A new energy vehicle door prediction driving method and computer readable storage medium

Abstract

The application discloses a new energy automobile door prediction driving method and computer readable storage medium, comprising A1, calculating the door opening angle according to the distribution of the door outer frame instantaneous linear velocity with time; A2, calculating the displacement of the sliding with time, and obtaining the output rotating speed of the driving motor with time; A3, calculating the total energy consumption of the door with time, and obtaining the instantaneous power of the driving motor with time; A4, the instantaneous torque of the driving motor with time; A5, selecting the rated parameters of the driving motor according to the required output rotating speed, instantaneous power and instantaneous torque of the driving motor. Specifically, it is related to the prediction method of the sliding block moving distance, driving motor instantaneous rotating speed, driving motor instantaneous output torque, driving motor instantaneous power and total energy consumption of opening the door of the electric limit component of the door, which is basically suitable for the electric limit component of any mechanical structure form.

Description

Technical Field

[0001] This invention belongs to the field of new energy vehicle technology, specifically, it relates to a new energy vehicle door prediction driving method and a computer-readable storage medium. Background Technology

[0002] In recent years, the technology of new energy vehicles has developed rapidly, and the opening of new energy vehicle doors has gradually been updated to electric drive opening, placing increasingly higher demands on the design and development of electric door opening technology for new energy vehicles. Currently, the electric limit components (such as motors) used for opening new energy vehicle doors are mostly selected based on the power consumption required to open the door when the vehicle is parked on flat ground. When the vehicle is parked on flat ground, the power consumption for the electric drive control of the door opening is relatively small, and the power consumption can be easily predicted through simple experiments and common sense to select the appropriate electric limit components. However, when the vehicle is parked on uneven ground, such as on slopes, or with one side on a curb and the front of the car raised, the power consumption required to open the door will vary depending on the door's location. Specifically, when the vehicle is on an uphill slope, opening the door requires greater force, while when the vehicle is on a downhill slope, the situation is reversed, and opening the door requires less force.

[0003] Currently, the selection of suitable electric limit components for new energy vehicles relies mainly on design experience or increased testing to predict power consumption and related parameters. This results in low design efficiency. Other methods use simulation software to model the layout and structure of door limit components before performing finite element analysis. However, finite element analysis involves iterative calculations, significantly increasing the computational load. Consequently, even when designing the layout and structural parameters of limit components based on finite element analysis results, the design efficiency remains low. Summary of the Invention

[0004] To meet the operating conditions of new energy vehicles on composite slopes, reduce the design and production costs of electric door limit components, and improve user experience, this invention proposes a predictive driving method for new energy vehicle doors and a computer-readable storage medium. It is mainly used to predict parameters such as the slider movement distance of the electric door limit component, the instantaneous speed of the drive motor, the instantaneous output torque of the drive motor, the instantaneous power of the drive motor, and the total energy consumption for opening the door. It has the characteristics of shortening the research and development cycle, strong applicability, and high scientific research value.

[0005] To achieve the aforementioned objectives, the technical solution adopted by this invention includes: Existing electric drive doors for new energy vehicles typically include a door, drive motor, reducer, commutator, helical transmission mechanism, slider, lead screw, and support rod, with power transmitted sequentially as described above. The drive motor is bolted to the door; the drive motor output shaft is connected to the reducer; the reducer output shaft is connected to the commutator; the commutator output shaft is connected to the helical transmission mechanism; the helical transmission mechanism is connected to the lead screw; the slider can slide linearly on the lead screw; one end of the support rod is hinged to the vehicle frame, and the other end is fixed to the slider.

[0006] A predictive driving method for new energy vehicle doors includes the following steps: A1. Calculate the door opening angle based on the distribution of the instantaneous linear velocity of the outer frame of the door over time. Specifically, taking the driver's left door as an example, within the opening angle range, calculate the various driving parameters of the electric door limit assembly based on the distribution of the instantaneous linear velocity of the outer frame of the door over time using a prediction model. t is the total time variable used to open the door (s); t1 is the time variable used for the drive motor to accelerate and start when opening the door (s); t2 is the time variable used for smooth opening when opening the door (s); t3 is the time variable used for the drive motor to decelerate when the door is opened to the angle boundary (s); v(t) is the linear velocity of the outer frame of the door at time t (m / s); v1(t1) is the linear velocity of the outer frame of the door at time t1 (m / s); v2(t2) is the linear velocity of the outer frame of the door at time t2 (m / s); v3(t3) is the linear velocity of the outer frame of the door at time t3 (m / s).

[0007] (1) A2. Calculate the displacement of the slider as time changes, and obtain the output speed of the drive motor as time changes. Specifically: point A is the rotation point of the door hinge, point B is the rotation point of the strut hinge, point H is the moving point of the slider moving linearly along the lead screw, points C1 and C2 are the first and second position points of the outer frame of the door rotating, point D1 is the starting point of the slider when the door is closed, point D2 is the starting point of the slider during the door rotation process, and points E1 and E2 are the projections of points D1 and D2 on the door plane.

