CN-116950530-B - Vehicle window position compensation method and device

CN116950530BCN 116950530 BCN116950530 BCN 116950530BCN-116950530-B

Abstract

The application discloses a vehicle window position compensation method and device, the method comprises the steps of obtaining a first current and a first rotating speed of a motor for controlling the vehicle window to move when the motor is cut off, and obtaining a first time when the motor is switched to stop rotating, and a second current of the motor in the first time, and calculating a forward stroke distance of the motor according to the first current, the first rotating speed, the first time, the second current and a kinematic model of the motor, wherein the forward stroke distance is used for compensating the position of the vehicle window, and obtaining a target position of the vehicle window according to the forward stroke distance and the first position of the vehicle window when the motor is cut off.

Inventors

JIA CHENG
CAO HONGBIN
LIU YANZHAO
Gu Junfa

Assignees

北京经纬恒润科技股份有限公司

Dates

Publication Date: 20260505
Application Date: 20230712

Claims (7)

1. A method of window position compensation, the method comprising: Obtaining a first current and a first rotating speed of a motor for controlling the movement of a vehicle window during the cutting and stopping, a first time from the cutting and stopping of the motor to the stopping of the rotation of the motor, and a second current of the motor in the first time, Calculating the forward stroke distance of the motor according to the first current, the first rotating speed, the first time and the second current and a kinematic model of the motor, wherein the forward stroke distance represents the inertial forward stroke distance of the vehicle window after the motor is stopped; obtaining a target position of the vehicle window according to the forward stroke distance and the first position of the vehicle window when the motor is cut off, wherein a kinematic model of the motor is shown as the following formula: , , Wherein J is the moment of inertia, The motor is rotated at a speed before the motor is cut off, T m is motor driving torque, T f is motor resistance torque, K t is a characteristic parameter of the motor, and I is current before the motor is cut off; the calculating the forward stroke distance of the motor according to the first current, the first rotating speed, the first time and the second current and the kinematic model of the motor comprises the following steps: Calculating a second rotating speed of the motor from the cutting to the stopping according to the first current, the first rotating speed, the first time and the second current and a kinematic model of the motor, Obtaining the forward stroke distance of the motor according to the second rotating speed; And obtaining the forward stroke distance of the motor according to the second rotating speed, wherein the forward stroke distance comprises the following steps of: and obtaining the forward stroke distance of the motor according to the second rotating speed and the following formula: ) Wherein, the For the forward stroke distance of the motor, Is that And The forward stroke distance of the motor is between, Is the first rotational speed; For a second rotational speed corresponding to a kth sampling point during a period from a stop to a stop of the motor, k=1, 2, 3. For the second rotating speed corresponding to the kth-1 sampling point in the process from the cutting-off to the stopping of the rotation of the motor, For a sampling time interval within said first time, For the first current to be present in the first current, And the second current at each sampling time in the first time is the second current.
2. The method of claim 1, wherein calculating a second rotational speed of the motor from a cut-off to a stop rotation based on the first current, the first rotational speed, the first time, and the second current, and a kinematic model of the motor, comprises: According to the first current, the first rotating speed, the first time and the second current and a kinematic model of the motor, calculating a second rotating speed of the motor from cutting off to stopping rotating according to the following formula: And the T is the first time, and the I k is the corresponding current of the kth sampling point before the motor is cut off.
3. The method of claim 1, wherein obtaining a first rotational speed of the motor controlling movement of the window at a cut-off time comprises: acquiring a second time required by one rotation of the motor for controlling the movement of the vehicle window under the working condition, A first rotational speed of the motor at a time of cut-off is calculated based on the second time required for one rotation of the motor.
4. The method of claim 1, wherein obtaining a first time from when the motor controlling movement of the window is stopped to when the motor stops rotating comprises: Obtaining a sampling time interval from cutting off to stopping rotating of a motor for controlling the movement of a vehicle window, and the number of sampling points sampled from cutting off to stopping rotating of the motor, And calculating the first time from the cutting stop of the motor to the stopping of the rotation of the motor based on the sampling time interval and the sampling point number.
5. The method according to claim 1, wherein the obtaining the target position of the window according to the forward stroke distance and the first position of the window when the motor is stopped comprises: and taking the sum of the forward stroke distance and the first position of the vehicle window when the motor is cut off as a target position of the vehicle window.
6. The method of claim 1, wherein obtaining a first current of the motor controlling movement of the window at a cut-off comprises: obtain ripple current signals of a motor controlling the movement of the vehicle window in a working state, Converting the ripple current signal into a voltage signal, Amplifying the voltage signal to obtain an amplified voltage signal, Converting the amplified voltage signal to a digital signal, Filtering the noise in the digital signal to obtain a filtered digital signal, And obtaining a first current of the motor during cutting and stopping based on the digital signal after the filtering processing.
7. A vehicle window position compensation device, characterized in that the device comprises: An acquisition module for acquiring a first current and a first rotating speed of a motor for controlling the movement of a vehicle window during the cutting and stopping, a first time from the cutting and stopping of the motor to the stopping of the motor, and a second current of the motor in the first time, The calculation module is used for calculating the forward stroke distance of the motor according to the first current, the first rotating speed, the first time, the second current and a motor kinematic model, wherein the forward stroke distance represents the inertial forward stroke distance of the vehicle window after the motor is stopped, and the motor kinematic model is shown in the following formula: , , Wherein J is the moment of inertia, The motor is rotated at a speed before the motor is cut off, T m is motor driving torque, T f is motor resistance torque, K t is a characteristic parameter of the motor, and I is current before the motor is cut off; The motor driving device is further used for calculating a second rotating speed of the motor in the process of stopping the motor from the cutting to the stopping according to the first current, the first rotating speed, the first time and the second current and a kinematic model of the motor, obtaining a forward stroke distance of the motor according to the second rotating speed, and obtaining the forward stroke distance of the motor according to the second rotating speed and the following formula: ) Wherein, the For the forward stroke distance of the motor, Is that And The forward stroke distance of the motor is between, Is the first rotational speed; For a second rotational speed corresponding to a kth sampling point during a period from a stop to a stop of the motor, k=1, 2, 3. For the second rotating speed corresponding to the kth-1 sampling point in the process from the cutting-off to the stopping of the rotation of the motor, For a sampling time interval within said first time, For the first current to be present in the first current, The second current at each sampling time in the first time is the second current; And the determining module is used for obtaining the target position of the vehicle window according to the forward stroke distance and the first position of the vehicle window when the motor is cut off.

