Execution motor rotation angle compensation method and system for active air-inlet grille

Abstract

The invention provides an execution motor rotation angle compensation method and system for an active air inlet grille. The method comprises the steps that a target angle instruction used for controlling blades of the active grille is obtained; determining a rotor expected angle corresponding to the target angle instruction based on a pre-established reference mapping relation between a real physical angle of a grating blade and a rotor angle of an execution motor; acquiring at least one real-time working condition parameter of the execution motor; determining an angle compensation value according to the at least one real-time working condition parameter and a pre-constructed dynamic error mapping relation, and compensating the expected angle of the rotor based on the angle compensation value; wherein the dynamic error mapping relation is used for representing the incidence relation between the at least one real-time working condition parameter and the angle compensation value. According to the invention, high precision and consistency of angle control are realized in a full life cycle and a full working condition range.

Description

Technical Field

[0001] This invention relates to the field of automotive thermal management system technology, specifically to a method and system for compensating the rotation angle of an actuator motor for an active air intake grille. Background Technology

[0002] The active grille shutter is a core component of modern automotive thermal management systems. By precisely adjusting the opening and closing angle of the grille blades, it effectively balances engine cooling needs with overall vehicle aerodynamic performance, which is crucial for reducing fuel consumption and increasing driving range. The actuator motor, as the core of the drive blades, directly determines the actual effectiveness of the grille by controlling the precision of its angular position.

[0003] Currently, the angle control of the motor ignores the influence of real-time operating conditions such as temperature and load, or only performs coarse linear compensation for a single variable (such as temperature). It fails to establish an accurate dynamic mapping relationship between the multivariate coupling effect and the angle error, and cannot cope with the simultaneous effect of multiple disturbance factors in the complex operating environment of the vehicle.

[0004] Therefore, there is an urgent need to provide a method and system for compensating the rotation angle of the actuator motor for active air intake grille, which can overcome the technical problem that existing static calibration / compensation cannot cope with the simultaneous effects of multiple interference factors in the complex operating environment of the vehicle, resulting in low rotation angle control accuracy. Summary of the Invention

[0005] In view of this, it is necessary to provide a method and system for compensating the rotation angle of the actuator motor for active air intake grille, so as to solve the technical problem that the static calibration / compensation in the prior art cannot cope with the simultaneous action of multiple interference factors in the complex operating environment of the vehicle, resulting in low rotation angle control accuracy.

[0006] To address the aforementioned technical problems, in a first aspect, the present invention provides a method for compensating the rotation angle of an actuator motor for an active air intake grille, applicable to a system comprising multiple active grille blades and multiple actuator motors corresponding one-to-one with the multiple active grille blades, the method comprising: Obtain the target angle command for controlling the active grille blades; Based on the pre-established benchmark mapping relationship between the actual physical angle of the grille blades and the rotor angle of the executing motor, the desired rotor angle corresponding to the target angle command is determined. Obtain at least one real-time operating parameter of the actuator; Based on the at least one real-time operating condition parameter and the pre-built dynamic error mapping relationship, the angle compensation value is determined, and the desired angle of the rotor is compensated based on the angle compensation value. The dynamic error mapping relationship is used to characterize the correlation between the at least one real-time operating condition parameter and the angle compensation value.

[0007] In one possible implementation, the at least one real-time operating parameter includes real-time temperature, real-time rotational speed, real-time load current, and real-time direction of motion.

[0008] In one possible implementation, the dynamic error mapping relationship is a weighted sum of temperature error mapping relationship, speed error mapping relationship, load current error mapping relationship, and mechanical hysteresis error mapping relationship; then, determining the angle compensation value based on the at least one real-time operating condition parameter and the pre-constructed dynamic error mapping relationship includes: The temperature angle compensation value is determined based on the real-time temperature and the temperature error mapping relationship. The rotational speed angle compensation value is determined based on the real-time rotational speed and the rotational speed error mapping relationship; The load current angle compensation value is determined based on the real-time load current and the load current error mapping relationship. The mechanical hysteresis angle compensation value is determined based on the real-time motion direction and the mechanical hysteresis error mapping relationship. The weighted sum of the temperature angle compensation value, the rotational speed angle compensation value, the load current angle compensation value, and the mechanical hysteresis angle compensation value is used as the angle compensation value.

[0009] In one possible implementation, determining the angle compensation value based on the at least one real-time operating condition parameter and a pre-built dynamic error mapping relationship further includes: The aging angle compensation value is determined based on the running time of the actuator motor; The weighted sum of the temperature angle compensation value, the speed angle compensation value, the load current angle compensation value, the mechanical hysteresis angle compensation value, and the aging angle compensation value is used as the angle compensation value.

[0010] In one possible implementation, each actuator corresponds to an angle compensation value; then the method further includes: Obtain multiple angle compensation values ​​calculated by the multiple actuators respectively; A collaborative compensation value is determined based on the multiple angle compensation values. The collaborative compensation value is used to make the maximum difference between the compensated rotor angles of each of the actuators less than or equal to a preset difference. The collaborative compensation value is superimposed on each of the actuators to obtain the final control angle.

