CN107355162A - The control method and device that a kind of automobile power back door double-rod is synchronized with the movement - Google Patents
The control method and device that a kind of automobile power back door double-rod is synchronized with the movement Download PDFInfo
- Publication number
- CN107355162A CN107355162A CN201710422549.3A CN201710422549A CN107355162A CN 107355162 A CN107355162 A CN 107355162A CN 201710422549 A CN201710422549 A CN 201710422549A CN 107355162 A CN107355162 A CN 107355162A
- Authority
- CN
- China
- Prior art keywords
- electric pole
- driven
- active
- speed
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 45
- 230000001360 synchronised effect Effects 0.000 title claims abstract description 32
- 230000033001 locomotion Effects 0.000 title description 16
- 230000010354 integration Effects 0.000 claims description 17
- 230000005611 electricity Effects 0.000 claims description 15
- 238000011217 control strategy Methods 0.000 claims description 9
- 238000006073 displacement reaction Methods 0.000 claims description 9
- 238000009792 diffusion process Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 description 8
- 238000012360 testing method Methods 0.000 description 5
- 230000007774 longterm Effects 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 241000208340 Araliaceae Species 0.000 description 2
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 2
- 235000003140 Panax quinquefolius Nutrition 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
- 235000008434 ginseng Nutrition 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 206010068052 Mosaicism Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000010429 evolutionary process Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 210000003765 sex chromosome Anatomy 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/60—Power-operated mechanisms for wings using electrical actuators
- E05F15/603—Power-operated mechanisms for wings using electrical actuators using rotary electromotors
- E05F15/611—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for swinging wings
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2900/00—Application of doors, windows, wings or fittings thereof
- E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
- E05Y2900/53—Type of wing
- E05Y2900/546—Tailboards, tailgates or sideboards opening upwards
Landscapes
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention discloses a kind of synchronous control method of automobile power back door double-rod and device.Methods described includes (1) active electric pole speed control：Selection one electric pushrod is as active electric pole, the command speed obtained according to outside and active electric pole real time status information, controls the real-time rotating speed of its motor；(2) driven electric pole position synchronization control：Another electric pushrod is selected as driven electric pole, command speed, active electric pole real time status information and the driven electric pole real time status information obtained according to outside, controls the real-time rotating speed of its motor so that its real time position is synchronous with active electric pole.Described device includes active electric pole pi controller, driven electric pole pi controller, position proportional integral-derivative controller, active electric pole motor, driven electric pole motor, active electric pole integrator computing unit, driven electric pole integrator computing unit.The present invention can guarantee that the position that the automobile power back door moves between left and right electric pushrod during switch gate is synchronous.
Description
Technical field
The invention belongs to automobile intelligent electronic applications, are synchronized with the movement more particularly, to a kind of automobile power back door double-rod
Control method and device.
Background technology
The automation of automobile tail gate switching process is very easy to the trip of people, the switch control experience of automobile tail gate
Manual control switch's door, single pole automatic door arrive the evolutionary process of double-rod automatic door again.Single pole electric tail gate is long-term
During use, due to tail-gate or so force unbalance during switch gate, the deformation of tail-gate can be caused, more serious meeting causes
Tail-gate can not close completely to be closed tightly.The appearance of double-rod structure electric tail gate is exactly to solve tail-gate left and right sides in switching process
The problem of force unbalance, and bigger driving force is provided simultaneously.But what is occurred therewith is then tail-gate or so electric pushrod
Synchronous sex chromosome mosaicism, if the motion of electric pushrod is asynchronous, that can still cause the deformation of tail-gate during long-term use.
The control that electric tail gate double-rod is synchronized with the movement is related to two fundamental problems：1) control strategy is according to desired switch
How door demand, control the motion of electric pushrod, so as to perform corresponding action；2) how control strategy ensures in switch gate
During the motion of tail-gate or so electric pushrod synchronism so that the displacement at left and right sides of tail-gate is equal, prevent tail-gate because of a left side
Right electric pushrod motion asynchronous and cause to deform.
