Self-learning control method and device for air conditioner damper, vehicle and storage medium

Abstract

Provided are a self-learning control method and device for an air conditioner damper, a vehicle, and a storage medium, and the method belongs to the technical field of air conditioners. The method comprises the following steps: controlling a first motor to rotate in a first direction and a second direction to a locked-rotor position, determining the locked-rotor positions in the two directions as limit positions if the stroke between the two locked-rotor positions is greater than or equal to a first stroke threshold, and determining the rotating stroke between the two locked-rotor positions as the total stroke of the first motor. Controlling the first motor to rotate in the first direction by a first preset stroke, so that a lock rod reaches a target position that blocks a second motor. In the case of controlling the second motor to rotate to a locked-rotor state, it is determined that the second motor reaches the target position. Controlling the second motor to rotate in the second direction by a second preset stroke to drive each blade unit in a blade string to rotate to a posture corresponding to a forest wind mode. Based on this, the reference positions of the first motor and the second motor and the position of the blade string in the forest wind mode can be learned.

Description

Technical Field

[0001] This application relates to the field of air conditioning technology, and to, but is not limited to, a self-learning control method, device, vehicle, and storage medium for an air conditioning damper. Background Technology

[0002] In automotive air conditioning systems, the air conditioning damper is a key component controlling the direction, volume, and temperature of the airflow. Its control accuracy directly impacts the system's performance and user experience. Air conditioning dampers typically consist of a motor, gear mechanism, linkage mechanism, and blades. Mechanical errors can occur during actual assembly, so the damper position cannot be simply determined based on the theoretical number of motor steps. Self-learning is required to determine the actual mechanical boundaries. Each time the air conditioning system is powered on again, the air conditioning damper needs to undergo a self-learning process to establish the correspondence between the motor position and the actual mechanical position, enabling the controller to accurately control the damper's opening, angle, and movement.

[0003] A novel air conditioning damper has been proposed in this field, which can simulate the airflow effect as forest wind (also known as natural wind) through a nonlinear blade arrangement. However, how to perform self-learning control on such air conditioning dampers is an urgent problem to be solved. Summary of the Invention

[0004] Firstly, a self-learning control method for an air conditioning damper is provided. The air conditioning damper includes a first motor, a second motor, a locking rod, and a blade string. The blade string includes multiple blade units. The first motor is movably connected to the locking rod, and the second motor is connected to the blade string. The method may include: Controlling the first motor to rotate in a first direction to a first stall position, and controlling the first motor to rotate in a second direction to a second stall position, the second direction being opposite to the first direction.

[0005] When the first rotational stroke of the first motor from the first stall position to the second stall position is greater than or equal to the first stroke threshold, the first stall position is determined as the limit position of the first motor in the first direction, the second stall position is determined as the limit position of the first motor in the second direction, and the first rotational stroke is determined as the total stroke of the first motor.

[0006] The first motor is controlled to rotate a first preset stroke in a first direction, so as to drive the locking rod to move closer to the second motor, so that the locking rod reaches the target position that blocks the second motor.

[0007] While controlling the second motor to rotate in the first direction until it reaches a stalled state, determine that the second motor has reached the target position.

[0008] The second motor is controlled to rotate along the second direction for a second preset stroke, so as to drive each blade unit in the blade string to rotate to the posture corresponding to the forest wind mode.

[0009] By implementing the self-learning control method for the air conditioning damper described above, the extreme positions of the first motor in two rotational directions can be determined, thereby enabling the controller to obtain a reference position for controlling the rotation of the first motor. Furthermore, the total stroke of the first motor can also be determined, allowing the controller to obtain the actual rotational range of the first motor. Based on this, the controller can subsequently control the first motor correctly. Additionally, the correspondence between the motor position and the actual mechanical position (the aforementioned target position) of the second motor can be determined, allowing the controller to obtain a reference position for controlling the rotation of the second motor, enabling the controller to subsequently control the second motor correctly. Moreover, each blade of the air conditioning damper's blade string can be adjusted to the posture corresponding to the forest wind mode, allowing the controller to learn the motor position corresponding to the blade string in forest wind mode, enabling the controller to use this as a reference position for adjusting the posture of the blade string. Based on the above analysis, it can be seen that by implementing the self-learning control method for the air conditioning damper, the reference position and actual rotational range of the first motor in the air conditioning damper, the reference position of the second motor in the air conditioning damper, and the correspondence between the posture of the blade string in forest wind mode and the position of the second motor can be learned, thereby enabling the controller to subsequently control the operation of the air conditioning damper accurately. Furthermore, after completing the learning process, the air conditioner damper can operate in forest wind mode.

[0010] In conjunction with the first aspect mentioned above, in one optional implementation, the blade string further includes a drive shaft, a first end of which is movably connected to a first motor, a second end of which is connected to a second motor, and the second end is also provided with a limiting component, which is used to axially limit the multiple blade units on the drive shaft.

[0011] Before controlling the second motor to rotate a second preset stroke in the second direction, the self-learning control method may also include: Control the second motor to rotate a third preset stroke in the second direction to release the stall state of the second motor.

[0012] The first motor is controlled to rotate a fourth preset stroke in the first direction to reset the locking rod and drive the transmission shaft and the limiting component to move closer to the second motor so that the limiting component releases the axial restriction on the multiple blade units.

[0013] Controlling the second motor to rotate a second preset stroke along a second direction, thereby rotating each blade unit in the blade string to the posture corresponding to the forest wind mode, may specifically include: When the limiting component releases the axial restriction on multiple blade units, the second motor is controlled to rotate along the second direction for a second preset stroke, so as to drive each blade unit in the blade string to rotate to the posture corresponding to the forest wind mode.

[0014] After controlling the second motor to rotate a second preset stroke in the second direction, the self-learning control method may also include: The first motor is controlled to rotate a fifth preset stroke in the second direction, so as to drive the transmission shaft and the limiting component to move closer to the first motor, so that the limiting component restores the axial restriction on the multiple blade units.

[0015] In conjunction with the first aspect above, in one optional implementation, when the first rotational stroke of the first motor from the first stall position to the second stall position is greater than or equal to a first stroke threshold, the first stall position is determined as the limit position of the first motor in the first direction, the second stall position is determined as the limit position of the first motor in the second direction, and the first rotational stroke is determined as the total stroke of the first motor. Specifically, this may include: If the first rotational stroke is greater than or equal to the first stroke threshold and the time taken for the first motor to rotate from start-up to the second stall position is less than the first preset time, the first stall position is determined as the limit position of the first motor in the first direction, the second stall position is determined as the limit position of the first motor in the second direction, and the first rotational stroke is determined as the total stroke of the first motor.

[0016] In conjunction with the first aspect described above, in one optional implementation, the self-learning control method may further include: executing a first self-learning failure recovery process when the first rotational stroke is less than a first stroke threshold. Controlling the first motor to rotate a first preset stroke along a first direction may specifically include: after the first self-learning failure recovery process is executed, controlling the first motor to rotate a first preset stroke along the first direction.

[0017] In conjunction with the first aspect mentioned above, in one optional implementation, the first self-learning failure recovery process may include: Control the first motor to rotate from the second stall position to the third stall position along the first direction.

[0018] The second motor is controlled to rotate a sixth preset stroke in the first direction to allow space for the movement of the locking rod.

[0019] Control the first motor to rotate from the third stall position to the fourth stall position along the second direction, and determine the second rotation stroke of the first motor from the third stall position to the fourth stall position.

[0020] When the second rotational stroke is greater than or equal to the first stroke threshold, the third stall position is determined as the limit position of the first motor in the first direction, the fourth stall position is determined as the limit position of the first motor in the second direction, and the second rotational stroke is determined as the total stroke of the first motor.

[0021] In conjunction with the first aspect above, in one optional implementation, when the second motor is controlled to rotate in the first direction to a stall state, determining that the second motor has reached the target position can specifically include: when the second motor is controlled to rotate in the first direction to a stall state, and the time taken for the second motor to rotate from start-up to the stall state is less than a second preset time, determining that the second motor has reached the target position.

[0022] In conjunction with the first aspect described above, in one optional implementation, the self-learning control method may further include: if the second motor fails to rotate to a stalled state after rotating along the first direction for a second preset time, then a second self-learning failure recovery process is executed. Controlling the second motor to rotate along the second direction for a second preset stroke may specifically include: after the second self-learning failure recovery process is executed, controlling the second motor to rotate along the second direction for a second preset stroke.

[0023] In conjunction with the first aspect mentioned above, in one optional implementation, the second self-learning failure recovery process may include: Control the first motor to rotate from the second stall position to the third stall position along the first direction.