[0011] In one possible implementation, determining the collaborative compensation value based on the plurality of angle compensation values ​​includes: Calculate the average angle compensation of all actuators, and calculate the maximum positive and maximum negative deviations of all angle compensation values ​​from the average angle compensation. The difference between the maximum positive deviation and the maximum negative deviation is taken as the synchronization error; When the synchronization error is less than or equal to the maximum allowable blade difference, the average of the maximum positive deviation and the maximum negative deviation is used as the collaborative compensation value for all actuators. When the synchronization error is greater than the maximum allowable blade difference, the product of the difference between the synchronization error and the maximum allowable blade difference and the synchronization stiffness coefficient is calculated, and the difference between the product and the average of the maximum positive deviation and the maximum negative deviation is taken as the collaborative compensation value.

[0012] In one possible implementation, the method further includes: The sum of the rotor desired angle, the angle compensation value, and the cooperative compensation value is taken as the target control angle; The control actuator receives an absolute synchronization timestamp, and based on the absolute synchronization timestamp, controls the multiple actuators to start or complete the action of adjusting the rotor angle to the target control angle at the same time.

[0013] In one possible implementation, the method further includes: When the active grille blades move to the fully closed mechanical limit position, the position sensor reading of the actuator motor is recorded; The current blade angle is determined based on the position sensor reading and the reference mapping relationship, and the angle deviation between the current blade angle and the known theoretical physical angle corresponding to the mechanical limit position is calculated. When the angle deviation is greater than the angle deviation threshold, an incremental sample set is constructed based on the angle deviation and the corresponding operating condition parameters. The dynamic error mapping relationship is dynamically corrected based on the incremental sample set.

[0014] In one possible implementation, the dynamic correction of the dynamic error mapping relationship based on the incremental sample set includes: When the number of samples in the incremental sample set increases by a preset number, the dynamic error mapping relationship is dynamically corrected based on the incremental sample set.

[0015] In a second aspect, the present invention also provides an actuator motor angle compensation system for an active air intake grille, comprising a main controller and multiple distributed actuators; The main controller is used to broadcast target angle commands to the plurality of distributed actuators; Each of the distributed actuators corresponds to one active grid blade, and each of the distributed actuators includes: A microcontroller, which stores a reference mapping relationship and a dynamic error mapping relationship, is configured to: determine the desired rotor angle based on the reference mapping relationship and a received target angle command, calculate an angle compensation value based on at least one real-time operating parameter and the dynamic error mapping relationship, compensate the desired rotor angle based on the angle compensation value, and generate an angle adjustment command. The drive motor responds to the angle adjustment command and adjusts the rotor angle.

[0016] The beneficial effects of the present invention are as follows: The method for compensating the rotation angle of the actuator motor for active air intake grille provided by the present invention can determine the angle compensation value based on at least one real-time operating parameter based on a pre-built dynamic error mapping relationship. That is, it can dynamically calculate the accurate angle compensation value according to the real-time operating parameter, effectively counteracting the changes in magnetic properties caused by motor heating, the load fluctuations caused by changes in airflow resistance, and the angle drift introduced by dynamic factors such as thermal expansion and contraction of mechanical parts. It significantly improves the control accuracy and robustness of the motor angle under various complex and time-varying operating conditions.

[0017] Furthermore, this invention employs a two-layer architecture based on a reference mapping relationship and a dynamic error mapping relationship. The reference mapping relationship addresses static and inherent deviations by first accurately converting the target angle command into the desired rotor angle of the executing motor. Then, the dynamic mapping relationship is used to perform real-time fine-tuning and compensation of the desired rotor angle. This approach ensures long-term stability based on the desired rotor angle while guaranteeing short-term adaptability through dynamic compensation, thereby achieving high precision and consistency in angle control throughout the entire lifecycle and under all operating conditions. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic flowchart of an embodiment of the method for compensating the rotation angle of an actuator motor for an active air intake grille provided by the present invention; Figure 2 For the present invention Figure 1 A schematic diagram of an embodiment of S104; Figure 3 For the present invention Figure 1 Another embodiment of the process flow diagram of S104; Figure 4 This is a schematic flowchart of an embodiment of the multi-motor cooperative control provided by the present invention; Figure 5 For the present invention Figure 4 Another embodiment of the S402 flowchart is shown below; Figure 6 A schematic flowchart of an embodiment of the self-learning process for dynamic error mapping relationships provided by the present invention; Figure 7 This is a schematic diagram of an embodiment of the actuator motor angle compensation system for active air intake grilles provided by the present invention. Detailed Implementation

[0020] 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 a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0021] It should be understood that the illustrative drawings are not drawn to scale. The flowcharts used in this invention illustrate operations implemented according to some embodiments of the invention. It should be understood that the operations in the flowcharts may be implemented out of order, and steps without logical contextual relationships may be reversed or performed simultaneously. Furthermore, those skilled in the art, guided by the content of this invention, may add one or more other operations to the flowcharts, or remove one or more operations from the flowcharts. Some block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities may be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor systems and / or microcontroller systems.

