification result shows that the second difference meets the peak alignment condition, then the second difference is taken as the target ripple number in the anti-pinch execution phase of the current ripple waveform; Case 2: If the verification result shows that the second difference does not meet the peak alignment condition, then the dynamic calibration mechanism is triggered to recalculate the angular displacement cancellation update value of the component motor under the current operating conditions of the brush holder elastic reversal, and the update cancellation delay is determined based on the angular displacement cancellation update value, and the target ripple number in the anti-pinch execution phase of the current ripple waveform is determined based on the update cancellation delay.

[0092] In Case 1, where the verification result shows that the second difference satisfies the peak alignment condition, the target ripple number is determined by directly using the second difference (the difference between the fifth and sixth angular displacement values) as the final target ripple number. The logic behind this decision is that satisfying the alignment condition means that the positive angular displacement before the anti-pinch trigger and the reverse angular displacement calculated after the anti-pinch trigger and target cancellation delay have been mutually canceled. At this point, the second difference represents the high-precision (with decimal places) net ripple number to be compensated, so no correction is needed and it can be used directly.

[0093] In scenario 2, where the verification result indicates that the second difference does not meet the peak alignment condition, the target ripple number is determined by triggering a dynamic calibration mechanism. This mechanism is a closed-loop correction process: First, based on the error information indicating that the alignment condition is not met, the determination process for the angular displacement cancellation value is re-executed to calculate an updated angular displacement cancellation value for the brush holder elastic reversal that better matches the current operating conditions. Subsequently, based on this updated value, the update cancellation delay for the anti-pinch trigger reversal angular displacement is recalculated. Finally, based on the updated cancellation delay, the subsequent process, starting from acquiring the angular displacement values ​​in the current ripple waveform located in the non-full cycle before and after the target cancellation delay, is re-executed to calculate the correct target ripple number, ensuring the accuracy of the target ripple number.

[0094] In the embodiments of this application, such as Figure 7 As shown, the methods for determining the angular displacement compensation value include:

[0095] Step S201: Obtain the current ripple test waveform and incremental pulse waveform of the component motor under the current operating conditions. The incremental pulse waveform is the waveform output by the incremental encoder when the component motor is running. The incremental pulse waveform and the current ripple test waveform are in the same dimension. The incremental encoder is installed on the output shaft of the component motor.

[0096] In this embodiment, a high-precision incremental angle encoder is pre-mounted coaxially on the output shaft of the motor to be calibrated. The encoder internally employs photoelectric or magnetoelectric sensors to convert the mechanical rotation angle of the motor shaft into two orthogonal (90° out of phase) A-phase and B-phase pulse sequences, forming the incremental pulse waveform. When the motor operates under the set current operating conditions, the encoder rotates synchronously with the motor shaft, and the number of output pulses precisely corresponds to the angular displacement of the motor. The phase relationship between phases A and B is used to determine the direction of motor rotation (forward or reverse). The incremental pulse waveform and the simultaneously acquired current ripple test waveform are in the same dimension, meaning that during the calibration process, the data acquisition system uses the same sampling clock or time reference to synchronously acquire and record these two signals, ensuring that each current ripple data point is strictly aligned with the corresponding encoder pulse sequence data point. This establishes a unified time-angular displacement-current ripple mapping relationship, providing a reliable timing and data foundation for subsequent accurate calibration of various angular displacement parameters (such as brush holder elastic reversal angular displacement) during the motor's dynamic process.

[0097] Step S202: Determine the anti-pinch trigger point, the second motor stop point, and the motor reverse point in the current ripple test waveform based on the incremental pulse waveform.

[0098] In this embodiment, a time-displacement reference provided by a high-precision incremental pulse waveform is used to accurately locate the occurrence times of three key events in the synchronously acquired current ripple test waveform. First, the anti-pinch trigger point is determined, i.e., the initial moment when the anti-pinch function is activated and the motor drive command reverses. This can be initially determined by identifying a sharp change in current or specific characteristics in the current ripple test waveform caused by the reverse drive voltage, and further confirmed and timestamped using the motor rotation dynamics displayed by the incremental pulse waveform. Second, the second motor stop point is determined, i.e., the instant the motor's forward speed drops to zero. This event can be accurately captured by monitoring the A / B phase pulse frequency of the incremental pulse waveform; that is, the edge moment of the last valid pulse corresponding to the continuous increase of the pulse interval until the pulse signal is temporarily interrupted is the second motor stop point. Finally, the motor reversal point is determined, i.e., the starting moment when the motor actually begins to rotate in the reverse direction under the action of reverse torque after stopping. This can be determined by monitoring the reappearance of the pulse signal in the incremental pulse waveform after a brief interruption, and by determining the edge moment of the first pulse indicating reverse rotation based on the phase relationship of the A / B phases. These three key time points are precisely mapped onto the current ripple test waveform, providing a unified time reference for subsequent angular displacement calculations.

