A method and system for pinch detection based on motor dynamics model

Abstract

The application discloses a pinch detection method and system based on a motor dynamics model, which comprises the following steps: acquiring the current angular velocity and armature current of a seat motor in real time; based on the motor dynamics equation and the motor electrical model, combining the speed component generated by the current angular velocity and the armature current load component after stripping the inertia component, obtaining the comprehensive pinch force including the speed pinch force and the torque pinch force; judging whether the comprehensive pinch force meets the preset trigger condition; if the trigger condition is met, the corresponding pinch response is executed. The application can accurately eliminate the inertia interference generated by the system acceleration and deceleration without accurate calibration of the rotational inertia, which eliminates the large-scale artificial calibration cost, significantly improves the sensitivity and robustness of the pinch detection in mechanical aging and complex environment, is suitable for the pinch protection of movable parts driven by the motor such as automobile seats, electric doors and windows, and has the advantages of strong self-adaptation, high precision and good robustness.

Description

Technical Field

[0001] This invention relates to the field of vehicle safety technology, specifically to an anti-pinch detection method and system based on an electric motor dynamics model. Background Technology

[0002] As automobiles become increasingly intelligent, electrically driven movable components such as power seats, power windows, and power tailgates have become standard equipment. Because these components may come into physical contact with occupants during operation, if the moving mechanism continues to operate when it encounters an obstacle, it can easily cause injuries such as pinching. Therefore, equipping automobiles with efficient and reliable anti-pinch functions is a crucial prerequisite for ensuring the safety of vehicle occupants.

[0003] Currently, common anti-pinch technologies mainly include methods based on current thresholds, methods based on position-torque mapping tables, and methods based solely on Hall sensor speed changes. However, these technologies have many drawbacks in practical applications: current-based methods are easily affected by voltage and temperature fluctuations and have difficulty distinguishing between normal loads and obstacles; mapping table methods require extensive calibration for different configurations and cannot adapt to performance changes after seat aging; simple speed monitoring methods are highly susceptible to mechanical periodic fluctuations, leading to misjudgments, and are highly dependent on parameters such as the motor's moment of inertia J, making calibration extremely difficult.

[0004] Therefore, it is necessary to propose an anti-pinch detection method and system based on motor dynamics model, which can adapt to different load configurations, eliminate the need for large-scale manual calibration, and effectively remove inertial components and mechanical fluctuation interference, thereby solving the problems of poor robustness and insufficient accuracy of existing anti-pinch technology. Summary of the Invention

[0005] This invention provides an anti-pinch detection method and system based on a motor dynamics model, which solves the technical problems of existing anti-pinch technologies that rely on manual calibration, are difficult to accurately remove inertial interference, and are prone to misjudgment due to mechanical fluctuations.

[0006] To address the aforementioned problems, in a first aspect, the present invention provides an anti-pinch detection method based on a motor dynamics model, comprising:

[0007] Real-time acquisition of the current angular velocity and armature current of the seat motor;

[0008] Based on the motor dynamics equations and the motor electrical model, combined with the velocity component generated by the current angular velocity and the armature current load component after stripping the inertial component, a comprehensive anti-pinch force including velocity anti-pinch force and torque anti-pinch force is obtained.

[0009] Determine whether the overall anti-pinch force meets the preset triggering conditions;

[0010] If the triggering condition is met, the corresponding anti-pinch response will be executed.

[0011] Furthermore, the method for calculating the speed-induced anti-pinch force includes:

[0012]

[0013] in, For transmission efficiency, , For preset coefficients, This is the reference speed under no-load conditions.

[0014] Furthermore, the no-load reference speed is obtained based on dynamic learning and is continuously updated during normal motor operation.

[0015] Furthermore, the method for calculating the torque anti-pinch force includes:

[0016] Calculate the theoretical current based on the voltage equation;

[0017] The current inertial component is obtained by subtracting the current armature current from the theoretical current.