The left and right electric pole of the automobile power back door of double-rod structure uses parallel control model mostly at present, i.e., will be same
Control instruction is sent to left and right electric pushrod simultaneously, and left and right electric pushrod is then according to the fortune of the instruction complete independently itself received
It is dynamic, there is no Collaborative Control between the bar of left and right.But the stressing conditions between the push rod of left and right are not fully identical, current controlling party
Method can not be adjusted according to the stressing conditions of left and right push rod, and cause left and right electric pole to still have the nonsynchronous problem of motion,
Long-term use can still cause tail-gate to deform.
The content of the invention
For the disadvantages described above or Improvement requirement of prior art, the invention provides a kind of control of automobile power back door double-rod
Method and device, its object is to by carrying out principal and subordinate's selection to double-rod, driven electric pole is kept in position and active all the time
Electric pole is consistent, thus solves the control of existing tail-gate double-rod and terminates that left and right electric pole movement position is asynchronous, causes what tail-gate deformed
Technical problem.
To achieve the above object, according to one aspect of the present invention, there is provided a kind of automobile power back door double-rod synchronization
Control method, comprise the following steps：
(1) active electric pole speed control：The electric pushrod of one of double-rod is selected to be obtained as active electric pole according to outside
The command speed and active electric pole real time status information taken, control the real-time rotating speed of its motor；
(2) driven electric pole position synchronization control：Another electric pushrod in double-rod is selected as driven electric pole, to be obtained according to outside
Command speed, active electric pole real time status information and the driven electric pole real time status information taken, control turning in real time for its motor
Speed so that its real time position is synchronous with active electric pole.
Preferably, the control method of the automobile power back door, its described command speed is by electric tail gate controller system
Speed planning device produce；The active electric pole real time status information includes the real-time rotating speed and active electric pole of active electric pole motor
Real-time displacement；The driven electric pole real time status information includes real-time rotating speed and the real-time position of driven electric pole of driven electric pole motor
Move.
Preferably, the control method of the automobile power back door, its active electric pole speed control and/or driven electricity
Bar speed control uses closed-loop proportional-integral control strategy.
Preferably, the control method of the automobile power back door, its described active electric pole speed control use closed loop proportional
Integration control strategy, it is specific as follows：
(1-1) gathers the encoder information of its motor of the active electric pole, obtains turning in real time for active electric pole motor
Speed；
(1-2) using the real-time rotating speed of the active electric pole motor obtained in step (1-1) as negative velocity feedback information, with reality
When the command speed that obtains make comparisons, obtain active electric pole speed deviation；
The active electric pole speed deviation that (1-3) obtains according to step (1-2), according to the active electric pole speed deviation
Proportional integration and the directly proportional principle of renewal active rotating speed, it is determined that renewal active rotating speed；
(1-4) causes the real-time rotating speed of the active electric pole motor to meet renewal active rotating speed, and return to step (1-1) is followed
Ring performs.
Preferably, the control method of the automobile power back door, the renewal active rotating speed of its active electric pole motor are pressed
Calculated according to following method：
Wherein, Out1 be active electric pole motor renewal active rotating speed, es(t) it is the active electric pole speed deviation,
Kp_sTo be the proportionality coefficient of proportional integration computing, T to the active electric pole velocity deviationi_sTo do time integral to velocity deviation
The time coefficient of computing.
Preferably, the control method of the automobile power back door, its described driven electric pole speed control use closed loop proportional
Integration control strategy, it is specific as follows：
It is specific as follows：
(2-1) gathers the coding information of driven its motor of electric pole, obtains the real-time rotating speed of driven electric pole；
(2-2) obtains using the real-time rotating speed of driven electric pole obtained in step (2-1) as negative velocity feedback information with real-time
The command speed make comparisons, obtain driven electric pole speed deviation；
(2-3) obtain active electric pole positional information and driven electric pole relative position information, calculate main electric pole position with
From the time diffusion operation result sum of the proportional integration and driven electric pole speed deviation of the difference of electric pole position, and according to it
The principle amendment driven electric pole speed deviation directly proportional with to the driven electric pole speed deviation after renewal, after being updated
Driven electric pole speed deviation；
Driven electric pole speed deviation after the renewal that (2-4) is obtained according to step (2-3), after according to the renewal
Driven electric pole speed deviation the proportional integration principle directly proportional to updating driven rotating speed, it is determined that updating driven rotating speed；
(2-5) causes the real-time rotating speed of the driven electric pole motor to meet to update driven rotating speed, and return to step (2-1) is followed
Ring performs.