[0022] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0023] In practical applications, operating conditions can change, which alters the sensing characteristics and mechanical transmission relationship. This leads to a change in the reference mapping relationship between the actual physical angle of the grille blades and the rotor angle of the actuator motor. Existing technologies cannot describe this complex change using fixed formulas or single-point calibration, resulting in technical problems such as low accuracy in controlling the motor angle.

[0024] To address the aforementioned technical problems, this invention provides a method and system for compensating the rotation angle of an actuator motor for an active air intake grille. The system is applied to a system comprising multiple active grille blades and multiple actuator motors corresponding to each of the multiple active grille blades, which will be described in detail below.

[0025] Figure 1 This is a schematic flowchart of an embodiment of the method for compensating the rotation angle of an actuator motor for an active air intake grille provided by the present invention, as shown below. Figure 1 As shown, the method for compensating the rotation angle of the actuator motor used for the active air intake grille includes: S101. Obtain the target angle command for controlling the active grid blades.

[0026] Specifically, the target angle command is determined based on the vehicle's overall thermal management and aerodynamic requirements. For example, based on engine coolant temperature, air conditioning system requirements, vehicle speed, ambient temperature, battery temperature, driving mode, etc., an optimal grille opening is calculated according to the built-in control strategy. Then, based on the grille opening, a target angle value is generated and sent to the active grille system via the CAN bus. The active grille system includes multiple active grille blades.

[0027] S102. Based on the pre-established reference mapping relationship between the actual physical angle of the grille blades and the rotor angle of the executing motor, determine the desired rotor angle corresponding to the target angle command.

[0028] The specific process of constructing the baseline mapping relationship is as follows: Under controlled temperature and humidity conditions, external high-precision measuring equipment is used to simultaneously record the rotor angle data of the actuator and the actual physical angle data of the grid blades, and a benchmark mapping relationship is constructed based on the rotor angle data and the actual physical angle data of the grid blades.

[0029] Specifically, the process of constructing the benchmark mapping relationship is divided into three stages: test preparation and installation, environmental control and stabilization, automated step measurement, and data verification and processing. Phase 1: Test Preparation and Installation Fix the test piece: Rigidly mount the active air intake grille blades and the actuator motor on the high-precision temperature control turntable, ensuring that the turntable shaft and the blade rotation shaft are coaxial and that the angle readings (such as photoelectric encoders) have been calibrated.

[0030] Establish a measurement benchmark: Install external high-precision measuring equipment. Common solutions include: Option A: Laser Tracker System. A reflective target sphere is installed on the blade. The laser tracker tracks the changes in the three-dimensional spatial coordinates of the target sphere, calculates the change in the normal vector of the blade's rotation plane, and thus calculates the absolute angle. The accuracy can reach the ±0.01° level.

[0031] Option B: Machine vision system. High-contrast markers are created on the blades. Using a calibrated industrial camera, angles are calculated through image processing and computer vision algorithms (such as edge detection and template matching). The accuracy is typically around ±0.05°.

[0032] Option C: High-precision tilt sensor. A miniature tilt sensor is temporarily attached to the blade surface to directly measure its tilt angle relative to the direction of gravity, which can serve as an absolute reference for verification of specific angles (such as 0° and 90°).

[0033] System integration and debugging: The data acquisition systems of all measuring devices (internal sensors, turntable encoders, laser trackers / cameras) are synchronized through the same clock device (such as trigger box, synchronization card) to ensure that the timestamps of each data point are strictly aligned.

[0034] Phase Two: Environmental Control and Stabilization Set the environmental chamber to the target temperature (e.g., -40°C). Wait a sufficient amount of time (usually 1-2 hours) until the temperature inside the active grid system (motor, gears, sensors) is fully balanced with the ambient temperature inside the chamber. Temperature stability is crucial for valid data, as it prevents the thermal expansion and contraction of metal and electronic components from directly affecting the measured values.

[0035] Phase 3: Automated Step Measurement After the temperature stabilizes, execute the automated measurement script.

[0036] 1. Stepping motion: Control the actuator motor to drive the blade from the fully closed position (e.g., 0°) to the fully open position (e.g., 90°), rotating in preset steps (e.g., 5° or less).

[0037] 2. Steady-state sampling: At each target angle position, data sampling is performed after the motor has completely stopped and the vibration has been eliminated.

[0038] 3. Synchronous data acquisition: The data acquisition card records the raw readings of the internal position sensors, i.e., the rotor angle of the actuator motor; simultaneously, it triggers a laser tracker or vision system to acquire and record the actual physical angles of the blades, i.e., the actual physical angles of the grid blades. At the same time, it records the current temperature sensor readings.