[0018] The load current increment is obtained based on the difference between the theoretical current and the preset reference current;

[0019] When the current inertial component exceeds the preset fluctuation threshold, it is determined that the current change is caused by the system's rotational inertia, and the load increment is weighted down or corrected to eliminate the interference of the acceleration / deceleration process on the anti-pinch force calculation.

[0020] The torque anti-pinch force is calculated based on the corrected load current increment.

[0021] Furthermore, the preset reference current is obtained through a dynamic learning mechanism under no-load conditions and is continuously updated during motor operation.

[0022] Furthermore, the determination that the anti-pinch trigger condition is satisfied includes at least one of the following conditions:

[0023] Condition 1: The overall anti-pinch force is greater than or equal to the preset force threshold;

[0024] Condition 2: The combined anti-pinch force is less than the preset force threshold, but its rate of increase is greater than the rate of change threshold, and the current angular velocity decreases relative to the previous sampling time.

[0025] Furthermore, the no-load reference speed and reference current are both updated in real time during motor operation through a preset dynamic learning model;

[0026] The preset dynamic learning model uses recursive least squares or first-order lag filtering algorithm to update the no-load reference speed and reference current in real time according to the electrical parameters of the motor during steady-state operation.

[0027] When the motor stops or its direction of travel is detected to have changed, the parameters of the dynamic learning model are reset.

[0028] Furthermore, the comprehensive anti-pinch force is obtained by weighted summation of the speed anti-pinch force and the torque anti-pinch force.

[0029] Secondly, an anti-pinch detection system based on a motor dynamics model includes:

[0030] The data acquisition module is used to acquire the current angular velocity and armature current of the seat motor in real time.

[0031] The calculation module is used to obtain a comprehensive anti-pinch force, including velocity anti-pinch force and torque anti-pinch force, based on the motor dynamics equation and the motor electrical model, combined with the velocity component generated by the current angular velocity and the armature current load component after removing the inertial component.

[0032] The judgment module is used to determine whether the comprehensive anti-pinch force judgment meets the preset triggering conditions;

[0033] The control module is used to execute the corresponding anti-pinch response when the triggering conditions are met.

[0034] Furthermore, the calculation module includes a dynamic learning module for dynamically learning the no-load reference speed, reference current, and / or motor internal resistance during motor operation.

[0035] Compared with the prior art, the beneficial effects of the present invention include:

[0036] (1) By introducing the electrical equation of the motor, this scheme realizes the unique algorithm of "current stripping inertial component". It can decompose the actual current into load component and inertial component, and extract only the load increment directly related to the clamping force for judgment, thereby avoiding the difficult-to-calibrate moment of inertia and the angular acceleration with calculation error, making the calculation of anti-clamping force more physical and more accurate.

[0037] (2) This scheme adopts a dual-condition joint judgment logic of "anti-pinch force threshold + rise rate + speed drop check"; through this multi-dimensional cross-validation mechanism, it can effectively distinguish between normal periodic fluctuations caused by mechanical structure and real obstacle clamping. Combined with the environmental compensation algorithm, it significantly improves the robustness of the system under various complex working conditions.

[0038] (3) Through the dynamic learning mechanism, key parameters such as reference speed, reference current and motor internal resistance are obtained during operation. There is no need for cumbersome quality control and mapping table pre-calibration for different models or batches of seats. It can automatically compensate for performance changes caused by mechanical wear and aging, and greatly reduce production costs. Attached Figure Description

[0039] Figure 1 A flowchart illustrating an anti-pinch detection method based on a motor dynamics model provided by the present invention;

[0040] Figure 2 This is a schematic diagram of an embodiment of the anti-pinch detection system based on a motor dynamics model provided by the present invention. Detailed Implementation

[0041] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0042] This invention provides an anti-pinch detection method based on a motor dynamics model, such as... Figure 1 As shown, Figure 1 This is a flowchart illustrating the anti-pinch detection method based on a motor dynamics model, the method comprising:

[0043] Step S101: Real-time acquisition of the current angular velocity and armature current of the seat motor;

[0044] Step S102: Based on the motor dynamics equation and the motor electrical model, combined with the velocity component generated by the current angular velocity and the armature current load component after stripping the inertial component, a comprehensive anti-pinch force including velocity anti-pinch force and torque anti-pinch force is obtained.