[0008] AB is the distance (constant value) l1, m between the rotation axis of the car door and the rotation axis of the strut; D1E1 and D2E2 are both vertical distances (same constant value) l2, m from the center of mass of the slider to the plane of the car door; BD1 and BH are both strut lengths (same constant value) l3, m; AE1 and AE2 are both distances (same constant value) l4, m from the projection of the slider on the plane of the car door to the rotating hinge of the car door; AD1 and AD2 are both straight-line distances (same constant value) from point A to the starting point of the slider, m; D2H is the sliding displacement x(t) of the slider along the direction of the lead screw, m; AH is the straight-line distance from point A to slider 6, m. AD1 and AD2 are as shown in formula (2), and AH is as shown in formula (3).

[0009] (2) (3) ∠E1AE2 is the door's rotation angle (variable) θ(t) as time t changes, °; ∠BAD1 is the angle (constant) α1, ° when the door is closed and the slider is at its starting point; ∠D1AE1 and ∠D2AE2 are the angles (same constant) between the line connecting point A and the slider's starting point and the door plane; ∠D2AH is the angle (variable) α2, ° between the line connecting the slider's starting point and the moving point and point A; α1 and α2 are shown in formulas (4) and (5) respectively, and ∠BAH is shown in formulas (6) and (7); (4) (5) (6) (7) The relationship between the displacement x(t) of the slider and the opening angle θ(t) of the car door is shown in formula (8).

[0010] (8) A3. Calculate the total energy consumption required by the car door over time, and obtain the instantaneous power of the drive motor over time. Specifically, the rotational motion of the drive motor is converted into linear motion of the slider, which requires deceleration, reversal, and conversion of motion form. The relationship between the speed of the drive motor and the displacement of the slider is shown in formula (9). (9) Where, n1(t) is the output speed of the drive motor as a function of time t, in r / min; n2(t) is the output speed of the gearbox as a function of time t, in r / min; i2 is the gear ratio of the gearbox; n3(t) is the output speed of the commutator as a function of time t, in r / min; i3 is the gear ratio of the commutator; i4 is the linear sliding displacement to rotational arc length coefficient of the screw in the screw drive mechanism; p is the lead of the single-line screw, in mm; Furthermore, by measuring the arc length of the door frame moving from C1 to C2 over time t, the relationship between the door opening angle θ(t) and the instantaneous linear velocity of the door outer frame is determined, as shown in formula (10). (10) Where y(t) is the arc length of the door frame moving from C1 to C2 with time t, in meters; R is the distance from the door hinge to point C1 or C2, in meters; Furthermore, when the car has tilt angles at both the front and sides, the total energy consumption for opening the door is broken down into the energy consumption for horizontal door opening, the energy consumption for door hinge damping, and the energy consumption for lifting the door center of gravity, as shown in formula (11); the two vertical heights of the door center of gravity lifting are respectively and ; = (11) Where E(t) is the total energy consumption required for the car to open its door on a compound slope over time t, in J; E1(t) is the energy consumption for opening the door horizontally over time t, in J; E2(t) is the hinge damping energy consumption for opening the door over time t, in J; E3(t) is the energy consumption for lifting the center of gravity of the car to open the door, in J; m is the weight of the door, in kg; N is the number of door hinges; T2 is the damping of a single door hinge, in N·m; R Z β is the distance from the door mass point to the door hinge, in meters; β is the front-end lifting angle, in degrees; γ is the angle between the side axis of the vehicle and the ground, in degrees.

[0011] A4. Instantaneous torque of the drive motor over time, specifically: the instantaneous power of the door rotation is shown in formula (12). The instantaneous power of the drive motor to the instantaneous power of the door needs to be converted through the reducer, commutator, and screw transmission mechanism, as shown in formula (13). The instantaneous torque of the drive motor is shown in formula (14).

[0012] (12) (13) (14) Where P(t) is the instantaneous power of the door rotating with time t, in W; P n (t) represents the instantaneous power of the drive motor over time t, in W; η1 represents the transmission efficiency of reducer 3, in %; η2 represents the transmission efficiency of commutator 4, in %; η3 represents the transmission efficiency of the screw drive mechanism, in %; T n (t) represents the instantaneous torque of the drive motor over time t, in N·m.

[0013] In summary, based on the distribution of the instantaneous linear velocity of the outer frame of the car door over time, the opening angle θ(t) of the car door is shown in formula (9); substituting formula (9) into formula (7) yields the displacement x(t) of the sliding motion over time t, and substituting it into formula (8) yields the output speed n1(t) of the drive motor over time t; the total energy consumption required to open the car door over time t is shown in formula (10); substituting formula (10) into formula (11) yields the instantaneous power P of the drive motor over time t. n Substituting formula (10) and x(t) into formula (13) yields the instantaneous torque of the drive motor with time t.