[0039] Phase 4: Data Validation and Processing The acquired data is post-processed to generate a high-quality dataset for modeling. This involves comparing angle data from multiple independent sources, such as laser trackers, vision systems, and turntable encoders, and removing outliers that deviate significantly (e.g., due to instantaneous vibration or measurement interference).

[0040] A benchmark mapping relationship is constructed based on the collected rotor angle of the actuator motor and the actual physical angle of the grille blades.

[0041] S103. Obtain at least one real-time operating parameter of the actuator motor.

[0042] In specific embodiments of the present invention, real-time operating parameters include, but are not limited to, real-time temperature, real-time rotational speed, real-time load current, and real-time direction of motion.

[0043] Specifically, the effects of temperature are manifested in the following ways: Metal components such as the motor housing, bearings, and gears undergo micron-level dimensional changes with temperature, altering gear meshing clearance and transmission ratio, resulting in different blade angles for the same motor rotation angle. The effects of speed are manifested in the following ways: The motor and control system have bandwidth limitations, causing the actual position to lag behind the commanded position at high speeds. Simultaneously, a specific speed may excite the natural frequency of the transmission chain, causing angle overshoot or oscillation. The effects of load current are manifested in the following ways: When the load direction changes, gears must first cross the backlash to transmit torque, causing backlash error and affecting current magnitude. Simultaneously, large currents cause rapid temperature rise in the windings, forming a strong coupling with temperature parameters. The effects of motion direction are manifested in the following ways: All clearances in the transmission system (gears, bearings, connecting rods and hinges) generate backlash when the direction reverses, forming a typical hysteresis loop. Simultaneously, the direction of Coulomb friction is always opposite to the direction of motion, requiring different compensations for forward and reverse motion.

[0044] By considering the above-mentioned various working condition parameters, the embodiments of the present invention further improve the accuracy of the obtained angle compensation value and further improve the compensation precision.

[0045] S104. Determine the angle compensation value based on at least one real-time operating condition parameter and a pre-built dynamic error mapping relationship, and compensate the rotor's desired angle based on the angle compensation value. Among them, the dynamic error mapping relationship is used to characterize the correlation between at least one real-time operating condition parameter and the angle compensation value.

[0046] Specifically, the actuator is a permanent magnet synchronous motor or a DC motor.

[0047] It should be understood that the motor angle compensation method for active air intake grilles in this embodiment of the invention can be implemented in any device based on the motor angle compensation method for active air intake grilles, such as a microcontroller integrated in a vehicle. Specifically, the motor angle compensation method for active air intake grilles is stored in the aforementioned device as a pre-programmed program. When the device is started, the program is invoked, and the motor angle compensation method for active air intake grilles is implemented.

[0048] Compared with the prior art, the motor angle compensation method for active air intake grille provided by the embodiments of the present invention can determine the angle compensation value based on at least one real-time operating condition parameter based on a pre-constructed dynamic error mapping relationship. That is, it can dynamically calculate the accurate angle compensation value according to the real-time operating condition parameter, effectively counteracting the changes in magnetic properties caused by motor heating, load fluctuations caused by changes in airflow resistance, and angle drift introduced by dynamic factors such as thermal expansion and contraction of mechanical components. This significantly improves the control accuracy and robustness of the motor angle under various complex and time-varying operating conditions.

[0049] Furthermore, this embodiment of the invention sets up a two-layer architecture based on a reference mapping relationship and a dynamic error mapping relationship. The reference mapping relationship can solve static and inherent deviations. First, the target angle command can be accurately converted into the desired rotor angle of the executing motor through the reference mapping relationship. Then, the dynamic mapping relationship is used to perform real-time fine-tuning compensation on the desired rotor angle. This can ensure long-term stability based on the desired rotor angle and ensure short-term adaptability based on dynamic compensation, thereby achieving high precision and consistency of angle control throughout the entire life cycle and all operating conditions.

[0050] In some embodiments of the present invention, the dynamic error mapping relationship is a weighted sum of the temperature error mapping relationship, the speed error mapping relationship, the load current error mapping relationship, and the mechanical hysteresis error mapping relationship; then, as... Figure 2 As shown, step S104 includes: S201. Determine the temperature angle compensation value based on the real-time temperature and temperature error mapping relationship.

[0051] Specifically, the temperature angle compensation value Δθ temp = f temp (T, θ sensor ), T is the real-time temperature, θ sensor This represents the rotor angle.

[0052] S202. Determine the speed angle compensation value based on the real-time speed and speed error mapping relationship.

[0053] Specifically, the rotational speed angle compensation value Δθ speed = f speed (ω, θ sensor), where ω is the real-time rotational speed.

[0054] S203. Determine the load current angle compensation value based on the real-time load current and the load current error mapping relationship.

[0055] Specifically, the load current angle compensation value Δθ load = f load (I, θ sensor ), where I is the real-time load current.