[0024] The second motor is controlled to rotate a sixth preset stroke in the first direction to allow space for the movement of the locking rod.

[0025] Control the first motor to rotate from the third stall position to the fourth stall position along the second direction, and determine the second rotation stroke of the first motor from the third stall position to the fourth stall position.

[0026] When the second rotational stroke is greater than or equal to the first stroke threshold, the third stall position is determined as the limit position of the first motor in the first direction, the fourth stall position is determined as the limit position of the first motor in the second direction, and the second rotational stroke is determined as the total stroke of the first motor.

[0027] In addition, the first motor is re-controlled to rotate a first preset stroke in a first direction, so as to drive the locking rod to move closer to the second motor, so that the locking rod reaches the target position that blocks the second motor.

[0028] And, the second motor is re-controlled to rotate in the first direction.

[0029] While controlling the second motor to rotate in the first direction until it reaches a stalled state, determine that the second motor has reached the target position.

[0030] Secondly, a control device is provided for controlling an air conditioning damper to perform self-learning. The air conditioning damper includes a first motor, a second motor, a locking lever, and a blade string. The blade string includes multiple blade units. The first motor is movably connected to the locking lever, and the second motor is connected to the blade string. The control device includes a control module and a determination module, wherein... The control module is used to control the first motor to rotate in a first direction to a first stall position, and to control the first motor to rotate in a second direction to a second stall position, wherein the second direction is opposite to the first direction.

[0031] The determining module is configured to, when the first rotational stroke of the first motor from the first stall position to the second stall position is greater than or equal to a first stroke threshold, determine the first stall position as the limit position of the first motor in the first direction, determine the second stall position as the limit position of the first motor in the second direction, and determine the first rotational stroke as the total stroke of the first motor.

[0032] The control module is also used to control the first motor to rotate a first preset stroke in a first direction, so as to drive the locking rod to move towards the second motor, so that the locking rod reaches the target position that blocks the second motor.

[0033] The determination module is also used to determine the target position when the control module controls the second motor to rotate in the first direction to a stall state.

[0034] The control module is also used to control the second motor to rotate a second preset stroke in a second direction, so as to drive each blade unit in the blade string to rotate to the posture corresponding to the forest wind mode.

[0035] Thirdly, an air conditioning damper is provided, comprising a processor and an actuator. The actuator includes a first motor, a second motor, a locking lever, and a blade string, the blade string comprising multiple blade units. The processor is used to execute the self-learning control method for the air conditioning damper described in any one of the first aspects above.

[0036] Fourthly, a vehicle is provided, the vehicle including an air conditioning damper, the vehicle further including a processor and a memory. The memory is used to store computer program instructions, which, when executed by the processor, cause the vehicle to perform the self-learning control method for the air conditioning damper described in any one of the first aspects.

[0037] Fifthly, a computer-readable storage medium is provided, which stores computer program instructions that, when executed on a computer, cause the computer to perform the self-learning control method for the air conditioning damper described in any one of the first aspects.

[0038] In a sixth aspect, a computer program product is provided, the computer program product containing instructions that, when the computer program product is run on a computer, cause the computer to execute the self-learning control method for the air conditioning damper described in any one of the first aspects. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 This is a schematic diagram of the structure of an air conditioning damper provided in an embodiment of this application; Figure 2 A flowchart illustrating a self-learning control method for an air conditioning damper provided in an embodiment of this application; Figure 3 This is a schematic diagram showing the positions of a first control component and a locking rod, provided in an embodiment of this application. Figure 4 A schematic diagram showing the position of a locking lever and the drive gear of a second motor, provided for an embodiment of this application; Figure 5 A flowchart illustrating another self-learning control method for an air conditioning damper provided in an embodiment of this application; Figure 6 A schematic diagram of a first self-learning failure recovery process provided in an embodiment of this application; Figure 7 A schematic diagram of another first self-learning failure recovery process provided for an embodiment of this application; Figure 8 A schematic diagram of a second self-learning failure recovery process provided in an embodiment of this application; Figure 9 A flowchart illustrating another self-learning control method for an air conditioning damper provided in an embodiment of this application; Figure 10 This is a schematic diagram of the structure of a control device provided in an embodiment of this application; Figure 11 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0041] The technical solutions of the embodiments of this application will be described below with reference to the accompanying drawings. In the description of this application, unless otherwise stated, " / " indicates that the objects before and after are in an "or" relationship. For example, A / B can represent A or B. "And / or" in this application is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone, where A and B can be singular or plural. Furthermore, in the description of this application, unless otherwise stated, "multiple" refers to two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple. Furthermore, to facilitate a clear description of the technical solutions in the embodiments of this application, the terms "first" and "second" are used in the embodiments of this application to distinguish identical or similar items with substantially the same function and effect. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and that "first" and "second" are not necessarily different. Meanwhile, in the embodiments of this application, the words "exemplary" or "for example" are used to indicate that something is being used as an example, illustration, or description. Any embodiment or design scheme described as "exemplary" or "for example" in the embodiments of this application should not be construed as being better or more advantageous than other embodiments or design schemes. Specifically, the use of "exemplary" or "for example" is intended to present related concepts in a concrete manner for ease of understanding. In addition, the network architecture and business scenarios described in the embodiments of this application are for the purpose of more clearly illustrating the technical solutions in the embodiments of this application and do not constitute a limitation on the technical solutions provided in the embodiments of this application. Those skilled in the art will understand that with the evolution of network architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0042] Before introducing the self-learning control method for the air conditioning damper provided in the embodiments of this application, the structure of the air conditioning damper controlled by the self-learning control method for the air conditioning damper provided in this application will be introduced first.

[0043] Please refer to Figure 1 , Figure 1 A structural schematic diagram of an air conditioning damper provided in this application is shown below. Figure 1The air conditioning damper shown may include a first motor 101, a second motor 102, a blade string 103, and a locking rod 104. The two ends of the blade string 103 are respectively connected to the first motor 101 and the second motor 102. The blade string 103 includes multiple blade units. The locking rod 104 is movably connected to the first motor.

[0044] The blade string 103 can be directly or indirectly connected to the first motor 101 and the second motor 102, for example, through some mechanical structure. The locking rod 104 can also be connected to the first motor through some mechanical structure. This will be explained in detail here.

[0045] The self-learning control method for the air conditioning damper provided in this application embodiment will be explained in detail below, taking into account the structure of the air conditioning damper described above. Please refer to... Figure 2 , Figure 2 A flowchart illustrating a self-learning control method for an air conditioning damper provided in this application is shown. The method may include the following steps: Step 201: Control the first motor to rotate in the first direction to the first stall position, and control the first motor to rotate in the second direction to the second stall position, the second direction being opposite to the first direction.

[0046] The first stall position is the position where the first motor rotates in the first direction to a stall state, and the second stall position is the position where the first motor rotates in the second direction to a stall state. A stall state refers to a condition where the motor's rotor is prevented from rotating, but it still outputs torque.

[0047] In one possible implementation, the first direction is counterclockwise and the second direction is clockwise. Alternatively, the first direction is clockwise and the second direction is counterclockwise. This application does not limit this to either. In the art, a motor rotating clockwise is also called a motor rotating in the forward direction, and a motor rotating counterclockwise is also called a motor rotating in the reverse direction.

[0048] In one possible implementation, the first motor is a stepper motor. The position and rotational stroke of the first motor can both be described by the number of steps. The rotation direction of the first motor can be controlled by the number of steps corresponding to the target rotation position. For example, assuming the current position of the first motor corresponds to 10,000 steps, and the target rotation position requires 0 steps, the direction from 10,000 steps to 0 steps can be called the small step direction. As another example, assuming the current position of the first motor corresponds to 0 steps, and the target rotation position requires 10,000 steps, the direction from 0 steps to 10,000 steps can be called the large step direction. As one possible implementation, the small step direction is the first direction, and the large step direction is the second direction.

[0049] In one possible embodiment, the initial position of the first motor can be set to 10,000 steps, and the target position requiring the first motor to rotate can be set to 0 steps, thereby controlling the first motor to rotate in the first direction. Here, 10,000 steps is much larger than the maximum number of rotation steps of the first motor, ensuring that the first motor can rotate in the first direction to the stall state, thus reaching the first stall position. For example, if the first stall position corresponds to 8,000 steps, then the first motor only needs to rotate 2,000 steps from the initial position in the first direction to reach the first stall position.

[0050] In one possible embodiment, after the first motor rotates to the first stall position, the step count corresponding to the first stall position can be reset to 0 steps. Then, the step count corresponding to the target position requiring the first motor to rotate is set to 10,000 steps, thereby controlling the first motor to rotate in the second direction. Here, 10,000 steps is much larger than the maximum number of rotation steps of the first motor, ensuring that the first motor can definitely rotate to the stall state along the second direction, thus reaching the second stall position. For example, if the step count corresponding to the second stall position is 3,000 steps, then the first motor can reach the second stall position by rotating 3,000 steps along the first direction from the first stall position.