[0014] A5. The rated parameters of the drive motor can be selected based on the required output speed, instantaneous power, and instantaneous torque of the drive motor.

[0015] Compared with the prior art, the advantages of the present invention include: (1) The present invention provides a predictive driving method for new energy vehicle doors and a computer-readable storage medium, which has low design and production costs. By predicting the parameters of the electric limit component of the door, the investment in slider displacement monitoring equipment, large prediction system and electric limit component hardware can be reduced, thereby reducing R&D and production costs and shortening the R&D cycle; (2) The new invention provides a predictive drive method for new energy vehicle doors and a computer-readable storage medium, which has strong applicability. This method is basically applicable to electric limit components of any mechanical structure and to parking methods of vehicles at any slope (the vehicle is parked on a slope with a composite inclination angle), and has high promotional value. (3) The present invention provides a new energy vehicle door prediction drive method and a computer-readable storage medium, which have high scientific research value and good user experience. By designing various linear velocities and times for opening the door, the optimal speed distribution is explored to satisfy the user's sense of technology and elegant comfort. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the automotive electric limit component and mechanical transmission principle of the present invention.

[0018] Figure 2 This is a top view of the open and closed positions of the electric door in the driver's seat of a new energy vehicle according to the present invention.

[0019] Figure 3 A simplified kinematic diagram of the driver's side door opening according to the present invention.

[0020] Figure 4 This is a schematic diagram of the new energy vehicle of the present invention on a composite slope.

[0021] Figure 5 This is an analysis diagram of the lifting height of the door center of gravity under a composite tilt angle, as presented in this invention.

[0022] In the diagram, 1 is the car door; 2 is the drive motor; 3 is the reducer; 4 is the commutator; 5 is the screw drive mechanism; 6 is the slider; 7 is the lead screw; and 8 is the strut. Detailed Implementation

[0023] In view of the shortcomings of the prior art, the inventors of this invention, through long-term research and extensive practice, have proposed the technical solution of this invention. The following will further explain and illustrate the technical solution, its implementation process, and principles in conjunction with the accompanying drawings and specific implementation examples of the embodiments of this application.

[0024] It should be noted that the embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention. The described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, the present invention covers any substitutions, modifications, equivalent methods and solutions made on the spirit, principles and scope of the present invention as defined by the claims. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] In the description of this application, the words "first," "second," "third," and similar terms do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, the words "a" or "one," and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one. The words "comprising" or "including," and similar terms, mean that the elements or objects preceding "comprising" or "including" encompass the elements or objects listed following "comprising" or "including," and their equivalents, but do not exclude other elements or objects. The words "connected," "linked," and similar terms are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect.

[0026] In the description of this application, the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, when positional terms such as sides, outer side, and upper and lower are used, they should be understood as being used only for ease of understanding and description, taking into account that the structure may be oriented to other positions.

[0027] In the description of this application, unless otherwise expressly specified and limited, the technical or scientific terms used shall have the ordinary meaning understood by a person with ordinary skills in the art to which this application pertains. Terms such as "installation," "connection," and "joining" shall be interpreted broadly, for example, as fixed connections, detachable connections, mating connections, or integral connections. For a person skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0028] The present invention aims to introduce and explain the structural composition of a new energy vehicle door prediction drive method and a computer-readable storage medium, as well as the cooperation relationship between the various components. Unless otherwise specified, the dimensions, materials, and manufacturing processes of the various components in the new energy vehicle door prediction drive method and the computer-readable storage medium in the present invention can be selected according to specific circumstances, and no special limitations or explanations are made here.

[0029] Furthermore, to provide the public with a better understanding of the present invention, certain specific details are described in detail below. However, those skilled in the art will fully understand the invention even without these detailed descriptions.

[0030] Please see Figure 1 Existing electric drive doors for new energy vehicles typically include a door 1, a drive motor 2, a reducer 3, a commutator 4, a screw transmission mechanism 5, a slider 6, a lead screw 7, and a support rod 8, with power transmitted sequentially as described above. The drive motor 2 is bolted to the door 1; the output shaft of the drive motor 2 is connected to the reducer 3; the output shaft of the reducer 3 is connected to the commutator 4; the output shaft of the commutator 4 is connected to the screw transmission mechanism 5; the screw transmission mechanism 5 is connected to the lead screw 7; the slider 6 can slide linearly on the lead screw 7; one end of the support rod 8 is fixed to the vehicle frame via a hinge, and the other end of the support rod 8 is fixed to the slider 6.