[0056] S204. Determine the mechanical hysteresis angle compensation value based on the mapping relationship between real-time motion direction and mechanical hysteresis error.

[0057] Specifically, the mechanical hysteresis angle compensation value Δθ hysteresis = f hys (dir, θ sensor ), where dir represents the real-time motion direction.

[0058] S205. The weighted sum of the temperature angle compensation value, speed angle compensation value, load current angle compensation value and mechanical hysteresis angle compensation value is used as the angle compensation value.

[0059] Specifically, the angle compensation value Δθ total for: Δθ total = α·f temp (T, θ sensor ) + β·f speed (ω, θ sensor ) + γ·f load (I, θ sensor ) +δ· fhys (dir, θ sensor ) In the formula, α, β, γ, and δ are the weights of the temperature angle compensation value, the speed angle compensation value, the load current angle compensation value, and the mechanical hysteresis angle compensation value.

[0060] It should be noted that the weights of the temperature angle compensation value, speed angle compensation value, load current angle compensation value, and mechanical hysteresis angle compensation value can be determined based on machine learning algorithms. Specifically, the machine learning algorithm is trained using a training set consisting of historical operating condition parameters and historical weight values. After training, real-time operating condition parameters are input into the machine learning algorithm to obtain the weights of each compensation value.

[0061] As the operating time of the actuator increases, the materials of the actuator will age. This aging process is slow, continuous, monotonous, and irreversible, and its timescale is much larger than changes in operating conditions such as temperature and load. To further improve the accuracy of angle compensation, in some embodiments of the present invention, such as... Figure 3 As shown, step S104 further includes: S301. Determine the aging angle compensation value based on the running time of the actuator motor.

[0062] Specifically, the aging angle compensation value can be determined based on a pre-built time-varying aging function, which has an initial value of zero and changes as the running time increases.

[0063] S302, The weighted sum of the temperature angle compensation value, speed angle compensation value, load current angle compensation value, mechanical hysteresis angle compensation value and aging angle compensation value is used as the angle compensation value.

[0064] Specifically, the angle compensation value Δθ total for: Δθ total = α·f temp (T, θ sensor ) + β·f speed (ω, θ sensor ) + γ·f load (I, θ sensor ) +δ· fhys (dir, θ sensor ) +ε·f aging (θ sensor, t) In the formula, ε is the weight of the aging angle compensation value; t is the running time; f aging (θ sensor, t) is the aging angle compensation value.

[0065] This invention, by introducing an aging angle compensation value into the dynamic error mapping relationship and fusing it with a multivariable real-time compensation value, can proactively sense and compensate for performance degradation caused by long-term use, effectively combat precision drift, and improve the control accuracy of the actuator throughout its entire life cycle.

[0066] Because the manufacturing tolerances, assembly errors, and mechanical characteristics of different grille blades and actuators are not entirely consistent, a centralized architecture for unified control of all active grille blades presents challenges such as signal processing delays and communication bandwidth bottlenecks, making it difficult to achieve high-precision synchronous control. In other words, each actuator corresponds to an angle compensation value, but due to the individual differences between different actuators, their response to the global target angle command (i.e., the compensated angle) will still vary. This leads to a lack of physical alignment among multiple blades, causing airflow disturbances, generating wind noise, and reducing the overall aerodynamic efficiency of the grille.

[0067] To solve the above-mentioned technical problems, in some embodiments of the present invention, such as Figure 4 As shown, the method for compensating the rotation angle of the actuator motor used for the active air intake grille also includes: S401. Obtain multiple angle compensation values ​​calculated by multiple actuators.

[0068] Specifically, all actuators broadcast their own angle compensation values ​​through a high-speed network (such as CAN FD), so that each actuator can obtain the angle compensation values ​​of all actuators.

[0069] S401. Determine a collaborative compensation value based on multiple angle compensation values. The collaborative compensation value is used to ensure that the maximum difference between the compensated rotor angles of each actuator is less than or equal to a preset difference. S403. The collaborative compensation value is superimposed on each actuator to obtain the final control angle.

[0070] The embodiments of the present invention determine the collaborative compensation value based on multiple angle compensation values ​​of all actuators to ensure that the rotor angle difference of each actuator after compensation is within a preset range, thereby ensuring the synchronization accuracy between active grid blades, and thus ensuring the uniformity of airflow and the consistency of grid appearance.

[0071] In specific embodiments of the present invention, such as Figure 5 As shown, step S402 includes: S501. Calculate the average angle compensation of all actuators, and calculate the maximum positive and maximum negative deviations of all angle compensation values ​​from the average angle compensation.

[0072] The maximum positive deviation is the largest positive difference between the angle compensation value and the average angle compensation value, and the maximum negative deviation is the largest negative difference between the angle compensation value and the average angle compensation value.

[0073] S502. The difference between the maximum positive deviation and the maximum negative deviation is taken as the synchronization error.

[0074] Specifically, synchronization error ε raw =Δθ maxpos -Δθ maxneg In the formula, Δθ maxpos For the maximum positive deviation, Δθ maxneg This represents the maximum negative deviation.