Description

Vehicle window position compensation method and device Technical Field The application relates to the technical field of vehicle window position control, in particular to a vehicle window position compensation method and device. Background When the window is in the adjustment position, after the user closes the window motor, because the inertia reason, the motor still rotates, so drives the window and continues to move, so the window position still changes, so the position that the window stopped is not the position that the user needs, can compensate the window position for this. The current position compensation method of the vehicle window is mainly used for estimating the inertia front impact distance after the motor is cut off based on the ripple pulse of the motor acquired after the motor is cut off, or estimating the inertia front impact distance after the motor is cut off based on the current value and the rotating speed value of the motor when the motor is cut off. The accuracy of the determined compensation distance is low based on certain deviation of the position of the vehicle window compensated by the vehicle window position compensation method. Disclosure of Invention The embodiment of the application aims to provide a vehicle window position compensation method and device so as to realize the effect of accurately compensating the position of a vehicle window. The technical scheme of the application is as follows: in a first aspect, there is provided a vehicle window position compensation method, the method comprising: Obtaining a first current and a first rotating speed of a motor for controlling the movement of a vehicle window during cutting and stopping, a first time when the motor is switched to stop rotating, a second current of the motor in the first time, Calculating a forward stroke distance of the motor according to the first current, the first rotating speed, the first time and the second current and a kinematic model of the motor, And obtaining the target position of the vehicle window according to the forward stroke distance and the first position of the vehicle window when the motor is cut off. In a second aspect, there is provided a vehicle window position compensation device, the device comprising: an acquisition module for acquiring a first current and a first rotating speed of a motor for controlling the movement of a vehicle window during the cutting and stopping, a first time when the motor is switched to stop rotating, and a second current of the motor in the first time, A calculation module for calculating the forward stroke distance of the motor according to the first current, the first rotating speed, the first time and the second current and a kinematic model of the motor, And the determining module is used for obtaining the target position of the vehicle window according to the forward stroke distance and the first position of the vehicle window when the motor is cut off. In a third aspect, an embodiment of the present application provides an electronic device, where the electronic device includes a processor, a memory, and a program or an instruction stored in the memory and capable of running on the processor, where the program or the instruction is executed by the processor to implement the steps of the vehicle window position compensation method according to any one of the embodiments of the present application. In a fourth aspect, an embodiment of the present application provides a readable storage medium, where a program or an instruction is stored, where the program or the instruction implement the steps of the window position compensation method according to any one of the embodiments of the present application when executed by a processor. In a fifth aspect, an embodiment of the present application provides a computer program product, where instructions in the computer program product, when executed by a processor of an electronic device, enable the electronic device to perform the steps of the method for compensating a position of a vehicle window according to any one of the embodiments of the present application. The technical scheme provided by the embodiment of the application at least has the following beneficial effects: According to the method and the device, the forward stroke distance of the motor is calculated according to the obtained first current and first rotating speed of the motor for controlling the movement of the window during cutting and stopping, the first time when the motor is switched to the motor for stopping rotating, the second current of the motor in the first time and the kinematic model of the motor, the first position of the window during cutting and stopping of the motor is compensated by the forward stroke distance, and the target position of the window is obtained. It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restricti