[0031] Please see Figure 1 , Figure 2 and Figure 4The above scheme assumes the following conditions: (1) When the car is stationary on a horizontal plane or a composite slope, during the opening and closing of the door 1, the inclination angle and lateral tilt angle between the door 1 hinge and the horizontal plane are ignored, that is, the hinge axis of the door 1 is perpendicular to the ground; (2) The door 1 is simplified to a plane perpendicular to the ground, the slider 6 is simplified to a point, and the lead screw 7 is simplified to a straight line in the direction of its axis, while retaining the vertical distance between the center of mass of the slider 6 and the plane of the door 1; (3) The transverse axis of the electric limit component is parallel to the plane of the door 1, and the transverse axis of the electric limit component is collinear with the hinge point of the support rod 8 of the car frame; (4) The axis of the support rod 8 and the hinge point on the car frame is perpendicular to the ground; (5) The hinge rotation damping of the support rod 8 is ignored (because it does not bear the weight of the door); (6) The outer frame line of the door is always perpendicular to the ground; (7) When the door is opened and closed on the composite slope, the position of the center of mass of the door remains unchanged.

[0032] A predictive driving method for new energy vehicle doors includes the following steps: Please see Figure 2 A1. Calculate the door opening angle based on the distribution of the instantaneous linear velocity of the outer frame of the door over time. Specifically, taking the driver's left door as an example, within the opening angle range of door 1, calculate the various driving parameters of the electric limit component of the door based on the distribution of the instantaneous linear velocity of the outer frame of the door over time using a prediction model. t is the total time variable used to open door 1, s; t1 is the time variable used for the drive motor 2 to accelerate and start when opening door 1, s; t2 is the time variable used for the smooth opening of door 1, s; t3 is the time variable used for the drive motor 2 to decelerate when opening door 1 to the angle boundary, s; v(t) is the linear velocity of the outer frame of the door at time t, m / s; v1(t1) is the linear velocity of the outer frame of the door at time t1, m / s; v2(t2) is the linear velocity of the outer frame of the door at time t2, m / s; v3(t3) is the linear velocity of the outer frame of the door at time t3, m / s. (1) Please see Figure 3 Point A is the hinge rotation point of door 1, point B is the hinge rotation point of strut 8, point H is the moving point of slider 6 moving linearly along lead screw 7, points C1 and C2 are the first and second position points of the outer frame of door 1 rotating, point D1 is the starting point of slider 6 when door 1 is closed, point D2 is the starting point of slider 6 during the rotation of door 1, and points E1 and E2 are the projections of points D1 and D2 on the door plane.

[0033] A2. Calculate the displacement of the sliding mechanism over time to obtain the output speed of the drive motor over time. Specifically: AB is the distance (constant value) l1 between the rotation axis of the door 1 and the rotation axis of the support rod 8; D1E1 and D2E2 are the vertical distance (same constant value) l2 from the center of mass of the slider 6 to the plane of the door 1; BD1 and BH are the lengths (same constant value) l3 of the support rod 8; AE1 and AE2 are the distances (same constant value) l4 from the projection of the slider 6 on the plane of the door 1 to the rotating hinge of the door 1; AD1 and AD2 are the straight-line distances (same constant value) from point A to the starting point of the slider 6; D2H is the sliding displacement x(t) of the slider 6 along the direction of the lead screw 7; AH is the straight-line distance from point A to the slider 6. AD1 and AD2 are as shown in formula (2), and AH is as shown in formula (3).

[0034] (2) (3) ∠E1AE2 is the rotation angle (variable) θ(t) of door 1 as time t changes, °; ∠BAD1 is the angle (constant) α1 of door 1 when it is closed and slider 6 is in its starting state, °; ∠D1AE1 and ∠D2AE2 are the angles (same constant) between the line connecting point A and the starting point of slider 6 and the plane of door 1, °; ∠D2AH is the angle (variable) α2 of the line connecting the starting point and moving point of slider 6 and point A, °. α1 and α2 are shown in formulas (4) and (5) respectively, and ∠BAH is shown in formulas (6) and (7).

[0035] (4) (5) (6) (7).

[0036] This step is the foundational input for model prediction. By pre-setting or measuring the curve (v(t)) of the linear velocity of the outer edge of the car door during opening, and using this as a known condition, the door opening angle (θ(t)) over time is calculated based on this velocity distribution and the geometric model. This essentially transforms the user's expectations or requirements for the dynamic experience (sense of speed) of the car door opening and closing into a calculable geometric motion process. Using the instantaneous linear velocity of the outer edge of the door as input, it is directly related to the user's perception of the door opening and closing speed and smoothness, so that the subsequent drive parameter design can serve to improve the user's technological experience and elegant comfort; Different door opening and closing dynamics can be simulated during the design phase by adjusting the velocity distribution curve (v(t)), eliminating the need for repeated testing with physical prototypes and providing a theoretical tool for exploring the optimal velocity distribution. This lays the foundation for converting the angle change (θ(t)) into the direct action of the driving mechanism (slider displacement x(t)).