[0075] S503. When the synchronization error is less than or equal to the maximum allowable blade difference, the average of the maximum positive deviation and the maximum negative deviation shall be used as the coordinated compensation value for all actuators.

[0076] That is, the collaborative compensation value Δθ sync = - (Δθ maxpos + Δθ maxneg ) / 2。

[0077] S504. When the synchronization error is greater than the maximum allowable blade difference, calculate the product of the difference between the synchronization error and the maximum allowable blade difference and the synchronization stiffness coefficient, and use the difference between the product and the average of the maximum positive deviation and the maximum negative deviation as the collaborative compensation value.

[0078] That is, the collaborative compensation value Δθ sync =- [(Δθ maxpos +Δθ maxneg ) / 2 +K sync ×(ε raw - Δθ maxallowed ) / 2 ]。

[0079] in, K sync For synchronous stiffness coefficient, Δθ maxallowed ) To allow the maximum blade difference.

[0080] Specifically, the maximum allowable blade difference can be set or adjusted according to the actual application scenario. Specifically, the maximum allowable blade difference is 0.5°-2.0°, and preferably, the maximum allowable blade difference is 1°.

[0081] To improve the rationality of the synchronization stiffness coefficient setting, in some embodiments of the present invention, the synchronization stiffness coefficient can be dynamically adjusted according to the changing trend of synchronization error within the historical control cycle, which can achieve an adaptive and flexible trade-off between accuracy and synchronization.

[0082] For example, if the actual synchronization error is too large several times in a row, the synchronization stiffness coefficient should be increased to enhance the synchronization constraint force.

[0083] This invention calculates collaborative compensation values ​​for the relationship between synchronization error and the maximum allowable blade difference. Within the range of the maximum allowable blade difference, it makes gentle adjustments to pursue the overall optimal accuracy. When the range of the maximum allowable blade difference is exceeded, it makes strong adjustments, sacrificing some individual accuracy to prioritize synchronization.

[0084] In a specific embodiment of the present invention, an example comprising four active grid blades is provided: 1. Broadcast the target angle command via CAN, with the target angle being 60°.

[0085] 2. Each actuator calculates its local compensation based on its own temperature, load, and other conditions: Δθ1=+1.2°, Δθ2=+0.8°, Δθ3=+1.5°, Δθ4=+1.0°.

[0086] 3. After performing the inter-motor compensation data exchange, the maximum difference was found to be 0.7°, which is within the allowable range. However, a small-amplitude collaborative compensation amount Δθ was still calculated. sync =-0.2° to reduce the difference.

[0087] 4. All actuators apply the final angle θ at the specified time. finali = 60° + Δθ locali - 0.2°.

[0088] In the formula, Δθ locali This is the angle compensation value for the i-th actuator motor.

[0089] In existing technologies, each actuator typically begins execution immediately upon receiving a command. However, due to clock skew between actuators, minute random delays in network communication, and time jitter in processor task scheduling, even if the commands are identical, the actual start times of each actuator can vary by milliseconds. This discreteness in start times, after high-speed motion (such as rapid motor response), is amplified into significant angular position differences, causing multiple blades to be unable to maintain strict synchronization during movement and upon reaching the target position, resulting in airflow disturbances, wind noise, and mechanical stress.

[0090] To address the aforementioned technical problems, in some embodiments of the present invention, the method for compensating the rotation angle of the actuator motor for an active air intake grille further includes: The sum of the rotor desired angle, the angle compensation value, and the collaborative compensation value is used as the target control angle; The control actuator receives an absolute synchronization timestamp, and based on the absolute synchronization timestamp, controls multiple actuators to start or complete the action of adjusting the rotor angle to the target control angle at the same time.

[0091] The synchronization timestamp is a future absolute time point based on a network precise clock protocol (such as IEEE 1588).

[0092] This invention, through the introduction of a synchronization triggering mechanism based on absolute synchronization timestamps, achieves precise coordination of multiple actuators from the root of the time reference. Specifically, it requires all actuators to operate without relying on their own imprecise local command receipt times, but rather using absolute synchronization timestamps as a unified starting line. This enables all actuators to start or end their actions at the same, predictable absolute moment, completely eliminating the uncertainty of the start time caused by the randomness of processor response and network latency. It achieves high-precision time synchronization of multiple grid blades throughout the entire process from start-up, movement to stop, ensuring that the angle difference between each grid blade is strictly controlled within the design range at any given moment, further improving synchronization accuracy.

[0093] To further improve the self-learning capability of dynamic error mapping relationships to adapt to constantly changing working conditions and scenarios, in some embodiments of the present invention, such as... Figure 6 As shown, the method for compensating the rotation angle of the actuator motor used for the active air intake grille also includes: S601. When the active grille blades move to the fully closed mechanical limit position, record the position sensor reading of the actuator motor; S602. Determine the current blade angle based on the position sensor readings and the reference mapping relationship, and calculate the angle deviation between the current blade angle and the known theoretical physical angle corresponding to the mechanical limit position; S603. When the angle deviation is greater than the angle deviation threshold, an incremental sample set is constructed based on the angle deviation and the corresponding working condition parameters.