[0051] Step 202: When the first rotational stroke of the first motor from the first stall position to the second stall position is greater than or equal to the first stroke threshold, the first stall position is determined as the limit position of the first motor in the first direction, the second stall position is determined as the limit position of the first motor in the second direction, and the first rotational stroke is determined as the total stroke of the first motor.

[0052] In one possible implementation, the first motor is a stepper motor, the first rotational stroke can be the cumulative number of steps the first motor takes to rotate from the first stall position to the second stall position, and the first stroke threshold can be a preset rotational step threshold. Alternatively, the first rotational stroke can also be the rotational angle the first motor takes to rotate from the first stall position to the second stall position, and the first stroke threshold can be a preset rotational angle threshold. Optionally, there is a conversion relationship between the number of rotational steps and the rotational angle; for example, 1 degree corresponds to 17.8 steps.

[0053] In one possible implementation, the first stroke threshold can be determined based on the theoretical maximum rotational stroke of the first motor. For example, if the theoretical maximum rotational stroke of the first motor is 4500 steps, the first stroke threshold can be set to 4450 steps, reserving 50 steps as an allowable error range.

[0054] It should be understood that when the first rotational stroke is greater than or equal to the first stroke threshold, the first stall position is considered to be the physical limit that the first motor can rotate to in the first direction, the second stall position is considered to be the physical limit that the first motor can rotate to in the second direction, and the first rotational stroke is considered to be the total stroke that the first motor can rotate. For this reason, the first stall position is determined as the limit position of the first motor in the first direction, the second stall position is determined as the limit position of the first motor in the second direction, and the first rotational stroke is determined as the total stroke of the first motor.

[0055] In one possible implementation, step 202 may specifically include: if the first rotational stroke is greater than or equal to a first stroke threshold, and the time taken for the first motor to rotate from startup to the second stall position is less than a first preset duration, then the first stall position is determined as the limit position of the first motor in the first direction, the second stall position is determined as the limit position of the first motor in the second direction, and the first rotational stroke is determined as the total stroke of the first motor. That is, only when the first rotational stroke is greater than or equal to the first stroke threshold, and the time taken for the first motor to rotate from startup to the second stall position is less than the first preset duration, is the first stall position considered the physical limit that the first motor can rotate to in the first direction, and the second stall position considered the physical limit that the first motor can rotate to in the second direction. As one implementation, the first preset duration can be 1 minute.

[0056] In one possible implementation, when the first rotational stroke is greater than or equal to a first stroke threshold, the extreme position of the first motor in the first direction can be set as the zero position of the first motor, and the extreme position of the first motor in the second direction can be set as the end position of the first motor. The rotational stroke from the zero position to the end position is the total stroke of the first motor. Here, the zero position of the first motor is the logical starting point for controlling the first motor. For example, the number of steps corresponding to the extreme position of the first motor in the first direction can be set to 0 steps, and the number of steps corresponding to the extreme position of the first motor in the second direction can be set to 4500 steps, where 4500 steps is the total stroke of the first motor, and the first motor rotates within the range of 0 to 4500 steps.

[0057] In another possible implementation, when the first motor rotates to the first stall position, the first stall position can be directly set as the zero position of the first motor. Then, when the first motor rotates to the second stall position, the second stall position can be directly determined as the end position of the second motor. If the first rotational stroke is greater than or equal to the first stroke threshold, it can be determined that the zero position and end position of the first motor are correct, and the first rotational stroke is determined as the total stroke of the first motor.

[0058] It should be understood that steps 201 and 202 can be considered as a process for calibrating the stall of the first motor.

[0059] Step 203: Control the first motor to rotate a first preset stroke in the first direction, so as to drive the locking rod to move closer to the second motor, so that the locking rod reaches the target position that blocks the second motor.

[0060] It should be understood that in step 202, the first motor has already rotated to the second stall position. Therefore, the control of the first motor to rotate the first motor along the first direction for the first preset stroke mentioned in step 203 specifically refers to controlling the first motor to rotate the first motor from the aforementioned second stall position along the first direction for the first preset stroke.

[0061] When the first motor rotates a first preset stroke from the second stall position along the first direction, it will drive the locking rod to the target position that blocks the second motor. The first preset stroke is a predetermined specific stroke required for the first motor to rotate to reach the target position.

[0062] In one possible implementation, a first motor is connected to a first control component, which has a beveled protrusion. As the first motor rotates from a second stall position along a first direction, the protrusion on the first control component pushes the locking lever towards the second motor. After the first motor has rotated a first preset distance from the second stall position along the first direction, the locking lever reaches the target position.

[0063] For example, Figure 3 A schematic diagram showing the position of a first control component and a locking lever provided in this application is shown below. Figure 3 As shown, the first control component 301 is provided with a beveled protrusion 301a, and the end of the locking rod 302 connected to the first control component is also provided with a protrusion 302a. The first control component 301 and the first motor ( Figure 3 (Not shown in the image) is connected, and the first motor rotating in the first direction will drive the first control component 301 to rotate in the first direction. During the rotation of the first control component 301 in the first direction, the protrusion 301a on the first control component 301 will contact the protrusion 302a on the locking rod 302, and push the locking rod 302 to move closer to the second motor (in the image). Figure 3 (The middle part is shifted to the right).

[0064] In one possible implementation, the end face of the drive gear of the second motor is provided with a blocking part. When the locking rod reaches the target position that blocks the second motor, the blocking part on the end face of the drive gear of the second motor will come into contact with the locking rod during rotation, preventing it from continuing to rotate. In this case, it is considered that the locking rod has blocked the second motor.

[0065] For example, Figure 4 A schematic diagram of the position of the drive gear of the locking rod and the second motor provided in this application is shown below. Figure 4 As shown, a blocking part 401a is provided inside the drive gear 401 of the second motor. When the locking rod 402 is pushed to the target position, it enters the drive gear 401 of the second motor, thereby blocking the blocking part 401a. When the blocking part 401a on the drive gear 401 of the second motor rotates to the target position, it cannot continue to rotate due to the blocking of the locking rod, thus causing the second motor to stall.

[0066] Step 204: While controlling the second motor to rotate in the first direction to a stall state, determine that the second motor has reached the target position.

[0067] It should be understood that if the locking lever accurately reaches the target position that obstructs the second motor, the second motor will be unable to continue rotating when it reaches the target position due to the obstruction of the locking lever, resulting in a stalled state. Therefore, when the second motor rotates in the first direction to the stalled state, it can be determined that the second motor has reached the target position, which is the stalled position of the second motor.

[0068] For example, with Figure 4 Taking the air conditioning damper structure shown as an example, the end face of the drive gear of the second motor is provided with a blocking part. If the drive gear of the second motor rotates to the target position when the air conditioning damper is not faulty, the blocking part on the drive gear of the second motor will be blocked by the locking rod, causing the second motor to be unable to continue rotating and producing a stall state.

[0069] In one possible implementation, step 204 may specifically include: determining that the second motor has reached the target position when the second motor rotates to a stalled state in the first direction, and the time taken for the second motor to rotate from startup to the stalled state is less than a second preset time. It should be understood that when the locking lever reaches the target position, the second motor will reach the target position and stall after rotating at most one full turn (i.e., 360°), therefore a second preset time is set as a limit. If the rotation time of the second motor exceeds the second preset time, it indicates that the locking lever has not been accurately pushed to the target position.

[0070] In one possible implementation, when the second motor is controlled to rotate in the first direction to a stall state, the position of the second motor when it rotates to the stall state (i.e., the aforementioned target position) can be set as the zero point position of the second motor, and the zero point position of the second motor is the logical starting point for controlling the second motor.

[0071] It should be understood that steps 203 and 204 can be considered as the process of performing stall calibration on the second motor.

[0072] In the air conditioning damper provided in this embodiment, the second motor has no mechanical limit position for rotation. When the locking rod leaves the target position and does not obstruct the second motor, the second motor can continue to rotate in the same direction. For example, using... Figure 4 Taking the air conditioning damper structure shown as an example, if the locking rod 402 does not obstruct the blocking part on the drive gear of the second motor, the drive gear 401 of the second motor can continue to rotate in the same direction.

[0073] Step 205: Control the second motor to rotate along the second direction for a second preset stroke, so as to drive each blade unit in the blade string to rotate to the posture corresponding to the forest wind mode.