[0037] The relationship between the displacement x(t) of slider 6 and the door opening angle θ(t) is shown in formula (8).

[0038] (8).

[0039] This step involves the kinematic derivation of the actuator. Using the door opening angle (θ(t)) obtained in step A1, the linear displacement (x(t)) of the slider on the lead screw in the drive mechanism is derived in reverse through a set of precise geometric equations (Formula 8). Then, based on the transmission ratio of the mechanical transmission chain, the linear motion speed of the slider is converted into the output speed (n1(t)) of the drive motor.

[0040] Through rigorous geometric and kinematic derivations, the precise correspondence between the required motor speed and the required opening angle of the car door was clarified, thus enabling precise control modeling of the drive system.

[0041] Based on key fixed parameters (l1, l2, l3, l4), this geometric model can theoretically be adapted to any electric limit component mechanical structure that conforms to this arrangement, thus enhancing the applicability of the method.

[0042] By predicting displacement and rotational speed through computational models, the reliance on high-precision displacement sensors and complex hardware testing platforms can be reduced during the R&D phase, which helps to lower R&D costs and shorten the cycle.

[0043] A3. Calculate the total energy consumption required by the car door over time, and obtain the instantaneous power of the drive motor over time. Specifically, the rotational motion of the drive motor 2 is converted into the linear motion of the slider 6, which requires deceleration, reversal, and conversion of motion form. The relationship between the speed of the drive motor 2 and the displacement of the slider 6 is shown in formula (9); (9) Where, n1(t) is the output speed of the drive motor as time t changes, r / min; n2(t) is the output speed of the gearbox 3 as time t changes, r / min; i2 is the transmission ratio of the gearbox 3; n3(t) is the output speed of the commutator 4 as time t changes, r / min; i3 is the transmission ratio of the commutator 4; i4 is the linear sliding displacement to rotational arc length coefficient of the screw of the screw transmission mechanism 5; p is the lead of the single-line screw, mm.

[0044] The relationship between the door opening angle θ(t) and the instantaneous linear velocity of the outer frame of the door is determined by the arc length of the door frame moving from C1 to C2 over time t. The specific formula is shown in formula (10).

[0045] (10) Where y(t) is the arc length of the door frame from C1 to C2 over time t, in meters; R is the distance from the door hinge to point C1 or C2, in meters.

[0046] Please see Figure 2 , 3 4 and 5, when the car has tilt angles at both the front and sides, the total energy consumption of opening the car door is broken down into the energy consumption of horizontally opening the door, the energy consumption of door hinge damping, and the energy consumption of lifting the door center of gravity, as shown in formula (11). The two vertical heights of the door center of gravity lifting are respectively and ; = (11) Where E(t) is the total energy consumption required for the car to open its door on a compound slope over time t, in J; E1(t) is the energy consumption for opening the door horizontally over time t, in J; E2(t) is the hinge damping energy consumption for opening the door over time t, in J; E3(t) is the energy consumption for lifting the center of gravity of the car to open the door, in J; m is the weight of the door, in kg; N is the number of door hinges; T2 is the damping of a single door hinge, in N·m; R Z β is the distance from the door mass point to the door hinge, in meters; β is the front-end lifting angle, in degrees; γ is the angle between the side axis of the vehicle and the ground, in degrees.

[0047] This step is central to the system dynamics, used to calculate the energy and power required to drive the door. The model comprehensively considers three main energy sources: E1(t): Kinetic energy used to overcome the inertia of the door and make it move horizontally; E2(t): Energy consumed to overcome the rotational damping of the door hinges; E3(t): Potential energy used to raise the center of gravity of the door to resist the influence of gravity on the slope (this is key to dealing with non-flat ground conditions). The total energy consumption E(t) is obtained by superimposing these three values. The instantaneous power P(t) driving the door is then obtained by differentiating with respect to time. Finally, the instantaneous output power Pn(t) of the drive motor is obtained by converting the powertrain efficiency.

[0048] By explicitly incorporating the vehicle's front tilt angle (β) and side tilt angle (γ) into the energy consumption calculation (E3(t) term), the problem of the significant change in power required to open the doors when the vehicle is parked on a slope, as pointed out in the background technology, is precisely solved. This extends the prediction model from being applicable only to flat ground to being applicable to any slope.

[0049] The calculated instantaneous power Pn(t) curve, with its peak value, is a direct and important basis for selecting the rated power of the drive motor, ensuring that the motor has sufficient capacity to drive the car door under various operating conditions.

[0050] By analyzing the calculation model, the power demand under the worst operating conditions can be directly predicted, avoiding the inaccuracy of relying solely on design experience and avoiding complex and computationally intensive multi-pose finite element simulation analysis, thus significantly improving the design efficiency of the limit component (drive motor).