[0099] Step S203: Determine the initial value of the angular displacement offset for the elastic reversal of the brush holder during each anti-pinch execution stage based on the anti-pinch trigger point, the second motor stop point, and the motor reversal point.

[0100] In this embodiment, the identified anti-pinch trigger point, the second motor stop point, and the motor reversal point are used as time references. By processing the synchronously acquired incremental pulse waveforms, the forward rotation angular displacement from the previous characteristic position (such as a specific peak or trough) before the anti-pinch trigger point to the second motor stop point, and the reverse rotation angular displacement from the second motor stop point to the next characteristic position (such as the first peak or trough after stabilization) after the motor reversal point are calculated. The difference between the decimal parts of the two angular displacement values ​​is taken as the initial value for offsetting the angular displacement of the brush holder elastic reversal in this test.

[0101] As an example, such as Figure 8As shown, during the calibration of the anti-pinch execution phase, based on the anti-pinch trigger point and the second motor stop point, the following calculations are performed: From the upper peak of a ripple before the anti-pinch trigger point to the stop point of the second motor, the angular displacement of the motor measured by the high-precision encoder is 3.12 Ripple (third angular displacement value); from the stop point of the second motor starting to reverse, to a subsequent lower peak of a ripple, the angular displacement of the motor measured is 3.42 Ripple (fourth angular displacement value). According to the motor structural characteristics, the angular displacement of the brush holder elastic reversal will not exceed 0.5 ripple cycles. Therefore, the integer part (i.e., the integer part 3) of the above two angular displacement values ​​is ignored in the calculation, and only the fractional part is processed; the first difference is calculated: 0.42 (from 3.42) - 0.12 (from 3.12) = 0.30 Ripple; this first difference of 0.30 Ripple is the initial value of the angular displacement cancellation of the brush holder elastic reversal calculated in this anti-pinch execution phase.

[0102] Step S204: Determine the angular displacement offset value of the component motor under the current working condition for the brush holder to elastically reverse by using the initial value of angular displacement offset corresponding to each anti-pinch execution stage.

[0103] In this embodiment of the application, the angular displacement cancellation value of the component motor under the current working condition is determined by using the initial angular displacement cancellation value corresponding to each anti-pinch execution stage. This includes: calculating the average angular displacement cancellation value of multiple initial angular displacement cancellation values; and determining the average angular displacement cancellation value as the angular displacement cancellation value of the component motor under the current working condition for the elastic reversal of the brush frame.

[0104] In this embodiment, to improve parameter reliability and eliminate random errors from single measurements, the method performs multiple (e.g., N) anti-pinch process tests on the same motor under the same operating conditions to obtain multiple initial values ​​for brush holder elastic reversal angular displacement compensation. These initial values ​​are then statistically averaged to calculate their arithmetic mean, which is ultimately determined as the brush holder elastic reversal angular displacement compensation value for the motor under the current operating conditions. This process effectively smooths out random errors caused by environmental fluctuations, measurement noise, and other factors, thereby obtaining a stable and reusable physical characteristic parameter, providing a reliable compensation basis for subsequent high-precision ripple counting.

[0105] In this embodiment of the application, the initial value of the angular displacement offset for the elastic reversal of the brush holder during each anti-pinch execution stage is calculated based on the anti-pinch trigger point, the second motor stop point, and the motor reversal point, including:

[0106] Step C1: For each anti-pinch execution stage, obtain the third angular displacement value of the motor between the peak point above the anti-pinch trigger point and the second motor stop point, and the fourth angular displacement value of the motor between the second motor stop point and the next peak point below the motor reversal point.