[0094] The operating parameters include, but are not limited to, temperature, speed, load current, direction of motion, and running time. The angle deviation threshold can be set or adjusted according to the actual application scenario, and is not specifically limited here.

[0095] S604. Dynamically correct the dynamic error mapping relationship based on the incremental sample set.

[0096] In this embodiment of the invention, the system automatically triggers a high-precision error measurement each time the grille blades move to their fully closed mechanical limit. At this point, the actual physical angle of the blades is a known and constant design value. By comparing this known value with the sensor readings calculated through a reference mapping, a true error sample can be automatically obtained. This mechanism enables the self-learning system to continuously and automatically collect high-quality training data throughout the vehicle's entire lifecycle without increasing hardware costs. This provides a solid data foundation for the reliable updating of dynamic error mapping relationships, achieving long-term accuracy maintenance.

[0097] In a specific embodiment of the present invention, step S604 includes: When the number of samples in the incremental sample set increases by a preset number, the dynamic error mapping relationship is dynamically corrected based on the incremental sample set.

[0098] The embodiments of the present invention achieve dynamic correction by setting a preset number of samples, thus balancing computational overhead and compensation accuracy.

[0099] In some embodiments of the present invention, the preset number is 50-200, preferably 100.

[0100] In summary, the proposed method for motor angle compensation for active air intake grilles in this invention has several key advantages. First, it decomposes angle compensation into three organically combined levels: "basic calibration - real-time dynamic compensation - closed-loop self-learning," forming a complete technical closed loop and improving angle compensation accuracy. Second, it is the first to incorporate multiple variables such as temperature, speed, load, mechanical hysteresis, and aging into a unified nonlinear dynamic compensation mapping relationship. Compared to existing linear or single-variable compensation methods, this method considers the impact of operating conditions on angle compensation, improving its accuracy and adaptability. Third, for multi-blade systems, a data exchange and collaborative computing mechanism based on a communication network is designed to achieve high-precision synchronous control between blades. Fourth, by utilizing the mechanical limits during grille movement as natural calibration points, continuous adaptive updates of compensation parameters are achieved, solving the performance degradation problem during long-term use.

[0101] On the other hand, embodiments of the present invention also provide an actuator motor angle compensation system for an active air intake grille, such as... Figure 7 As shown, the actuator motor angle compensation system 700 for active air intake grille includes a main controller 710 and multiple distributed actuators 720. In this embodiment of the invention, only one distributed actuator is used for illustrative purposes. The main controller 710 is used to broadcast target angle commands to multiple distributed actuators 720; Each distributed actuator 720 corresponds to one active grid blade, and each distributed actuator 720 includes: The microcontroller 721 stores a reference mapping relationship and a dynamic error mapping relationship. The microcontroller is configured to: determine the desired rotor angle based on the reference mapping relationship and the received target angle command, calculate the angle compensation value based on at least one real-time operating condition parameter and the dynamic error mapping relationship, compensate the desired rotor angle based on the angle compensation value, and generate an angle adjustment command. The drive motor 722 responds to the angle adjustment command and adjusts the rotor angle.

[0102] It should be noted that the specific execution flow in the microcontroller 721 can be found in the description of the embodiment of the method for compensating the rotation angle of the actuator motor for active air intake grille, and will not be repeated here.

[0103] Those skilled in the art will understand that all or part of the processes of the methods described in the above embodiments can be implemented by a computer program instructing related hardware (such as a processor, controller, etc.), and the computer program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a disk, optical disk, read-only memory, or random access memory, etc.

[0104] The present invention has provided a detailed description of a method and system for compensating the rotation angle of an actuator motor for an active air intake grille. Specific examples have been used to illustrate the principle and implementation of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation and application scope based on the idea of ​​the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for compensating the rotation angle of an actuator motor for an active air intake grille, characterized in that, The method, applied to a system comprising multiple active grid blades and multiple actuators corresponding one-to-one with the multiple active grid blades, includes: Obtain the target angle command for controlling the active grille blades; Based on the pre-established benchmark mapping relationship between the actual physical angle of the grille blades and the rotor angle of the executing motor, the desired rotor angle corresponding to the target angle command is determined. Obtain at least one real-time operating parameter of the actuator; Based on the at least one real-time operating condition parameter and the pre-built dynamic error mapping relationship, the angle compensation value is determined, and the desired angle of the rotor is compensated based on the angle compensation value. The dynamic error mapping relationship is used to characterize the correlation between the at least one real-time operating condition parameter and the angle compensation value.

2. The method for compensating the rotation angle of an actuator motor for an active air intake grille according to claim 1, characterized in that, The at least one real-time operating parameter includes real-time temperature, real-time speed, real-time load current, and real-time direction of motion.