[0051] A4. Instantaneous torque of the drive motor over time, specifically: the instantaneous power of the door rotation is shown in formula (12). The instantaneous power of the drive motor 2 to the instantaneous power of the door needs to be converted through the reducer 3, commutator 4, and screw transmission mechanism 5, as shown in formula (13). The instantaneous torque of the drive motor 2 is shown in formula (14).

[0052] (12) (13) (14) Where P(t) is the instantaneous power of the door rotating with time t, in W; P n (t) represents the instantaneous power of drive motor 2 over time t, in W; η1 represents the transmission efficiency of reducer 3, in %; η2 represents the transmission efficiency of commutator 4, in %; η3 represents the transmission efficiency of screw drive mechanism 5, in %; T n (t) represents the instantaneous torque of drive motor 2 over time t, in N·m.

[0053] This step involves calculating the final key parameters for motor selection. Based on the motor speed (n1(t)) obtained in step A2 and the motor power (Pn(t)) obtained in step A3, the instantaneous torque Tn(t) required by the drive motor is calculated using the physical relationship between power, torque, and speed (Formula 14). Combining the rotational speed from step A2 with the torque from this step, the complete dynamic load curve of the drive motor (the relationship between Tn(t) and n1(t)) is obtained. The peak torque is the core basis for selecting the motor's torque rating.

[0054] The complex dynamics and kinematics of the car door system are ultimately transformed into rated parameters (speed, power, torque) that can be queried and compared on the motor sample, so that the results of the prediction model can directly guide the selection of motors in engineering practice.

[0055] By calculating the instantaneous torque, it is possible to verify whether the strength of the transmission system (reducer, lead screw, etc.) meets the requirements, thereby enabling the selection or design optimization of corresponding components and improving the reliability of the entire drive system.

[0056] In summary, based on the distribution of the instantaneous linear velocity of the outer frame of the car door over time, the opening angle θ(t) of the car door is shown in formula (9); substituting formula (9) into formula (7) yields the displacement x(t) of the sliding motion over time t, and substituting it into formula (8) yields the output speed n1(t) of the drive motor 2 over time t; the total energy consumption required to open the car door over time t is shown in formula (10); substituting formula (10) into formula (11) yields the instantaneous power P of the drive motor 2 over time t. n Substituting formula (10) and x(t) into formula (13) yields the instantaneous torque of drive motor 2 with time t.

[0057] A5. The rated parameters of drive motor 2 can be selected based on the required output speed, instantaneous power, and instantaneous torque.

[0058] In this way, This invention primarily relies on the distribution of instantaneous linear velocity of the outer frame of a car door over time to calculate various driving parameters of the electric door limit component through a predictive model. This predictive method, by analyzing the distribution of instantaneous linear velocity over time, can explore the optimal speed distribution, satisfying users' technological experience and providing an elegant and comfortable experience when opening and closing car doors. By reducing the investment in the number of slider displacement monitoring devices and electric limit component hardware, it lowers R&D and production costs and shortens the R&D cycle. It is basically applicable to electric limit components of any mechanical structure and to car parking methods on any slope, possessing high promotional value.

[0059] Therefore, this invention can reduce the design and production costs of electric door limit components, and has strong applicability and high scientific research value, which can greatly improve the user experience.

[0060] Working principle: For example, Example 1: The electric limit component of the present invention uses a drive motor 2, a reducer 3, a commutator 4, a screw transmission mechanism 5, a slider 6, a lead screw 7, and a support rod 8, and its power is transmitted in the above order; the commutator 4 adjusts the output shaft of the reducer 3 to the reverse direction, and the screw transmission mechanism 5 converts the rotational motion into the linear motion of the slider 6 on the lead screw 7. When the car door is opened, the total time from start to finish is t=3s, the maximum opening angle is 65°, the working temperature of the drive motor 2 is 20°C, the acceleration and deceleration time of the drive motor 2 is ignored, the distance R from the door hinge to point C1 or C2 is 1053.98mm, and according to formula (10), v(t)=0.398m / s.

[0061] Given that the car door opens at a constant speed θ(t) = 45°, l1 = 98.2 mm, l2 = 30 mm, l3 = 186.5 mm, l4 = 248 mm, x(t) = 80.89 mm can be calculated using formula (8). The distance the slider 6 moves was measured manually to be 77.32 mm, and the deviation rate between the theoretical and measured values ​​was 4.62%, indicating that the methods of formulas (1)-(8) and (10) are generally reasonable and have high accuracy.