[0074] In this process, each blade unit in the blade string can rotate circumferentially, and the second preset stroke is a preset stroke that the second motor needs to rotate to make each blade unit in the blade string rotate to the posture corresponding to the forest wind mode.

[0075] It should be noted that, in this field, the forest wind mode can also be referred to as the natural wind mode. Furthermore, during the rotation of the first motor, the second motor is in a stopped state; during the rotation of the second motor, the first motor is in a stopped state.

[0076] By implementing the self-learning control method for the air conditioning damper described above, the extreme positions of the first motor in two rotational directions can be determined, thereby enabling the controller to obtain a reference position for controlling the rotation of the first motor. Furthermore, the total stroke of the first motor can also be determined, allowing the controller to obtain the actual rotational range of the first motor. Based on this, the controller can subsequently control the first motor correctly. Additionally, the correspondence between the motor position and the actual mechanical position (the aforementioned target position) of the second motor can be determined, allowing the controller to obtain a reference position for controlling the rotation of the second motor, enabling the controller to subsequently control the second motor correctly. Moreover, each blade of the air conditioning damper's blade string can be adjusted to the posture corresponding to the forest wind mode, allowing the controller to obtain the position parameters of the air conditioning damper in the forest wind mode, and enabling the controller to switch modes using the blade string position in the forest wind mode as a reference position. Based on the above analysis, it can be seen that by implementing the self-learning control method for the air conditioning damper, the reference position and actual rotational range of the first motor in the air conditioning damper, the reference position of the second motor in the air conditioning damper, and the correspondence between the posture of the blade string in the air conditioning damper in the forest wind mode and the position of the second motor can be learned, thereby enabling the controller to subsequently control the operation of the air conditioning damper accurately. Furthermore, after completing the learning process, the air conditioner damper can operate in forest wind mode.

[0077] In one possible implementation, the blade string in the air conditioning damper also includes a drive shaft, a first end of which is movably connected to a first motor, and a second end of which is connected to a second motor. The second end of the drive shaft is also provided with a limiting component, which is used to axially limit the multiple blade units on the drive shaft.

[0078] Before controlling the second motor to rotate a second preset stroke in the second direction, the self-learning control method may also include: Step 206: Control the second motor to rotate a third preset stroke in the second direction to release the stall state of the second motor.

[0079] It should be understood that the second direction is the opposite of the first direction. When the second motor is in a stalled state, controlling the second motor to rotate in the opposite direction will release the stalled state.

[0080] Step 207: Control the first motor to rotate a fourth preset stroke in the first direction to reset the locking rod and drive the transmission shaft and the limiting component to move closer to the second motor so that the limiting component releases the axial restriction on the multiple blade units.

[0081] It should be understood that after the second motor rotates a third preset stroke in the second direction, it no longer contacts and locks the locking lever. Then, after the first motor rotates a fourth preset stroke in the first direction, it also leaves the position where it pushed the locking lever to the target position, and the locking lever loses the push from the first motor. Therefore, after the second motor rotates a third preset stroke in the second direction and the first motor rotates a fourth preset stroke in the first direction, the locking lever will reset and no longer obstruct the second motor.

[0082] In one possible implementation, the locking lever is also connected to a return spring, which resets the lever under the action of the return spring after steps 206 and 207 are performed. For example, with... Figure 3 Taking the locking lever shown as an example, the locking lever 302 may also include a return spring 302b. After the first motor rotates a fourth preset stroke in the first direction, the protrusion 301a on the first control component 301 will disengage from the protrusion 302a on the locking lever 302, and then the locking lever 302 will be reset under the action of the return spring 302b (i.e., move away from the second motor). After being reset, the locking lever will not obstruct the second motor.

[0083] In addition, the first motor is movably connected to the first end of the transmission shaft. During the fourth preset stroke of the first motor rotating in the first direction, it can drive the transmission shaft to move closer to the second motor, which in turn can drive the limiting component set at the second end of the transmission shaft to move closer to the second motor, thereby releasing the axial restriction of the multiple blade units by the limiting component.

[0084] It is worth noting that when the limiting component axially restricts multiple blade units onto the drive shaft, the multiple blade units are in a fixed state, and relative rotation between the blade units is impossible. When the limiting component releases the axial restriction on the multiple blade units, the blade units can rotate relative to each other.

[0085] In one possible implementation, the limiting component is a compression spring, which can be engaged in a groove at the second end of the drive shaft. In the default state, the compression spring presses against multiple blade units to axially restrict their movement. If the drive shaft moves towards the second motor, the compression spring will also move towards the second motor, thus releasing the axial restriction on the multiple blade units.

[0086] Step 205 is executed after steps 206 and 207. Step 205 may specifically include: when the limiting component releases the axial restriction on multiple blade units, controlling the second motor to rotate a second preset stroke in the second direction, so as to drive each blade unit in the blade string to rotate to the posture corresponding to the forest wind mode.

[0087] In one possible implementation, adjacent blade units in the blade string are movably connected, and each blade unit can rotate a certain angle relative to its adjacent blade unit. A second motor rotates a second preset stroke in a second direction, which can drive each blade unit in the blade string to rotate in the second direction as well. Furthermore, each blade unit in the blade string can rotate a fixed angle relative to its adjacent blade unit on a first side, where the first side refers to the side where the first motor is located. Based on this, the blade string can adopt an attitude corresponding to a forest wind pattern.

[0088] After controlling the second motor to rotate a second preset stroke in the second direction, the self-learning control method may further include: step 208, controlling the first motor to rotate a fifth preset stroke in the second direction to drive the transmission shaft and the limiting component to move toward the direction closer to the first motor, so that the limiting component restores the axial restriction on the multiple blade units.

[0089] During the process of the transmission shaft moving towards the first motor, the limiting component located at the second end of the transmission shaft will also move towards the first motor, thereby restoring the axial restriction of the multiple blade units by the limiting component.

[0090] Step 208 is executed after step 205. It should be understood that after rotating each blade unit in the blade string to the attitude corresponding to the forest wind mode, the axial constraint on multiple blade units is restored, thereby fixing the attitude of multiple blade units so that the subsequent blade string can sweep normally.

[0091] If steps 206 to 208 are performed, Figure 2 The self-learning control method process shown can be specifically described as follows: Figure 5 As shown.

[0092] In one possible implementation, a first motor is connected to a second control unit. As the first motor rotates in a first direction, the second control unit moves closer to the second motor. After controlling the first motor to rotate a fourth preset distance in the first direction, the second control unit locks the edge blade unit on the side of the blade train closest to the first motor; locking means fixing the edge blade unit in place.

[0093] Based on this, after executing step 207, the edge blade unit on the side of the blade string closest to the first motor is locked by the second control component, but the axial restriction of the blade string is released. Therefore, all blade units except the edge blade unit on the side of the blade string closest to the first motor can rotate circumferentially around the drive shaft. The second motor rotating along the second direction for a second preset stroke can drive all blade units except the edge blade unit on the side of the blade string closest to the first motor to rotate, thereby creating a fixed angular difference between each blade unit and the blade unit on its first side, thus presenting the posture corresponding to the forest wind pattern.

[0094] In one possible implementation, the second preset stroke is determined based on the number of blade units and the relative rotation angle between the blades. For example, if a blade string has a total of 6 blades, and it is necessary to control 5 of the blades to rotate 10° relative to their adjacent blade units on the first side, then the second motor needs to rotate 50°. This second preset stroke can be calculated based on the required rotation angle of 50°.

[0095] In one possible implementation, with the locking lever releasing its obstruction of the second motor, the second motor can rotate continuously in one direction without mechanical limits. In this case, the position of the second motor after starting from the zero point can be determined by taking the modulus (i.e., the remainder) of the number of steps or angles the second motor has rotated. For example, if one rotation of the second motor is 360°, and assuming the second motor has rotated 800° in the first direction from the zero point, then the position of the second motor should be the position after rotating 80° in the first direction from the zero point, where 80° is the remainder of 800° divided by 360°. It should be understood that degrees can also be converted into the number of rotation steps of the second motor, as explained here.

[0096] In one possible implementation, if the first rotational stroke is less than the first stroke threshold, it is considered that the first stall position and / or the second stall position are not the physical limit position, and the first motor has experienced abnormal stall.

[0097] In one possible implementation, the self-learning control method may further include: step 209, executing a first self-learning failure recovery process if the first rotational stroke is less than a first stroke threshold. In this case, step 203 may specifically include: after the first self-learning failure recovery process is executed, controlling the first motor to rotate a first preset stroke along a first direction.

[0098] As one possible implementation, step 209 may specifically include: executing a first self-learning failure recovery process when the first rotation stroke is less than a first stroke threshold and the time taken for the first motor to rotate from start-up to the second stall position is less than a first preset duration.