[0045] Step S103: Determine whether the comprehensive anti-pinch force meets the preset triggering conditions;

[0046] Step S104: If the triggering condition is met, execute the corresponding anti-pinch response.

[0047] The anti-pinch detection method based on the motor dynamics model provided in this embodiment collects angular velocity and armature current in real time, and uses a physical model to construct a comprehensive anti-pinch force calculation system that includes speed deviation compensation and load current increment after "stripping inertial components". Combined with a dynamic learning module, it performs online adaptive correction of core parameters such as motor internal resistance and reference current. It can accurately eliminate system acceleration and deceleration interference and mechanical fluctuations without the need for precise calibration of rotational inertia and large-scale manual calibration, which significantly improves the sensitivity and robustness of anti-pinch detection in component aging and complex environments.

[0048] In a preferred embodiment, in step S101, the current angular velocity is acquired by a Hall sensor with a sampling period of 10ms. The armature current is acquired by a current sensor, and the angular acceleration is calculated differentially as dω / dt ≈ [ω(t)−ω(t−Δt)] / Δt.

[0049] In a preferred embodiment, in step S102, the comprehensive anti-pinch force is obtained by weighted summation of the speed anti-pinch force and the torque anti-pinch force.

[0050]

[0051] in, To enhance the overall anti-pinch force, and These are the weighting coefficients, For speed and anti-pinch force, This is the torque anti-pinch force.

[0052] The method for calculating the speed-based anti-pinch force includes:

[0053]

[0054] in, For transmission efficiency, , For preset coefficients, This is the reference speed under no-load conditions. This represents the current angular velocity.

[0055] In a preferred embodiment, the no-load reference speed is obtained based on dynamic learning and is continuously updated during normal motor operation.

[0056] In a preferred embodiment, the method for calculating the torque anti-pinch force includes:

[0057] The theoretical current is calculated based on the voltage equation; the specific calculation formula is as follows:

[0058]

[0059] in, For theoretical current, This is the motor voltage. The back electromotive force constant is... The angular velocity of the motor. For brush voltage drop, This is the internal resistance of the motor;

[0060] The current inertial component is obtained by subtracting the current armature current from the theoretical current.

[0061] The load current increment is obtained based on the difference between the theoretical current and the preset reference current; that is: ; The reference current is updated in real time through a dynamic learning module during motor operation.

[0062] The effectiveness of the torque anti-pinch force is verified by the current inertia component; if the current inertia component exceeds the preset fluctuation threshold, it is determined that the current current change is caused by the system rotational inertia, and the torque anti-pinch force is subjected to weight reduction or shielding.

[0063] When the current inertia component is large, it indicates that the motor is in a dynamic adjustment period. At this time, the calculated load current is inaccurate, and the triggering conditions must be offset or limited by the current inertia component.

[0064] Finally, the torque anti-pinch force is calculated based on the corrected load current increment. The calculation formula is as follows:

[0065] ,

[0066]

[0067] in, For torque anti-pinch force, The torque coefficient, For force deviation, and for transmission radius, This represents the load current increment.

[0068] In a preferred embodiment, the preset reference current It is obtained through a dynamic learning mechanism under no-load conditions and is continuously updated during motor operation.

[0069] In a preferred embodiment, in step S103, the determination that the anti-pinch trigger condition is met includes at least one of the following conditions:

[0070] Condition 1: The overall anti-pinch force is greater than or equal to the preset force threshold;

[0071] Condition 2: The combined anti-pinch force is less than the preset force threshold, but its rate of increase is greater than the rate of change threshold, and the current angular velocity decreases relative to the previous sampling time.

[0072] As a preferred embodiment, the no-load reference speed and reference current and the internal resistance of the motor All are updated in real time through a preset dynamic learning model during motor operation;

[0073] The preset dynamic learning model uses recursive least squares or first-order lag filtering algorithm to update the no-load reference speed and reference current in real time according to the electrical parameters of the motor during steady-state operation.