[0062] Based on the above conditions and parameters, the opening time of the car door is θ(t) = 45°, t = 2.077s; the damping of a single door hinge is T2 = 1 N·m; the number of door hinges is N = 2; the weight of the door is m = 38.25 kg; the transmission ratio of the reduction gearbox 3 is i2 = 22, and the transmission efficiency is η1 = 0.75; the transmission ratio of the commutator 4 is i3 = 1, and the transmission efficiency is η2 = 0.8; the single-line screw lead of the screw drive mechanism 5 is p = 17.5 mm / r, and the transmission efficiency is η3 = 0.7; the distance R from the center of mass of the door 1 to the hinge is... Z =0.588m, composite slope β=0︒, γ=0︒. Calculated using formulas (9) and (11)-(14), the instantaneous output torque of drive motor 2 is calculated to be 0.0147 N·m, and the output power is calculated to be 4.528 W. Measured by the dynamic torque meter in the motor load test bench, the test output torque of drive motor 2 is 0.0169 N·m, and the test speed is 2937.5 r / min. Therefore, the test output power of drive motor 2 is 5.198 W; the deviation rate between the calculated and test output power is 14.80%. This indicates that the method of formulas (9) and (11)-(14) is generally reasonable and can support the analysis of the required output speed, instantaneous power, and instantaneous torque of drive motor 2.

[0063] Example 2: The electric limit component of the present invention adopts a drive motor 2, a reducer 3, a commutator 4, a screw transmission mechanism 5, a slider 6, a lead screw 7, and a support rod 8, and its power is transmitted in the above order; the commutator 4 adjusts the output shaft of the reducer 3 to the reverse direction, and the screw transmission mechanism 5 converts the rotational motion into the linear motion of the slider 6 on the lead screw 7. When the car door is opened, the total time from start to finish is t=3s, the maximum opening angle is 65°, the working temperature of the drive motor 2 is 20°C, the acceleration and deceleration time of the drive motor 2 is ignored, the distance R from the door hinge to point C1 or C2 is 1053.98mm, and according to formula (10), v(t)=0.398m / s.

[0064] Given that the car door opens at a constant speed θ(t) = 65°, l1 = 98.2 mm, l2 = 30 mm, l3 = 186.5 mm, l4 = 248 mm, x(t) = 111.69 mm can be calculated using formula (8). The distance the slider 6 moves was measured manually to be 105.35 mm, and the deviation rate between the theoretical and measured values ​​was 5.70%, indicating that the methods of formulas (1)-(8) and (10) are generally reasonable and have relatively high accuracy.

[0065] Based on the above conditions and parameters, the door opening time θ(t) = 65° is t = 3s, the damping of a single door hinge is T2 = 1 N·m, the number of door hinges is N = 2, the door weight is m = 38.25 kg, the gearbox 3 has a transmission ratio i2 = 22 and a transmission efficiency η1 = 0.75, the commutator 4 has a transmission ratio i3 = 1 and a transmission efficiency η2 = 0.8, the screw drive mechanism 5 has a single-line screw lead p = 17.5 mm / r and a transmission efficiency η3 = 0.7, and the distance R from the center of mass of the door 1 to the hinge is... Z =0.588m, composite slope β=20︒, γ=20︒. Calculated using formulas (9) and (11)-(14), the instantaneous output torque of drive motor 2 is 0.9945 N·m, and the output power is 368.500 W. Measured by the dynamic torque meter in the motor load test bench, the test output torque of drive motor 2 is 1.425 N·m, and the test speed is 2937.5 r / min. Therefore, the test output power of drive motor 2 is 389.633 W; the deviation rate between the calculated and test output power is 18.95%. This indicates that the method of formulas (9) and (11)-(14) is generally reasonable and can support the analysis of the required output speed, instantaneous power, and instantaneous torque of drive motor 2.

[0066] This invention constructs a complete predictive closed loop that starts from the user experience goal (speed curve v(t)) and, through rigorous geometric, kinematic, and dynamic analysis, ultimately obtains the key selection parameters (n1(t), Pn(t), Tn(t)) of the drive motor. It successfully incorporates the complex variable of non-flat road conditions into a computable framework, replacing traditional empirical estimations or cumbersome iterative simulations with analytical models. This allows for efficient and accurate parameter prediction and selection of the drive system during the conceptual design phase, achieving the goals of improving design efficiency, reducing costs, and enhancing the applicability and scientific rigor of the solution.

[0067] It should be understood that the above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly. It should not be considered that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art, several simple deductions or substitutions can be made without departing from the concept of the present invention. All equivalent changes or modifications made in accordance with the spirit and essence of the present invention should be covered within the protection scope of the present invention.

Claims

1. A method for predictive driving of vehicle doors in new energy vehicles, characterized in that... Includes the following steps: A1. Calculate the door opening angle based on the distribution of the instantaneous linear velocity of the outer frame of the door over time; A2. Calculate the displacement of the sliding surface as time changes, and obtain the output speed of the drive motor as time changes; A3. Calculate the total energy consumption required by the car door over time, and obtain the instantaneous power of the drive motor over time; A4. Instantaneous torque of the drive motor over time; A5. Select the rated parameters of the drive motor according to the required output speed, instantaneous power, and instantaneous torque of the drive motor.