[0099] In one possible implementation, Figure 6 A schematic diagram of a first self-learning failure recovery process provided for this application is shown below. Figure 6 As shown, the first self-learning failure recovery process may specifically include: Step 601: Control the first motor to rotate from the second stall position to the third stall position along the first direction.

[0100] The third stall position is the position of the first motor when it rotates from the second stall position along the first direction to the stall state. It should be understood that if there is no stalling fault during the rotation of the first motor along the first direction, then the first stall position and the second stall position are the same position.

[0101] Step 602: Control the second motor to rotate a sixth preset stroke in the first direction to allow space for the movement of the locking rod.

[0102] In one possible abnormal operating condition, the blocking part on the end face of the drive gear of the second motor is exactly on the path of the locking rod. When the first motor rotates to drive the locking rod to move in the direction of the second motor, the blocking part on the end face of the drive gear of the second motor will block the locking rod, preventing it from moving further. This prevents the first motor from rotating further, resulting in an abnormal stall state. The second stall position determined in step 201 may be the position where the first motor rotates to the point where the locking rod is stuck, rather than the mechanical limit position of the first motor in the second direction.

[0103] If the first rotational stroke is less than the first stroke threshold, the first motor may encounter the aforementioned abnormal operating condition. Therefore, in the first self-learning failure recovery process, the position of the second motor needs to be readjusted to eliminate this abnormal operating condition.

[0104] Step 603: Control the first motor to rotate from the third stall position to the fourth stall position along the second direction, and determine the second rotation stroke of the first motor from the third stall position to the fourth stall position.

[0105] The fourth stall position is the position where the first motor rotates from the third stall position along the second direction to the stall state.

[0106] In one possible scenario, the second stall position determined in step 201 is when the first motor rotates to the position where the locking rod is stuck. However, step 602 eliminates this abnormal condition, so the fourth stall position is different from the second stall position.

[0107] Step 604: If the second rotational stroke is greater than or equal to the first stroke threshold, the third stall position is determined as the limit position of the first motor in the first direction, the fourth stall position is determined as the limit position of the first motor in the second direction, and the second rotational stroke is determined as the total stroke of the first motor.

[0108] In one possible implementation, step 604 may specifically include: when the second rotational stroke is greater than or equal to the first stroke threshold and the time taken for the first motor to rotate from the second stall position to the fourth stall position is less than the first preset time, determining the third stall position as the limit position of the first motor in the first direction, determining the fourth stall position as the limit position of the first motor in the second direction, and determining the second rotational stroke as the total stroke of the first motor.

[0109] By executing the first self-learning failure recovery process described above, the second motor can be controlled to adjust its position to eliminate potential abnormal operating conditions if the first motor's limit position is not correctly found. The first motor can also be controlled to re-find its limit positions in both directions and to redetermine its total stroke.

[0110] It is worth noting that if the second rotational stroke is greater than or equal to the first stroke threshold, it indicates that the extreme positions of the first motor in both directions have been correctly found, and the aforementioned first self-learning failure recovery process can be considered to have been executed successfully. However, if the second rotational stroke is less than the first stroke threshold, it indicates that the extreme positions of the first motor in both directions have not been correctly found, and the aforementioned first self-learning failure recovery process is considered to have failed.

[0111] If the first self-learning failure recovery process fails, the abnormal stall of the first motor may not be due to the locking rod being stuck, but rather to a mechanical fault in the relevant mechanical structure of the first motor (such as gears). In this case, a fault alarm can be issued.

[0112] It should be understood that a first rotational stroke less than the first stroke threshold is usually due to a locking lever jamming, causing the second stall position to be not the limit position of the first motor in the second direction. Therefore, when recalibrating the stall position of the first motor, it is only necessary to re-determine the stall position of the first motor in the second direction. In one possible implementation, the first self-learning failure recovery process may include: Step 701: Control the first motor to rotate from the second stall position along the first direction for a seventh preset stroke.

[0113] It should be understood that, compared with step 601, in step 701 the first motor does not need to rotate in the first direction to a stall state, which can shorten the rotation time of the first motor and improve the execution efficiency of the first self-learning failure recovery process.

[0114] In one possible implementation, performing step 701 can not only release the stall state of the second motor, but also ensure that the locking rod is reset.

[0115] In one possible implementation, the rotation angle corresponding to the seventh preset stroke is 45°.

[0116] Step 702: Control the second motor to rotate along the first direction for a sixth preset stroke, so as to leave space for the movement of the locking rod.

[0117] Step 702 is the same as step 602 above, and can be referred to the previous description, so it will not be repeated here.

[0118] Step 703: Control the first motor to rotate in the second direction to the fifth stall position, and determine the third rotation stroke of the first motor from the first stall position to the fifth stall position.

[0119] Specifically, controlling the first motor to rotate along the second direction to the fifth stall position means controlling the first motor to rotate along the second direction from the position reached in step 701 to the fifth stall position. The fifth stall position is the position where the first motor rotates along the second direction to the stall state from the position reached in step 701.

[0120] The third rotational stroke is determined based on the first rotational stroke, the seventh preset stroke, and the stroke of the first motor rotating in the second direction from the position reached in step 701. For example, if the first rotational stroke is 3000 steps, the seventh preset stroke is 500 steps, and the stroke of the first motor rotating in the second direction from the position reached in step 701 is 2000 steps, then the third rotational stroke = 3000 steps - 500 steps + 2000 steps = 4500 steps.

[0121] Step 704: When the third rotational stroke is greater than or equal to the first stroke threshold, the first stall position is determined as the limit position of the first motor in the first direction, the fifth stall position is determined as the limit position of the first motor in the second direction, and the third rotational stroke is determined as the total stroke of the first motor.

[0122] In one possible implementation, step 704 may specifically include: when the third rotational stroke is greater than or equal to the first stroke threshold and the time taken for the first motor to rotate from the second stall position to the fifth stall position is less than the first preset time, determining the first stall position as the limit position of the first motor in the first direction, determining the fifth stall position as the limit position of the first motor in the second direction, and determining the third rotational stroke as the total stroke of the first motor.

[0123] By executing the first self-learning failure recovery process described above, the second motor can be controlled to adjust its position to eliminate potential abnormal operating conditions if the first motor's limit position is not correctly found, and the first motor can be controlled to re-find the limit position in the second direction.

[0124] It is worth noting that, Figure 6 and Figure 7 The two first self-learning failure recovery processes shown are two parallel schemes, and only one of them is executed. Figure 7 The first self-learning failure recovery process shown is... Figure 6 Compared to the first self-learning failure recovery process shown, this process only requires finding the stall position of the first motor in the second direction again, resulting in higher execution efficiency.

[0125] As one possible implementation, the first self-learning failure recovery process can be determined based on the magnitude of the first rotational stroke. For example, if the first rotational stroke is greater than or equal to the seventh preset stroke, then the following procedure is executed: Figure 6 The first self-learning failure recovery process is shown; if the first rotation stroke is greater than the seventh preset stroke, then execute... Figure 7 The first self-learning failure recovery process is shown. Based on this implementation method, the execution efficiency of the first self-learning failure recovery process can be maximized.

[0126] In one possible implementation, the self-learning control method may further include: step 210, if the second motor fails to rotate to a stall state after rotating along the first direction for a second preset time, then a second self-learning failure recovery process is executed. In this case, step 205 may specifically include: after the second self-learning failure recovery process is executed, controlling the second motor to rotate along the second direction for a second preset stroke.

[0127] It should be understood that if the second motor fails to reach the stall state after rotating in the first direction for a second preset time, it indicates that the locking lever has not been accurately pushed to the target position. There could be several reasons why the locking lever may not have been accurately pushed to the target position. For example, an error in determining the limit position of the first motor could prevent it from rotating the first motor in the first direction for the first preset stroke, thus failing to accurately push the locking lever to the target position. Alternatively, mechanical errors in the first motor could cause it to not rotate the first preset stroke accurately, thereby failing to accurately push the locking lever to the target position.

[0128] In one possible implementation, Figure 8 A schematic diagram of a second self-learning failure recovery process provided for this application is shown below. Figure 8 As shown, the second self-learning failure recovery process may specifically include: Step 801: Control the first motor to rotate from the second stall position to the third stall position along the first direction.

[0129] Step 802: Control the second motor to rotate along the first direction for a sixth preset stroke, so as to leave space for the movement of the locking rod.

[0130] Step 803: Control the first motor to rotate from the third stall position to the fourth stall position along the second direction, and determine the second rotation stroke of the first motor from the third stall position to the fourth stall position.

