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CN-122008974-A - Self-adaptive anti-drop control method and device for track synchronous transmission mechanism

CN122008974ACN 122008974 ACN122008974 ACN 122008974ACN-122008974-A

Abstract

The invention provides a self-adaptive anti-derailment control method and device for a track synchronous transmission mechanism, which relate to the technical field of new energy automobiles and comprise a sensor group, a controller and an actuator, wherein displacement synchronism data and driving force balance data are firstly collected in real time, then four risk levels of normal, concerned, early warning and danger are judged according to the data, then synchronous following, damping inhibition, active deviation correction or sudden stop protection modes are selected according to the risk levels, finally a differential instruction containing speed or torque adjustment quantity is generated and output to a motor, and the running gesture is regulated to prevent derailment.

Inventors

  • WAN JIAYU
  • CHENG CHAOJUN
  • LI MEI

Assignees

  • 苏州益恒进自动化科技有限公司

Dates

Publication Date
20260512
Application Date
20260319

Claims (9)

  1. 1. The self-adaptive anti-drop control method of the track synchronous transmission mechanism is characterized by comprising the following steps of: Step one, acquiring displacement synchronism data and driving force balance data of transmission mechanisms at two sides in real time; judging the current derailment risk level according to the displacement synchronicity data and the driving force equalization data through a preset rule; Selecting a corresponding control mode according to the current derailment risk level; generating a differential driving instruction aiming at motors at two sides under a selected control mode, wherein the differential driving instruction comprises a speed adjusting amount or a torque adjusting amount; and fifthly, outputting the differential driving instruction to motors at two sides, and changing the operation posture of the moving mechanism by adjusting the output of the motors at two sides to prevent derailment.
  2. 2. The self-adaptive anti-drop control method of the track synchronous transmission mechanism of claim 1, wherein in the second step: Comparing the displacement synchronicity data with a first group of preset thresholds to determine a first risk level; comparing the driving force balance data with a second set of preset thresholds to determine a second risk level; Taking the maximum value of the first risk level and the second risk level as the current derailment risk level; The current derailment risk level is divided into four levels of normal, concerned, early warning and danger, and each level corresponds to a different threshold range.
  3. 3. The method for adaptively controlling the track synchronous transmission mechanism according to claim 2, wherein the control modes in the third step include a synchronous following mode, a damping suppression mode, an active deviation correcting mode and an emergency stop protection mode which are in one-to-one correspondence with four risk levels, and the method is specifically: when the current derailment risk level is normal, a synchronous following mode is selected, motors on two sides in the synchronous following mode synchronously run according to the target speed, and speed fine adjustment is carried out on the motors on two sides according to displacement synchronism data so as to maintain consistent displacement on two sides; When the current derailment risk level is concerned, selecting a damping inhibition mode, and applying torque bias with opposite directions and smaller amplitude to motors at two sides under the damping inhibition mode to inhibit further expansion of displacement deviation, and keeping the main running speed of the moving mechanism unchanged; when the current derailment risk level is early warning, an active deviation rectifying mode is selected, the running speed of the moving mechanism is firstly reduced to be below a safety threshold value in the active deviation rectifying mode, and then torque differences with opposite directions and larger amplitude are applied to motors at two sides according to the direction of displacement deviation, so that the moving mechanism is adjusted to a central position; when the current derailment risk level is dangerous, a sudden stop protection mode is selected, the power output of motors at two sides is immediately cut off and mechanical braking is applied in the sudden stop protection mode, and an alarm signal is sent.
  4. 4. The method for adaptively controlling the anti-drop of the track synchronous transmission mechanism according to claim 2, wherein in the active deviation correction mode, the lag side motor and the lead side motor are judged according to the positive and negative signs of accumulated displacement differences in displacement synchronism data, if left accumulated displacement is smaller than right accumulated displacement, the left side motor is the lag side motor, the right side motor is the lead side motor, the output torque is increased for the lag side motor, and meanwhile, the output torque is reduced or regenerative braking is applied for the lead side motor, so that torque differences with opposite directions are generated for the motors at two sides.
  5. 5. The method for adaptively controlling the anti-slip control of the track synchronous transmission mechanism according to claim 3, wherein the amplitude of the reverse torque bias in the damping suppression mode is set to be 30-50% of the amplitude of the reverse torque difference in the active deviation correction mode, and the main running speed of the moving mechanism in the damping suppression mode is kept unchanged.
  6. 6. The method for adaptively controlling the anti-drop of the synchronous transmission mechanism of the track according to claim 1, further comprising the step of self-learning optimization: Recording track position coordinates of each time of triggering early warning or danger and control parameters used after successful recovery control, dividing the track into continuous sections according to preset lengths, counting the accumulated times of triggering early warning or danger in each section, increasing the relevant threshold value in a first group of preset threshold values or a second group of preset threshold values corresponding to a single section by a preset fixed value when the accumulated triggering times of the single section exceed a first preset frequency threshold value so as to reduce the risk judging sensitivity of the section, and reducing the relevant threshold value in the first group of preset threshold values or the second group of preset threshold values corresponding to the section by a preset fixed value when the accumulated triggering times of the single section are lower than a second preset frequency threshold value so as to improve the risk judging sensitivity of the section.
  7. 7. The method for adaptively controlling the anti-drop of the synchronous transmission mechanism of the track according to claim 1, further comprising the step of fault tolerance: And (3) monitoring the working state of each sensor in the sensor group (1) in real time, judging that a certain sensor fails when detecting that the signal loss or the signal value of the certain sensor exceeds the normal range, switching to a redundancy estimation mode, estimating the substitution value of the physical quantity corresponding to the failed sensor by utilizing the data acquired by the remaining normal working sensors and combining a preset system dynamics model, continuously executing the second to fifth steps according to the substitution value and the data acquired by the remaining normal working sensors, limiting the running speed of the moving mechanism to be 50% of the normal speed, and outputting a signal prompting a user to overhaul through a man-machine interface.
  8. 8. An adaptive anti-drop control device for a track synchronous transmission mechanism, according to any one of claims 1 to 7, characterized by comprising: The sensor group (1) is used for collecting displacement synchronism data and driving force balance data of motors at two sides in real time; the controller (2) is electrically connected with the sensor group (1), a memory (21) and a processor (22) are arranged in the controller (2), reference data and a computer program are stored in the memory (21), and the controller (2) realizes a self-adaptive anti-drop control method of the track synchronous transmission mechanism when executing the computer program, and generates a differential driving instruction for motors at two sides; The actuator (3), the actuator (3) is connected with the controller (1) electricity, the actuator (3) is including being for the driver (31) of both sides motor power supply, driver (31) are used for receiving the differentiation drive instruction and drive both sides motor and move according to the instruction.
  9. 9. The self-adaptive anti-drop control device of the track synchronous transmission mechanism, as set forth in claim 8, wherein the sensor group (1) comprises a rotary encoder (11) installed on the output shafts of the motors at two sides, and a current sampling module (12) integrated inside the driver.