2. A method for predictive driving of vehicle doors in a new energy vehicle according to claim 1, characterized in that... Step A1 specifically includes: Calculation of the linear velocity of the outer edge of the car door at time t: Where t is the total time variable used to open the car door; t1 is the time variable used for the drive motor to accelerate and start when the car door is opened; t2 is the time variable used for the smooth opening of the car door; t3 is the time variable used for the drive motor to decelerate when the car door is opened to the angular boundary; v(t) is the linear velocity of the outer edge of the car door at time t; v1(t1) is the linear velocity of the outer edge of the car door at time t1; v2(t2) is the linear velocity of the outer edge of the car door at time t2; and v3(t3) is the linear velocity of the outer edge of the car door at time t3.

3. A method for predictive driving of vehicle doors in a new energy vehicle according to claim 2, characterized in that... Step A2 specifically includes: Let point A be the rotation point of the door hinge, point B be the rotation point of the strut hinge, and point H be the moving point of the slider that moves linearly along the lead screw. Points C1 and C2 are the first and second position points of the outer frame of the door rotation, respectively. Point D1 is the starting point of the slider when the door is closed, and point D2 is the starting point of the slider during the door rotation process. Points E1 and E2 are the projections of points D1 and D2 onto the door plane, respectively. AB is the distance l1 between the rotation axis of the car door and the rotation axis of the strut; D1E1 and D2E2 are both vertical distances l2 from the center of mass of the slider to the plane of the car door; BD1 and BH are both strut lengths l3; AE1 and AE2 are both distances l4 from the projection of the slider on the plane of the car door to the door rotation hinge; AD1 and AD2 are both straight-line distances from point A to the starting point of the slider; D2H is the sliding displacement x(t) of the slider along the screw direction; AH is the straight-line distance from point A to the slider. The formulas for AD1 and AD2 are: AH formula: ∠E1AE2 is the rotation angle θ(t) of the door as a function of time t; ∠BAD1 is the angle α° between the closed door and the slider's initial state; ∠D1AE1 and ∠D2AE2 are the angles between the line connecting point A and the slider's initial point and the vehicle plane; ∠D2AH is the angle α2 between the lines connecting the slider's initial point and its moving point and point A. ∠BAH Official: , The formula relating the slider's displacement x(t) to the door opening angle θ(t) is as follows: 。 4. A method for predictive driving of vehicle doors in a new energy vehicle according to claim 3, characterized in that... Step A3 specifically includes: converting the rotational motion of the drive motor into the linear motion of the slider, which requires deceleration, reversal, and a change in motion mode. The formula relating the drive motor speed and the slider displacement is as follows: Where, n1(t) is the output speed of the drive motor as a function of time t; n2(t) is the output speed of the gearbox as a function of time t; i2 is the transmission ratio of the gearbox 3; n3(t) is the output speed of the commutator 4 as a function of time t; i3 is the transmission ratio of the commutator 4; i4 is the linear sliding displacement to rotational arc length coefficient of the screw of the screw transmission mechanism 5; p is the lead of the single-line screw. By determining the arc length of the door frame as it moves from C1 to C2 over time t, the relationship between the door opening angle θ(t) and the instantaneous linear velocity of the door's outer frame is established. Where y(t) is the arc length of the door frame moving from C1 to C2 over time t; R is the distance from the door hinge to point C1 or C2; When a car has tilt angles at both the front and sides, the total energy consumption for opening the car door can be broken down into the energy consumption for horizontal door opening, the energy consumption for door hinge damping, and the energy consumption for lifting the door's center of gravity. The formulas are as follows: The two vertical heights at which the door's center of gravity is lifted are... and ; = Where E(t) is the total energy consumption required for the car to open its door on a compound slope over time t; E1(t) is the energy consumption for opening the door horizontally over time t; E2(t) is the hinge damping energy consumption for opening the door over time t; E3(t) is the energy consumption for lifting the center of mass when opening the door; m is the weight of the door; N is the number of door hinges; T2 is the damping of a single door hinge; R Z β is the distance from the door mass point to the door hinge; β is the front-end lifting angle; γ is the angle between the side axis of the vehicle and the ground.

5. A method for predictive driving of vehicle doors in a new energy vehicle according to claim 4, characterized in that... Step A4 specifically includes: Formula for instantaneous power of door rotation: The conversion formula from the instantaneous power of drive motor 2 to the instantaneous power of the door requires passing through reducer 3, commutator 4, and screw drive mechanism 5: Formula for instantaneous torque of drive motor 2: Where P(t) is the instantaneous power of the door rotating with time t; P n (t) represents the instantaneous power of drive motor 2 over time t; η1 represents the transmission efficiency of reducer 3; η2 represents the transmission efficiency of commutator 4; η3 represents the transmission efficiency of screw drive mechanism 5; T n (t) represents the instantaneous torque of drive motor 2 over time t.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that... The program is executed by the processor to implement the steps described in any one of claims 1-5.

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