[0131] Step 804: If the second rotational stroke is greater than or equal to the first stroke threshold, the third stall position is determined as the limit position of the first motor in the first direction, the fourth stall position is determined as the limit position of the first motor in the second direction, and the second rotational stroke is determined as the total stroke of the first motor.

[0132] Steps 801 to 804 are the same as steps 601 to 604 above, and can be referred to the previous description, so they will not be repeated here.

[0133] It should be understood that if the second motor fails to reach the stall state after rotating in the first direction for a second preset time, it is because the first motor failed to accurately push the locking lever to the target position. Therefore, steps 801 to 804 need to be performed to recalibrate the first motor to eliminate any potential faults in the first motor.

[0134] Step 805: Re-control the first motor to rotate a first preset stroke in the first direction, so as to drive the locking rod to move closer to the second motor, so that the locking rod reaches the target position that blocks the second motor.

[0135] Step 805 can be referred to in the relevant description of step 204, and will not be repeated here. It should be understood that if the potential mechanical fault of the first motor is eliminated through steps 801 to 804, then re-controlling the first motor to rotate the first preset stroke in the first direction can enable the locking lever to be correctly pushed to the target position.

[0136] Step 806: Re-control the second motor to rotate in the first direction. While controlling the second motor to rotate in the first direction until it reaches a stalled state, determine that the second motor has reached the target position.

[0137] It should be understood that when the locking lever is accurately pushed to the target position, the second motor will be unable to continue rotating when it reaches the target position due to the obstruction of the locking lever, resulting in a stalled state.

[0138] In one possible implementation, step 806 may specifically include: determining that the second motor has reached the target position when the second motor is controlled to rotate in the first direction to a stalled state and the time taken for the second motor to rotate from start-up to the stalled state is less than a second preset time.

[0139] By executing the above-mentioned second self-learning failure recovery process, if the stall position of the second motor is not correctly found, the first motor can be controlled to re-execute the reset process to eliminate the potential fault of the first motor, so that the locking rod can be accurately pushed to the target position, thereby enabling the second motor to correctly find the stall position.

[0140] It is worth noting that if the second motor rotates in the first direction to a stalled state, the aforementioned second self-learning failure recovery process can be considered to have been executed successfully. Conversely, if the second motor fails to rotate to a stalled state after a second preset time in the first direction, the aforementioned second self-learning failure recovery process can be considered to have failed.

[0141] As one possible implementation, steps 801 to 804 in the second self-learning failure recovery process can be replaced with steps 701 to 704 to improve the execution efficiency of the second self-learning failure recovery process.

[0142] In one possible implementation, after step 205 or step 208, the self-learning control method may further include: Step 210: Obtain the working mode memorized before the air conditioner damper is started.

[0143] The operating modes can include forest wind mode and parallel wind mode.

[0144] Step 211: If the working mode memorized before the air conditioner damper is activated is parallel wind mode, execute the switching process from forest wind mode to parallel wind mode.

[0145] In one possible implementation, after step 205, step 208, or step 211, the self-learning control method may further include: step 212, controlling the second motor to rotate an eighth preset stroke along a second direction, so that the blade string reaches a preset position corresponding to the multi-door linkage sweeping. Here, the air conditioning damper controlled by the self-learning control method is any one of the multiple air conditioning dampers in the vehicle.

[0146] As one possible embodiment, the flow of the self-learning control method provided in this application can be as follows: Figure 9 As shown, the specific process may include the following: Step 901: Set the initial position of the first motor to 10,000 steps.

[0147] The initial position is the default position of the first motor when the air conditioner damper is powered on.

[0148] Step 902: Set the end position of the first motor to 0 and control the first motor to rotate toward the end position.

[0149] It should be understood that the direction of rotation from 10,000 steps to 0 steps is the direction of small step rotation, which is the direction of rotation that decreases the number of steps. Figure 9 In the corresponding embodiments, the small step direction represents the first direction, which will be explained uniformly here.

[0150] Step 903: Query the stall status of the first motor in real time. When the stall status of the first motor is detected, control the first motor to stop.

[0151] It is worth noting that since the number of steps between the starting position (10,000 steps) and the ending position (0 steps) has exceeded the maximum number of rotation steps of the first motor, the first motor will inevitably rotate to a stall state along the small step direction.

[0152] It should be understood that when the first motor rotates to a stalled state, it will generate a specific stall fault flag. After stopping the first motor, the stall fault flag needs to be cleared and the clear event flag set to zero.

[0153] Step 904: Set the current position of the first motor to 0.

[0154] The current position of the first motor is the position where the first motor rotates to a stall position along the small step direction. Setting the current position to 0 steps means setting the current position to the zero point position.

[0155] Step 905: Set the endpoint position of the first motor to 10,000 steps, and control the first motor to rotate toward the endpoint position.

[0156] It should be understood that the direction of rotation from 0 steps to 10,000 steps is the direction of small step rotation, while the direction of large step rotation is the direction of rotation that increases the number of steps. Figure 9 In the corresponding embodiments, the large step direction represents the second direction, which will be explained uniformly here.

[0157] Step 906: Query the stall status of the first motor in real time. When the stall status of the first motor is detected, control the first motor to stop.

[0158] It is worth noting that since the number of steps between the starting position (0 steps) and the ending position (10000 steps) has exceeded the maximum number of rotation steps of the first motor, the first motor will inevitably rotate to a stall state along the large step direction.

[0159] Step 907: Read the actual number of steps the first motor takes from 0 steps to the stall state and store it as the total stroke of the first motor.

[0160] For example, if the first motor rotates 4500 degrees from position 0 and reaches a stall state, then 4500 degrees is stored as the total stroke of the first motor.

[0161] Step 908: Determine whether the total stroke of the first motor is greater than or equal to the first stroke threshold.

[0162] If the total stroke of the first motor is greater than or equal to the first stroke threshold, proceed to step 909. If the total stroke of the first motor is less than the first stroke threshold, execute the first self-learning failure recovery procedure. For example, the first stroke threshold is the number of steps corresponding to 250°.

[0163] Step 909: Set the end position of the first motor to "total stroke of the first motor - first preset stroke", and control the first motor to rotate toward the end position.

[0164] It should be understood that the first motor is currently in a stalled position in the large step direction, and the number of steps corresponding to the current position is the total stroke (e.g., 4500 steps). Therefore, setting the endpoint position to "the total stroke of the first motor - the first preset stroke" means controlling the first motor to rotate the first motor in the small step direction by the first preset stroke.

[0165] Step 909 is used to push the locking lever to the target position that blocks the second motor.

[0166] Step 910: Set the initial position of the second motor to 10000 steps.

[0167] Step 911: Set the end position of the second motor to 0 and control the second motor to rotate toward the target position.

[0168] That is, controlling the second motor to rotate from 10,000 steps to 0 steps.

[0169] Step 912: Determine whether the second motor is found to be in a stalled state within the second preset time period.

[0170] If a stalled state is detected in the second motor within the second preset time, proceed to step 915. If a stalled state is not detected in the second preset time, proceed to the second self-learning failure recovery process.

[0171] Step 913: Control the second motor to stop and set the current position of the second motor to 6400 steps.

[0172] It should be understood that when the second motor rotates to the stall state, it can be considered that the second motor has rotated to the target position blocked by the locking rod.

[0173] Optionally, the first motor will generate a specific stall fault flag. After the second motor is stopped, the stall fault flag needs to be cleared and the clear event flag is set to zero.

[0174] Step 914: Set the end position of the second motor to "6400 steps + third preset stroke" and control the second motor to rotate toward the end position.

[0175] It should be understood that the direction of rotation from 6400 steps to "6400 steps + third preset stroke" is the direction of large step rotation, therefore it is necessary to control the second motor to rotate in the direction of large step rotation for the third preset stroke.

[0176] Step 914 is performed to release the stall of the second motor.

[0177] Step 915: Set the end position of the first motor to "current position - fourth preset stroke" and control the first motor to rotate toward the end position.

[0178] In other words, it is necessary to control the first motor to rotate in a small step direction for a fourth preset stroke.

[0179] Step 915 is used to reset the locking lever, release the axial restriction of the blade string, and lock the edge blade unit of the blade string on the side closest to the first motor.

[0180] Step 916: Set the endpoint position of the second motor to "current position + second preset stroke", and control the second motor to rotate toward the endpoint position.

[0181] In other words, it is necessary to control the second motor to rotate a second preset stroke in a larger step direction.

[0182] Step 916 is used to rotate each blade unit in the blade string to the posture corresponding to the forest wind mode.

[0183] Step 917: Set the endpoint position of the first motor to "current position + fifth preset stroke" and control the first motor to rotate toward the endpoint position.