[0074] When the motor stops or its direction of travel is detected to have changed, the parameters of the dynamic learning model are reset.

[0075] As a specific example, the learning mechanism for each parameter is as follows:

[0076] Reference speed learning: During normal operation under no-load or stable load conditions, the reference speed is continuously updated using a sliding window average, exponentially weighted moving average, or least squares method. .

[0077] Reference current learning: under no-load conditions (i.e., current inertia component) With reference current satisfy (If the current is less than a preset threshold), the reference current is updated using exponential weighting or first-order filtering. .

[0078] Motor internal resistance learning: Under no-load conditions, according to

[0079] The theoretical internal resistance is calculated, and the learned internal resistance R is updated using filtering, where, This is the armature current.

[0080] In some embodiments, parameter learning also includes an environmental compensation scheme:

[0081] By real-time acquisition of power supply voltage, ambient temperature, and PWM duty cycle signals, combined with a preset compensation model or rate of change curve, the motor internal resistance R and no-load reference speed are adjusted. and reference current The core physical parameters are dynamically corrected to effectively offset the deviations caused by power supply fluctuations, temperature rises, resistance drift, and speed control signal changes on the dynamic model, ensuring that the comprehensive anti-pinch force maintains consistent calculation accuracy and judgment benchmark under different working conditions.

[0082] In some embodiments, when the motor stops or changes direction, all learning states are cleared and learning restarts.

[0083] As a specific implementation, the anti-pinch function is enabled only when the following conditions are met:

[0084] 1. The location is within the anti-pinch detection range;

[0085] 2. The motor direction is not stopped;

[0086] 3. The PWM settling time meets the requirements;

[0087] 4. The activation time for the blocking function has expired;

[0088] The vehicle's anti-pinch function will be activated when all of the above conditions are met.

[0089] As a specific embodiment, in step S104, when the system determines that the anti-pinch trigger condition is met, the "corresponding anti-pinch response" mainly includes the following specific actions:

[0090] 1. Immediately stop motor operation: Upon detecting the compression of an obstacle, the system control drive circuit cuts off the power or issues a stop command, causing the moving mechanism (such as the seat or window) to stop moving instantly.

[0091] 2. Control the motor to run in reverse: In order to completely release the squeezing pressure on the obstacle, the system will control the motor to run in the opposite direction of the initial movement.

[0092] 3. Reverse operation to preset displacement: In actual application logic, reverse operation usually lasts for a preset displacement or number of pulses to ensure that sufficient safety gap is left.

[0093] The purpose of the above-mentioned response action is to eliminate physical compressive force in a very short time (usually in milliseconds) to meet the protection requirements of vehicle safety regulations.

[0094] like Figure 2 As shown, this embodiment also provides an anti-pinch detection system 200 based on a motor dynamics model, including:

[0095] The acquisition module 201 is used to acquire the current angular velocity and armature current of the seat motor in real time;

[0096] The calculation module 202 is used to obtain a comprehensive anti-pinch force, including velocity anti-pinch force and torque anti-pinch force, based on the motor dynamics equation and the motor electrical model, combined with the velocity component generated by the current angular velocity and the armature current load component after stripping the inertial component.

[0097] The judgment module 203 is used to determine whether the comprehensive anti-pinch force judgment meets the preset triggering conditions;

[0098] The control module 204 is used to execute the corresponding anti-pinch response when the triggering conditions are met.

[0099] In a preferred embodiment, the calculation module includes a dynamic learning module for dynamically learning the no-load reference speed, reference current, and / or motor internal resistance during motor operation.

[0100] This invention discloses an anti-pinch detection method and system based on a motor dynamics model. By real-time acquisition of angular velocity and armature current, a comprehensive anti-pinch force calculation system is constructed using a physical model, incorporating speed deviation compensation and the load current increment after "stripping the inertial component." This scheme combines a dynamic learning mechanism to adaptively correct core parameters such as motor internal resistance and reference current online, and incorporates an environmental compensation scheme to offset the effects of voltage and temperature fluctuations. The advantage of this invention is that it can accurately eliminate inertial interference generated by system acceleration and deceleration without precise calibration of the moment of inertia J. This significantly improves the sensitivity and robustness of anti-pinch detection under mechanical aging and complex environments, eliminating the cost of large-scale manual calibration.