3. The method for compensating the rotation angle of an actuator motor for an active air intake grille according to claim 2, characterized in that, The dynamic error mapping relationship is a weighted sum of the temperature error mapping relationship, the speed error mapping relationship, the load current error mapping relationship, and the mechanical hysteresis error mapping relationship; then, determining the angle compensation value based on the at least one real-time operating condition parameter and the pre-constructed dynamic error mapping relationship includes: The temperature angle compensation value is determined based on the real-time temperature and the temperature error mapping relationship. The rotational speed angle compensation value is determined based on the real-time rotational speed and the rotational speed error mapping relationship; The load current angle compensation value is determined based on the real-time load current and the load current error mapping relationship. The mechanical hysteresis angle compensation value is determined based on the real-time motion direction and the mechanical hysteresis error mapping relationship. The weighted sum of the temperature angle compensation value, the rotational speed angle compensation value, the load current angle compensation value, and the mechanical hysteresis angle compensation value is used as the angle compensation value.

4. The method for compensating the rotation angle of an actuator motor for an active air intake grille according to claim 3, characterized in that, The step of determining the angle compensation value based on the at least one real-time operating condition parameter and a pre-built dynamic error mapping relationship further includes: The aging angle compensation value is determined based on the running time of the actuator motor; The weighted sum of the temperature angle compensation value, the speed angle compensation value, the load current angle compensation value, the mechanical hysteresis angle compensation value, and the aging angle compensation value is used as the angle compensation value.

5. The method for compensating the rotation angle of an actuator motor for an active air intake grille according to claim 1, characterized in that, Each actuator corresponds to an angle compensation value; therefore, the method further includes: Obtain multiple angle compensation values ​​calculated by the multiple actuators respectively; A collaborative compensation value is determined based on the multiple angle compensation values. The collaborative compensation value is used to make the maximum difference between the compensated rotor angles of each of the actuators less than or equal to a preset difference. The collaborative compensation value is superimposed on each of the actuators to obtain the final control angle.

6. The method for compensating the rotation angle of an actuator motor for an active air intake grille according to claim 5, characterized in that, The determination of the collaborative compensation value based on the multiple angle compensation values ​​includes: Calculate the average angle compensation of all actuators, and calculate the maximum positive and maximum negative deviations of all angle compensation values ​​from the average angle compensation. The difference between the maximum positive deviation and the maximum negative deviation is taken as the synchronization error; When the synchronization error is less than or equal to the maximum allowable blade difference, the average of the maximum positive deviation and the maximum negative deviation is used as the collaborative compensation value for all actuators. When the synchronization error is greater than the maximum allowable blade difference, the product of the difference between the synchronization error and the maximum allowable blade difference and the synchronization stiffness coefficient is calculated, and the difference between the product and the average of the maximum positive deviation and the maximum negative deviation is taken as the collaborative compensation value.

7. The method for compensating the rotation angle of an actuator motor for an active air intake grille according to claim 5, characterized in that, The method further includes: The sum of the rotor desired angle, the angle compensation value, and the cooperative compensation value is taken as the target control angle; The control actuator receives an absolute synchronization timestamp, and based on the absolute synchronization timestamp, controls the multiple actuators to start or complete the action of adjusting the rotor angle to the target control angle at the same time.

8. The method for compensating the rotation angle of an actuator motor for an active air intake grille according to claim 1, characterized in that, The method further includes: When the active grille blades move to the fully closed mechanical limit position, the position sensor reading of the actuator motor is recorded; The current blade angle is determined based on the position sensor reading and the reference mapping relationship, and the angle deviation between the current blade angle and the known theoretical physical angle corresponding to the mechanical limit position is calculated. When the angle deviation is greater than the angle deviation threshold, an incremental sample set is constructed based on the angle deviation and the corresponding operating condition parameters. The dynamic error mapping relationship is dynamically corrected based on the incremental sample set.

9. The method for compensating the rotation angle of an actuator motor for an active air intake grille according to claim 8, characterized in that, The dynamic correction of the dynamic error mapping relationship based on the incremental sample set includes: When the number of samples in the incremental sample set increases by a preset number, the dynamic error mapping relationship is dynamically corrected based on the incremental sample set.

10. A motor rotation angle compensation system for an active air intake grille, characterized in that, Includes a main controller and multiple distributed actuators; The main controller is used to broadcast target angle commands to the plurality of distributed actuators; Each of the distributed actuators corresponds to one active grid blade, and each of the distributed actuators includes: A microcontroller, which stores a reference mapping relationship and a dynamic error mapping relationship, is configured to: determine the desired rotor angle based on the reference mapping relationship and a received target angle command, calculate an angle compensation value based on at least one real-time operating parameter and the dynamic error mapping relationship, compensate the desired rotor angle based on the angle compensation value, and generate an angle adjustment command. The drive motor responds to the angle adjustment command and adjusts the rotor angle.

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