[0184] In other words, it is necessary to control the first motor to rotate in a larger direction for a fifth preset stroke.

[0185] Step 917 is performed to restore the axial restriction on the blade string and to release the locking of the edge blade unit on the side of the blade string closest to the first motor.

[0186] Step 918: Determine whether the working mode memorized before the air conditioner damper starts is the forest wind mode.

[0187] If the operating mode remembered before the air conditioner damper starts is parallel wind mode, execute the switching procedure from forest wind mode to parallel wind mode. If the operating mode remembered before the air conditioner damper starts is forest wind mode, execute step 919.

[0188] Step 919: Set the endpoint position of the second motor to "current position + eighth preset stroke" and control the second motor to rotate toward the endpoint position.

[0189] In other words, the second motor is controlled to rotate along the large step direction for the eighth preset stroke.

[0190] Step 919 is used to rotate the blade string to the preset position corresponding to the multi-damper linkage sweeping.

[0191] By executing the above Figure 9 The corresponding self-learning control method can learn the reference position and actual rotation range of the first motor in the air conditioning damper, the reference position of the second motor in the air conditioning damper, the position parameters of the blade string in the air conditioning damper in the forest wind mode, and the position parameters of the blade string when performing multi-damper linkage sweeping.

[0192] It should be understood that although the steps in the above flowcharts are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the above flowcharts may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0193] This application embodiment also provides a control device for implementing the aforementioned self-learning control method for the air conditioning damper. It is understood that, to achieve the above functions, the control device includes hardware structures and / or software modules corresponding to each function. This application embodiment can divide the control device into functional modules based on the behavior performed by the control device in the above method embodiments. For example, each function can be divided into its own functional modules, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware or as a software functional module. It should be noted that the module division in this application embodiment is illustrative and only represents one logical functional division; other division methods may be used in actual implementation.

[0194] Figure 10 This is a schematic diagram of a control device 100 provided in this application. The control device 100 is used to control an air conditioning damper to perform self-learning. The air conditioning damper includes a first motor, a second motor, a locking rod, and a blade string. The blade string includes multiple blade units. The first motor is movably connected to the locking rod, and the second motor is connected to the blade string. Figure 10 As shown, the control device 100 may include a control module 1001 and a determination module 1002, wherein, The control module 1001 is used to control the first motor to rotate in a first direction to a first stall position, and to control the first motor to rotate in a second direction to a second stall position, wherein the second direction is opposite to the first direction.

[0195] The determining module 1002 is used to determine the first stall position as the limit position of the first motor in the first direction, the second stall position as the limit position of the first motor in the second direction, and the first rotational stroke as the total stroke of the first motor when the first rotational stroke of the first motor from the first stall position to the second stall position is greater than or equal to the first stroke threshold.

[0196] The control module 1001 is also used to control the first motor to rotate a first preset stroke along a first direction, so as to drive the locking rod to move towards the second motor, so that the locking rod reaches the target position that blocks the second motor.

[0197] The determination module 1002 is also used to determine that the second motor has reached the target position when the control module controls the second motor to rotate in the first direction to a stall state.

[0198] The control module 1001 is also used to control the second motor to rotate a second preset stroke in a second direction, so as to drive each blade unit in the blade string to rotate to the posture corresponding to the forest wind mode.

[0199] Optionally, the blade string in the air conditioning damper also includes a drive shaft. A first end of the drive shaft is movably connected to a first motor, and a second end is connected to a second motor. The second end is also provided with a limiting component, which axially restricts multiple blade units onto the drive shaft. The control module 1001 is further configured to: control the second motor to rotate a third preset stroke in a second direction to release the stall state of the second motor; and, before controlling the second motor to rotate a second preset stroke in the second direction, control the first motor to rotate a fourth preset stroke in the first direction to drive the drive shaft and the limiting component towards the second motor, thereby releasing the axial restriction on the multiple blade units. Specifically, the control module 1001 is configured to: control the second motor to rotate a second preset stroke in the second direction after the limiting component has released the axial restriction on the multiple blade units, thereby rotating each blade unit in the blade string to the posture corresponding to the forest wind mode. The control module 1001 is further configured to: control the first motor to rotate a fifth preset stroke in the second direction to drive the drive shaft and the limiting component towards the first motor, thereby restoring the axial restriction on the multiple blade units.

[0200] Optionally, the determining module 1002 is specifically used to: determine the first stall position as the limit position of the first motor in the first direction, determine the second stall position as the limit position of the first motor in the second direction, and determine the first rotational stroke as the total stroke of the first motor when the first rotational stroke is greater than or equal to the first stroke threshold and the time taken for the first motor to rotate from start-up to the second stall position is less than the first preset time.

[0201] Optionally, if the first rotational stroke is less than the first stroke threshold, the control module 1001 is further configured to: control the first motor to rotate from the second stall position to the third stall position along the first direction; control the second motor to rotate along the first direction by a sixth preset stroke to allow space for the movement of the locking rod; control the first motor to rotate from the third stall position to the fourth stall position along the second direction, and determine the second rotational stroke of the first motor from the third stall position to the fourth stall position. The determining module 1002 is further configured to: if the second rotational stroke is greater than or equal to the first stroke threshold, determine the third stall position as the limit position of the first motor in the first direction, determine the fourth stall position as the limit position of the first motor in the second direction, and determine the second rotational stroke as the total stroke of the first motor.

[0202] Optionally, the control module 1001 is specifically used to: after the first self-learning failure recovery process is executed, control the first motor to rotate a first preset stroke in the first direction.

[0203] Optionally, the determining module 1002 is specifically used to: determine that the second motor has reached the target position when the second motor is controlled to rotate in the first direction to the stall state and the time taken for the second motor to rotate from start to stall state is less than the second preset time.

[0204] Optionally, if the second motor fails to reach the stall state after rotating for a second preset time in the first direction, the control module 1001 is further configured to: control the first motor to rotate from the second stall position to the third stall position in the first direction; control the second motor to rotate along the first direction by a sixth preset stroke to allow space for the movement of the locking rod; control the first motor to rotate from the third stall position to the second direction to the fourth stall position, and determine the second rotation stroke of the first motor from the third stall position to the fourth stall position. The determining module 1002 is further configured to: if the second rotation stroke is greater than or equal to the first stroke threshold, determine the third stall position as the limit position of the first motor in the first direction, determine the fourth stall position as the limit position of the first motor in the second direction, and determine the second rotation stroke as the total stroke of the first motor. The control module 1001 is further configured to: re-control the first motor to rotate along the first direction by a first preset stroke to drive the locking rod to move towards the second motor, so that the locking rod reaches the target position that blocks the second motor; and re-control the second motor to rotate along the first direction. The determining module 1002 is also used to: determine that the second motor has reached the target position when the second motor is controlled to rotate in the first direction to a stall state.

[0205] Optionally, the control module 1001 is specifically used to: control the second motor to rotate a second preset stroke in a second direction after the second self-learning failure recovery process is executed.

[0206] It is worth noting that all relevant content of each step involved in the above method embodiments can be referenced from the functional description of the corresponding functional module, and will not be repeated here in the embodiments of this application.

[0207] This application also provides an electronic device in which a control device can be deployed. The internal structure diagram of the electronic device is as follows: Figure 11 As shown, this electronic device includes a processor, memory, and a network interface connected via a system bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system, computer program instructions, and a database. The internal memory provides an environment for the operation of the operating system and computer program instructions stored in the non-volatile storage medium. The database stores data. The network interface communicates with external terminals via a network connection. The computer program instructions are executed by the processor to implement the aforementioned methods.

[0208] This application provides a vehicle that may include at least a processor and a memory. The memory stores computer program instructions that can run on the processor. When the processor executes the computer program instructions, it can implement the steps in any of the above-mentioned self-learning control methods for air conditioning dampers.

[0209] This application provides a computer-readable storage medium storing computer program instructions, which, when executed by a processor, implement the steps in the self-learning control method for any of the above-mentioned air conditioning dampers.

[0210] This application provides a computer program product containing instructions that, when run on a computer, causes the computer to execute the steps in any of the above-described self-learning control methods for an air conditioning damper.

[0211] It should be noted that the descriptions of the storage medium and device embodiments above are similar to the descriptions of the method embodiments above, and have similar beneficial effects. For technical details not disclosed in the storage medium, storage medium, and device embodiments of this application, please refer to the descriptions of the method embodiments of this application for understanding.