[0107] Specifically, during the calibration process, the angle information provided by the synchronously acquired incremental pulse waveforms is used to measure the angular displacement of two specific motion intervals in each anti-pinch execution phase. First, the third angular displacement value is obtained, which is the cumulative angular displacement of the motor from the last stable ripple peak before the anti-pinch trigger point to the second motor stop point. This value is obtained by counting the number of pulses in the incremental pulse waveform within this time interval and converting it to the number of ripple cycles (with decimal places). Second, the fourth angular displacement value is obtained, which is the cumulative angular displacement of the motor from the second motor stop point, rotating in the opposite direction until the first stable ripple peak appears after passing the motor reversal point. This value is also obtained by counting the number of pulses in the incremental pulse waveform within this reversal interval and converting it. These two angular displacement values ​​are the basis for subsequently calculating the initial value for angular displacement cancellation of the brush holder's elastic reversal.

[0108] Step C2: Calculate the first difference between the third angular displacement value and the fourth angular displacement value, and use the first difference as the initial value for offsetting the angular displacement of the brush holder elastic reversal during the anti-pinch execution stage.

[0109] Specifically, based on the determined third angular displacement value (angular displacement from the peak point above the anti-pinch trigger point to the stopping point of the second motor) and fourth angular displacement value (angular displacement from the stopping point of the second motor to the peak point below the anti-pinch termination point), an arithmetic subtraction operation is performed, that is, the fourth angular displacement value is subtracted from the third angular displacement value, and the result is defined as the first difference. Since the motor structure and the strength of the carbon brush holder ensure that the actual elastic reversal angular displacement of the brush holder will not exceed 0.5 ripple cycles, the integer parts of the two angular displacement values ​​are ignored when calculating the first difference, and only the fractional parts are subtracted. The resulting first difference is the initial value of the angular displacement offset of the elastic reversal of the brush holder measured in this anti-pinch execution stage. This value quantifies the tiny angular displacement caused by the elastic characteristics of the carbon brush holder that was not included in the traditional counting method in the early stage of motor reversal.

[0110] This embodiment also provides a current ripple counting device for implementing the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0111] This embodiment provides a current ripple counting device, such as... Figure 9 As shown, it includes:

[0112] The acquisition module 91 is used to acquire the current ripple waveform of the component motor under the current operating conditions;

[0113] Calculation module 92 is used to calculate the target cancellation delay of the anti-pinch trigger reverse angle displacement in the current ripple waveform;

[0114] The counting module 93 is used to count the ripple waveform of the current ripple waveform during the anti-pinch execution stage based on the target cancellation delay, and obtain the target ripple number.

[0115] In this embodiment of the application, the calculation module 92 is specifically used to identify the zero-crossing point and the first motor stop point in the current ripple waveform; obtain the angular displacement cancellation value of the component motor under the current working conditions of the brush holder elastic reversal; and determine the target cancellation delay of the anti-pinch trigger reversal angular displacement based on the zero-crossing point, the first motor stop point and the angular displacement cancellation value.

[0116] In this embodiment, the calculation module 92 is specifically used to obtain the angular displacement value from the zero-crossing point to the first motor stop point in the current ripple waveform; calculate the angular displacement compensation value and the sum of the angular displacement values; take the first motor stop point as the starting point, obtain sampling points from the current ripple waveform according to the waveform timing direction, the change in angular displacement between the sampling point and the first motor stop point is the sum of the angular displacement values, the position of the motor brush corresponding to the sampling point is the same as the position of the motor brush corresponding to the zero-crossing point; and use the time interval between the zero-crossing point and the sampling point as the target compensation delay for the anti-pinch trigger reverse angular displacement.

[0117] In this embodiment, the device further includes: a determining module, configured to acquire the current ripple test waveform and incremental pulse waveform of the component motor under the current operating conditions, wherein the incremental pulse waveform is the waveform output by the incremental encoder when the component motor is running, the incremental pulse waveform and the current ripple test waveform are in the same dimension, and the incremental encoder is mounted on the output shaft of the component motor; the module determines the anti-pinch trigger point, the second motor stop point and the motor reverse point in the current ripple test waveform based on the incremental pulse waveform; the module determines the initial value of the angular displacement cancellation of the brush holder elastic reversal in each anti-pinch execution stage based on the anti-pinch trigger point, the second motor stop point and the motor reverse point; and the module determines the angular displacement cancellation value of the brush holder elastic reversal under the current operating conditions using the initial value of the angular displacement cancellation corresponding to each anti-pinch execution stage.