[0101] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for preventing pinching based on a motor dynamics model, characterized in that, include; Real-time acquisition of the current angular velocity and armature current of the seat motor; Based on the motor dynamics equations and the motor electrical model, combined with the velocity component generated by the current angular velocity and the armature current load component after stripping the inertial component, a comprehensive anti-pinch force including velocity anti-pinch force and torque anti-pinch force is obtained. Determine whether the overall anti-pinch force meets the preset triggering conditions; If the triggering condition is met, the corresponding anti-pinch response will be executed.

2. The anti-pinch detection method based on a motor dynamics model according to claim 1, characterized in that, The method for calculating the speed-based anti-pinch force includes: in, For transmission efficiency, , For preset coefficients, This is the reference speed under no-load conditions.

3. The anti-pinch detection method based on a motor dynamics model according to claim 2, characterized in that, The no-load reference speed is obtained based on dynamic learning and is continuously updated during normal motor operation.

4. The anti-pinch detection method based on a motor dynamics model according to claim 1, characterized in that, The method for calculating the torque anti-pinch force includes: Calculate the theoretical current based on the voltage equation; The current inertial component is obtained by subtracting the current armature current from the theoretical current. The load current increment is obtained based on the difference between the theoretical current and the preset reference current; When the current inertial component exceeds the preset fluctuation threshold, it is determined that the current change is caused by the system's rotational inertia, and the load increment is weighted down or corrected to eliminate the interference of the acceleration / deceleration process on the anti-pinch force calculation. The torque anti-pinch force is calculated based on the corrected load current increment.

5. The anti-pinch detection method based on a motor dynamics model according to claim 4, characterized in that, The preset reference current is obtained through a dynamic learning mechanism under no-load conditions and is continuously updated during motor operation.

6. The anti-pinch detection method based on a motor dynamics model according to claim 1, characterized in that, The determination that the anti-pinch trigger condition is satisfied includes at least one of the following conditions: Condition 1: The overall anti-pinch force is greater than or equal to the preset force threshold; Condition 2: The overall anti-pinch force is less than the preset force threshold, but its rate of increase is greater than the rate of change threshold, and the current angular velocity decreases relative to the previous sampling time.

7. The anti-pinch detection method based on a motor dynamics model according to claim 3 or 5, characterized in that, The no-load reference speed and reference current are both updated in real time during motor operation through a preset dynamic learning model; The preset dynamic learning model uses recursive least squares or first-order lag filtering algorithm to update the no-load reference speed and reference current in real time according to the electrical parameters of the motor during steady-state operation. When the motor stops or its direction of travel is detected to have changed, the parameters of the dynamic learning model are reset.

8. The anti-pinch detection method based on a motor dynamics model according to claim 1, characterized in that, The comprehensive anti-pinch force is obtained by weighted summation of the speed anti-pinch force and the torque anti-pinch force.

9. A pinch detection system based on a motor dynamics model, characterized in that, include: The data acquisition module is used to acquire the current angular velocity and armature current of the seat motor in real time. The calculation module is used to obtain a comprehensive anti-pinch force, including velocity anti-pinch force and torque anti-pinch force, based on the motor dynamics equation and the motor electrical model, combined with the velocity component generated by the current angular velocity and the armature current load component after removing the inertial component. The judgment module is used to determine whether the comprehensive anti-pinch force judgment meets the preset triggering conditions; The control module is used to execute the corresponding anti-pinch response when the triggering conditions are met.

10. The anti-pinch detection system based on a motor dynamics model according to claim 9, characterized in that, The calculation module includes a dynamic learning module, which is used to dynamically learn the no-load reference speed, reference current and / or motor internal resistance during motor operation.

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