[0212] It should be understood that the phrases "one embodiment," "an embodiment," or "some embodiments" mentioned throughout the specification mean that a specific feature, structure, or characteristic related to an embodiment is included in at least one embodiment of this application. Therefore, "in one embodiment," "in one embodiment," or "in some embodiments" appearing throughout the specification do not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. It should be understood that in the various embodiments of this application, the sequence numbers of the above-described processes do not imply a sequential order of execution; the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application. The sequence numbers of the above-described embodiments are merely for descriptive purposes and do not represent the superiority or inferiority of the embodiments. The descriptions of the various embodiments above tend to emphasize the differences between the various embodiments; their similarities or commonalities can be referred to mutually, and for the sake of brevity, they will not be repeated here.

[0213] In this article, the term "and / or" is merely a description of the relationship between related objects, indicating that there can be three kinds of relationships. For example, object A and / or object B can represent three situations: object A exists alone, object A and object B exist simultaneously, and object B exists alone.

[0214] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0215] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The embodiments described above are merely illustrative. For example, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple modules or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or modules can be electrical, mechanical, or other forms.

[0216] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, read-only memory (ROM), magnetic disks, or optical disks. Alternatively, if the integrated units of this application are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of this application, or the parts that contribute to the related technology, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause an electronic device to execute all or part of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROMs, magnetic disks, or optical disks.

[0217] The above description is merely an embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0218] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A self-learning control method for an air conditioning damper, characterized in that, The air conditioning damper includes a first motor, a second motor, a locking rod, and a blade string. The blade string includes multiple blade units. The first motor is movably connected to the locking rod, and the second motor is connected to the blade string. The method includes: Controlling the first motor to rotate in a first direction to a first stall position, and controlling the first motor to rotate in a second direction to a second stall position, wherein the second direction is opposite to the first direction; When the first rotational stroke of the first motor from the first stall position to the second stall position is greater than or equal to the first stroke threshold, the first stall position is determined as the limit position of the first motor in the first direction, the second stall position is determined as the limit position of the first motor in the second direction, and the first rotational stroke is determined as the total stroke of the first motor. The first motor is controlled to rotate a first preset stroke along the first direction, so as to drive the locking rod to move towards the second motor, so that the locking rod reaches the target position that blocks the second motor; While controlling the second motor to rotate in the first direction to a stall state, it is determined that the second motor has reached the target position; The second motor is controlled to rotate along the second direction for a second preset stroke, so as to drive each blade unit in the blade string to rotate to the posture corresponding to the forest wind mode.

2. The method according to claim 1, characterized in that, The blade string also includes a drive shaft, a first end of which is movably connected to the first motor, and a second end of which is connected to the second motor. The second end is also provided with a limiting component, which is used to axially limit the plurality of blade units on the drive shaft. Before controlling the second motor to rotate a second preset stroke along the second direction, the method further includes: Control the second motor to rotate a third preset stroke along the second direction to release the stall state of the second motor; The first motor is controlled to rotate a fourth preset stroke along the first direction to reset the locking rod and drive the transmission shaft and the limiting component to move closer to the second motor, so as to release the axial restriction of the limiting component on the plurality of blade units; The control of the second motor to rotate the second motor along the second direction by a second preset stroke, thereby driving each blade unit in the blade string to rotate to the posture corresponding to the forest wind mode, includes: When the limiting component releases the axial restriction on the plurality of blade units, the second motor is controlled to rotate a second preset stroke along the second direction to drive each blade unit in the blade string to rotate to the posture corresponding to the forest wind mode; After controlling the second motor to rotate a second preset stroke along the second direction, the method further includes: The first motor is controlled to rotate a fifth preset stroke along the second direction, so as to drive the transmission shaft and the limiting component to move closer to the first motor, so that the limiting component restores the axial restriction on the plurality of blade units.

3. The method according to claim 1, characterized in that, The step of determining the first stall position as the limit position of the first motor in the first direction, the second stall position as the limit position of the first motor in the second direction, and the first rotational stroke as the total stroke of the first motor when the first rotational stroke from the first stall position to the second stall position is greater than or equal to the first stroke threshold, and determining the first stall position as the limit position of the first motor in the second direction, and determining the first rotational stroke as the total stroke of the first motor, includes: When the first rotational stroke is greater than or equal to the first stroke threshold and the time taken for the first motor to rotate from start-up to the second stall position is less than the first preset time, the first stall position is determined as the limit position of the first motor in the first direction, the second stall position is determined as the limit position of the first motor in the second direction, and the first rotational stroke is determined as the total stroke of the first motor.

4. The method according to any one of claims 1-3, characterized in that, The method further includes: If the first rotation stroke is less than the first stroke threshold, the first self-learning failure recovery process is executed; The control of the first motor to rotate along the first direction by a first preset stroke specifically includes: After the first self-learning failure recovery process is executed, the first motor is controlled to rotate the first preset stroke along the first direction.

5. The method according to claim 4, characterized in that, The first self-learning failure recovery process includes: Control the first motor to rotate from the second stall position to the third stall position along the first direction; The second motor is controlled to rotate a sixth preset stroke along the first direction in order to allow space for the movement of the locking rod; Control the first motor to rotate from the third stall position to the fourth stall position along the second direction, and determine the second rotation stroke of the first motor from the third stall position to the fourth stall position; When the second rotational stroke is greater than or equal to the first stroke threshold, the third stall position is determined as the limit position of the first motor in the first direction, the fourth stall position is determined as the limit position of the first motor in the second direction, and the second rotational stroke is determined as the total stroke of the first motor.

6. The method according to any one of claims 1-3, characterized in that, The step of determining that the second motor has reached the target position while controlling the second motor to rotate in the first direction to a stall state includes: If the second motor is controlled to rotate in the first direction to a stall state, and the time taken for the second motor to rotate from start-up to the stall state is less than a second preset time, it is determined that the second motor has reached the target position.

7. The method according to any one of claims 1-3, characterized in that, The method further includes: If the second motor fails to rotate to a stalled state after rotating along the first direction for a second preset time, then the second self-learning failure recovery process is executed. The control of the second motor to rotate a second preset stroke along the second direction specifically includes: After the second self-learning failure recovery process is executed, the second motor is controlled to rotate along the second direction and the second preset stroke.

8. The method according to claim 7, characterized in that, The second self-learning failure recovery process includes: Control the first motor to rotate from the second stall position to the third stall position along the first direction; The second motor is controlled to rotate a sixth preset stroke along the first direction in order to allow space for the movement of the locking rod; Control the first motor to rotate from the third stall position to the fourth stall position along the second direction, and determine the second rotation stroke of the first motor from the third stall position to the fourth stall position; When the second rotational stroke is greater than or equal to the first stroke threshold, the third stall position is determined as the limit position of the first motor in the first direction, the fourth stall position is determined as the limit position of the first motor in the second direction, and the second rotational stroke is determined as the total stroke of the first motor. In addition, the first motor is re-controlled to rotate the first preset stroke along the first direction, so as to drive the locking rod to move towards the second motor, so that the locking rod reaches the target position that blocks the second motor; And, to re-control the second motor to rotate in the first direction; While controlling the second motor to rotate in the first direction to a stall state, it is determined that the second motor has reached the target position.

9. A control device, characterized in that, The control device is used to control the air conditioning damper to perform self-learning. The air conditioning damper includes a first motor, a second motor, a locking rod, and a blade string. The blade string includes multiple blade units. The first motor is movably connected to the locking rod, and the second motor is connected to the blade string. The control device includes: The control module is used to control the first motor to rotate in a first direction to a first stall position, and to control the first motor to rotate in a second direction to a second stall position, wherein the second direction is opposite to the first direction; The determining module is configured to determine the first stall position as the limit position of the first motor in the first direction, the second stall position as the limit position of the first motor in the second direction, and the first rotational stroke as the total stroke of the first motor when the first rotational stroke of the first motor from the first stall position to the second stall position is greater than or equal to a first stroke threshold. The control module is also used to control the first motor to rotate a first preset stroke along the first direction, so as to drive the locking rod to move towards the second motor, so that the locking rod reaches the target position that blocks the second motor; The determining module is further configured to determine that the second motor has reached the target position when the control module controls the second motor to rotate along the first direction to a stall state; The control module is also used to control the second motor to rotate a second preset stroke along the second direction, so as to drive each blade unit in the blade string to rotate to the posture corresponding to the forest wind mode.

10. An air conditioning damper, characterized in that, The air conditioning damper includes a processor and an actuator. The actuator includes a first motor, a second motor, a locking rod, and a blade string. The blade string includes multiple blade units. The processor is used to execute the method as described in any one of claims 1-8.

11. A vehicle, characterized in that, The vehicle includes: a processor and a memory; The memory is used to store computer program instructions, which, when executed by the processor, cause the vehicle to perform the method as described in any one of claims 1-8.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer program instructions that, when executed on a computer, cause the computer to perform the method of any one of claims 1-8.

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