[0118] In this embodiment of the application, the determining module is specifically used to obtain, for each anti-pinch execution stage, the third angular displacement value of the motor between the peak point above the anti-pinch trigger point and the second motor stop point, and the fourth angular displacement value of the motor between the second motor stop point and the next peak point below the motor reversal point; calculate the first difference between the third angular displacement value and the fourth angular displacement value, and use the first difference as the initial value for offsetting the angular displacement of the brush holder elastic reversal during the anti-pinch execution stage.

[0119] In this embodiment of the application, the determining module is specifically used to calculate the average value of angular displacement cancellation of multiple initial values ​​of angular displacement cancellation; and to determine the average value of angular displacement cancellation as the angular displacement cancellation value of the component motor under the current operating conditions due to the elastic reversal of the brush holder.

[0120] In this embodiment of the application, the counting module 93 is specifically used to obtain the fifth angular displacement value in the current ripple waveform located in the non-full cycle before the target cancellation delay and the sixth angular displacement value located in the non-full cycle after the target cancellation delay; and to determine the target ripple number in the current ripple waveform during the anti-pinch execution stage based on the fifth angular displacement value and the sixth angular displacement value.

[0121] In this embodiment, the counting module 93 is specifically used to calculate the second difference between the fifth angular displacement value and the sixth angular displacement value; verify whether the second difference meets the peak alignment condition and obtain the verification result; and determine the target ripple number in the anti-pinch execution stage of the current ripple waveform based on the verification result.

[0122] In this embodiment, the counting module 93 is specifically used to: if the verification result shows that the second difference satisfies the peak alignment condition, then use the second difference as the target ripple number in the anti-pinch execution stage of the current ripple waveform; or, if the verification result shows that the second difference does not satisfy the peak alignment condition, then trigger the dynamic calibration mechanism to recalculate the angular displacement cancellation update value of the component motor under the current operating conditions of the brush holder elastic reversal, determine the update cancellation delay based on the angular displacement cancellation update value, and determine the target ripple number in the anti-pinch execution stage of the current ripple waveform based on the update cancellation delay.

[0123] Please see Figure 10 , Figure 10 This is a schematic diagram of the structure of a computer device provided in an optional embodiment of the present invention, such as... Figure 10 As shown, the computer device includes one or more processors 10, memory 20, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components communicate with each other via different buses and can be mounted on a common motherboard or otherwise installed as needed. The processors can process instructions executed within the computer device, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as display devices coupled to the interfaces). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple computer devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system).

[0124] Processor 10 may be a central processing unit, a network processor, or a combination thereof. Processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GDA), or any combination thereof.

[0125] The memory 20 stores instructions executable by at least one processor 10 to cause at least one processor 10 to perform the method shown in the above embodiments.

[0126] The memory 20 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the computer device as shown by a landing page for an app. Furthermore, the memory 20 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory 20 may optionally include memory remotely located relative to the processor 10, which can be connected to the computer device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0127] The memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk or solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0128] The computer device also includes a communication interface 30 for communicating with other devices or communication networks.

[0129] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code, which, when accessed and executed by the computer, processor, or hardware, implements the methods shown in the above embodiments.

[0130] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A current ripple counting method, characterized by, The method includes: Obtain the current ripple waveform of the component motor under the current operating conditions; Calculate the target cancellation delay of the anti-pinch trigger reverse angular displacement in the current ripple waveform, wherein the target cancellation delay is the time interval between the zero-crossing point and the sampling point in the current ripple waveform, and the sampling point is determined based on the first motor stop point, the angular displacement cancellation value, and the angular displacement value from the zero-crossing point to the first motor stop point. The angular displacement cancellation value is obtained by the component motor under the current working condition of the brush holder elastic reverse. Based on the target cancellation delay, the ripple waveform of the current ripple waveform in the anti-pinch execution stage is counted to obtain the target ripple number, wherein the target ripple number is determined according to the angular displacement value of the non-full cycle before the target cancellation delay and the non-full cycle after the target cancellation delay.

2. The method according to claim 1, characterized in that, The calculation of the target cancellation delay of the anti-pinch trigger reverse angle displacement in the current ripple waveform includes: Identify the zero-crossing point and the first motor stop point in the current ripple waveform; Obtain the angular displacement compensation value of the component motor due to the elastic reverse rotation of the brush holder under the current operating conditions; The target cancellation delay of the anti-pinch triggered reverse angular displacement is determined based on the zero crossing point, the first motor stopping point, and the angular displacement cancellation value.