Description

Self-adaptive anti-drop control method and device for track synchronous transmission mechanism Technical Field The invention relates to the technical field of new energy automobiles, in particular to a self-adaptive anti-drop control method and device for a track synchronous transmission mechanism. Background The new energy automobile generally adopts a motor-driven track mechanism to realize multidirectional adjustment of a seat, automatic opening and closing of a sliding door or sliding of a skylight, and due to factors such as installation tolerance, long-term vibration or foreign matter clamping stagnation, the transmission mechanisms on two sides are easy to generate asynchronous phenomenon, so that the seat is askew and clamped, the sliding door is not tightly closed, or the skylight is blocked from running. The prior anti-drop control technology of the track synchronous transmission mechanism mainly relies on a mechanical limiting device or a post-trigger limiting switch to carry out passive protection, when the mechanism is asynchronous or is blocked, the fact that the mechanism is always caused to gnaw a rail or derail is lacking in prejudging capability on running trend, on the control strategy, single current detection or position comparison is mostly adopted, differential intervention measures cannot be implemented according to the risk degree, excessive reaction is caused when slight deviation is caused, or insufficient response is caused when serious deviation is caused, and improvement exists. Disclosure of Invention The invention aims to solve the defects in the prior art and provides a self-adaptive anti-drop control method and device for a track synchronous transmission mechanism. In order to achieve the purpose, the invention adopts the following technical scheme that the self-adaptive anti-drop control method of the track synchronous transmission mechanism comprises the following steps: Step one, acquiring displacement synchronism data and driving force balance data of transmission mechanisms at two sides in real time; judging the current derailment risk level according to the displacement synchronicity data and the driving force equalization data through a preset rule; Selecting a corresponding control mode according to the current derailment risk level; generating a differential driving instruction aiming at motors at two sides under a selected control mode, wherein the differential driving instruction comprises a speed adjusting amount or a torque adjusting amount; and fifthly, outputting the differential driving instruction to motors at two sides, and changing the operation posture of the moving mechanism by adjusting the output of the motors at two sides to prevent derailment. Further, in the second step: Comparing the displacement synchronicity data with a first group of preset thresholds to determine a first risk level; comparing the driving force balance data with a second set of preset thresholds to determine a second risk level; Taking the maximum value of the first risk level and the second risk level as the current derailment risk level; The current derailment risk level is divided into four levels of normal, concerned, early warning and danger, and each level corresponds to a different threshold range. Further, the control modes in the third step include a synchronous following mode, a damping suppression mode, an active deviation correcting mode and an emergency stop protection mode which are in one-to-one correspondence with the four risk levels, and the control modes specifically include: when the current derailment risk level is normal, a synchronous following mode is selected, motors on two sides in the synchronous following mode synchronously run according to the target speed, and speed fine adjustment is carried out on the motors on two sides according to displacement synchronism data so as to maintain consistent displacement on two sides; When the current derailment risk level is concerned, selecting a damping inhibition mode, and applying torque bias with opposite directions and smaller amplitude to motors at two sides under the damping inhibition mode to inhibit further expansion of displacement deviation, and keeping the main running speed of the moving mechanism unchanged; when the current derailment risk level is early warning, an active deviation rectifying mode is selected, the running speed of the moving mechanism is firstly reduced to be below a safety threshold value in the active deviation rectifying mode, and then torque differences with opposite directions and larger amplitude are applied to motors at two sides according to the direction of displacement deviation, so that the moving mechanism is adjusted to a central position; when the current derailment risk level is dangerous, a sudden stop protection mode is selected, the power output of motors at two sides is immediately cut off and mechanical braking is applied in the sudden stop protection mode, an