3. The method according to claim 2, characterized in that, The step of determining the target cancellation delay of the anti-pinch triggered reverse angular displacement based on the zero-crossing point, the first motor stop point, and the angular displacement cancellation value includes: Obtain the angular displacement value in the current ripple waveform from the zero-crossing point to the first motor stop point; Calculate the sum of the angular displacement and the angular displacement values; Starting from the first motor stop point, sampling points are obtained from the current ripple waveform according to the waveform timing direction. The angular displacement change between the sampling point and the first motor stop point is the sum of the angular displacements. The motor brush position corresponding to the sampling point is the same as the motor brush position corresponding to the zero-crossing point. The time interval between the zero-crossing point and the sampling point is used as the target cancellation delay of the anti-pinch triggered reverse angular displacement.

4. The method according to claim 2, characterized in that, The method for determining the angular displacement compensation value includes: The current ripple test waveform and incremental pulse waveform of the component motor under the current operating conditions are obtained. The incremental pulse waveform is the waveform output by the incremental encoder when the component motor is running. The incremental pulse waveform and the current ripple test waveform are in the same dimension. The incremental encoder is installed on the output shaft of the component motor. Based on the incremental pulse waveform, the anti-pinch trigger point, the second motor stop point, and the motor reverse point are determined in the current ripple test waveform. The initial value of the angular displacement offset for the elastic reversal of the brush holder during each anti-pinch execution stage is determined based on the anti-pinch trigger point, the second motor stop point, and the motor reversal point. The angular displacement cancellation value of the component motor under the current operating conditions is determined by using the initial value of angular displacement cancellation corresponding to each of the anti-pinch execution stages.

5. The method of claim 4, wherein, The calculation of the initial value of the angular displacement offset for the elastic reversal of the brush holder during each anti-pinch execution stage, based on the anti-pinch trigger point, the second motor stop point, and the motor reversal point, includes: For each of the anti-pinch execution stages, the third angular displacement value of the motor between the peak point above the anti-pinch trigger point and the second motor stop point, and the fourth angular displacement value of the motor between the second motor stop point and the next peak point below the motor reversal point are obtained; Calculate the first difference between the third angular displacement value and the fourth angular displacement value, and use the first difference as the initial value for offsetting the angular displacement of the brush holder elastic reversal during the anti-pinch execution phase.

6. The method of claim 4, wherein, The step of determining the angular displacement compensation value of the component motor under the current operating conditions for the brush holder elastic reverse rotation using the initial value of angular displacement compensation corresponding to each of the anti-pinch execution stages includes: Calculate the mean angular displacement cancellation value of the multiple initial angular displacement cancellation values; The average angular displacement cancellation value is determined as the angular displacement cancellation value of the component motor under the current operating conditions due to the elastic reversal of the brush holder.

7. The method of claim 1, wherein, The step of counting the ripples in the current ripple waveform during the anti-pinch execution phase based on the target cancellation delay to obtain the target ripple count includes: Obtain the fifth angular displacement value in the current ripple waveform located in the non-full cycle before the target cancellation delay, and the sixth angular displacement value located in the non-full cycle after the target cancellation delay; The target ripple number in the anti-pinch execution phase of the current ripple waveform is determined based on the fifth angular displacement value and the sixth angular displacement value.

8. The method of claim 7, wherein, Determining the target ripple number in the anti-pinch execution phase of the current ripple waveform based on the fifth angular displacement value and the sixth angular displacement value includes: Calculate the second difference between the fifth angular displacement value and the sixth angular displacement value; Verify whether the second difference meets the peak alignment condition to obtain the verification result; The target ripple number in the anti-pinch execution phase of the current ripple waveform is determined based on the verification results.

9. The method according to claim 8, characterized in that, The step of determining the target ripple number in the anti-pinch execution phase of the current ripple waveform based on the verification results includes: If the verification result is that the second difference satisfies the peak alignment condition, then the second difference is taken as the target ripple number in the anti-pinch execution stage of the current ripple waveform; Alternatively, if the verification result is that the second difference does not meet the peak alignment condition, the dynamic calibration mechanism is triggered to recalculate the angular displacement cancellation update value of the component motor under the current operating conditions of the brush holder elastic reversal, and the update cancellation delay is determined according to the angular displacement cancellation update value, and the target ripple number in the anti-pinch execution stage of the current ripple waveform is determined based on the update cancellation delay.

10. A vehicle characterized by comprising: The vehicle includes a controller, which includes a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the computer instructions to perform the method of any one of claims 1 to 9.

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