Preferably, the control method of the automobile power back door, its described driven electric pole speed deviation is according to lower section
Method calculates：
Wherein, up(t) it is the driven electric pole velocity deviation information after renewal, ep(t) it is active electric pole position and driven electric pole
The difference of position, de (t) are driven electric pole speed deviation, Kp_pTo do scale operation to the driven electric pole speed deviation
Proportionality coefficient, Ti_pTo be the time coefficient of time integral computing, T to the driven electric pole speed deviationd_pFor to described
Driven electric pole speed deviation does the time coefficient of time diffusion computing.
Preferably, the control method of the automobile power back door, its described driven rotating speed of renewal calculate as follows：
Wherein, Out2 is to update driven rotating speed, er(t) it is driven electric pole speed deviation and the real-time rotating speed of driven electric pole
Difference, Kp_sTo be the proportionality coefficient of scale operation, T to the driven electric pole speed deviationi_sFor to the driven electric pole speed
Degree deviation does the time coefficient of time integral computing.
According to another aspect of the present invention, there is provided a kind of synchronous control device of automobile power back door double-rod, including：
Active electric pole pi controller, driven electric pole pi controller, position proportional integral-derivative controller, active electric pole
Motor, driven electric pole motor, active electric pole integrator computing unit, driven electric pole integrator computing unit；
The active electric pole pi controller, its input input the command speed, its feedback end and actively electricity
Bar motor output end is connected, and its output end is connected with active electric pole input end of motor；
The active electric pole motor, its output end are also connected with active electric pole integrator computing unit；
The active electric pole integrator computing unit, its output end and position proportional integral-derivative controller first input end phase
Even；
The position proportional integral-derivative controller, its first input end and the active electric pole integrator computing unit output end
It is connected, its second input is connected with the driven electric pole integrator computing unit output end, and its output end and driven electric pole ratio are accumulated
Sub-controller is connected；
The driven electric pole pi controller, its input and position proportional integral-derivative controller output end phase
Even, its feedback end is connected with driven electric pole motor output end, and its output end is connected with driven electric pole input end of motor；
The driven electric pole motor, its output end are also connected with driven electric pole integrator computing unit；
The driven electric pole integrator computing unit, its output end and position proportional integral-derivative controller the second input phase
Even.
Preferably, the synchronous control device of the automobile power back door double-rod, its described position proportional integral differential control
Device, for according to active electric pole real time position and driven electric pole real time position, revision directive speed.
In general, by the contemplated above technical scheme of the present invention compared with prior art, it can obtain down and show
Beneficial effect：
Coal addition position controls between the single pole velocity close-loop control of the electric pole of left and right two, ensure that automobile tail gate or so two
The synchronism of side position motion.The control method and device that the automobile power back door double-rod of the present invention is synchronized with the movement, can guarantee that institute
It is synchronous to state the position that automobile power back door moves between left and right electric pushrod during switch gate, prevents tail-gate long-term
In switching process because of the asynchronous of left and right electric pole movement position and caused by tail-gate deformation generation.
Brief description of the drawings
Fig. 1 is the synchronous control method schematic flow sheet of automobile power back door double-rod provided by the invention；
Fig. 2 is the synchronous controling device structure diagram of automobile power back door double-rod provided by the invention；
Fig. 3 is the synchronous control method flow chart of automobile power back door double-rod provided in an embodiment of the present invention；
Fig. 4 is the left electric pole motor speed closed-loop proportional-integral controller architecture schematic diagram of embodiment 2；
Fig. 5 is Synchronization Control effect and the general control effect contrast figure of the embodiment of the present invention 2, and wherein Fig. 5 A are commonly to control
When processed, automobile power back door double-rod position tracking result, when Fig. 5 B are that the method provided according to the present embodiment is controlled, automobile
Electric tail gate double-rod position tracking result.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in each embodiment of invention described below
Conflict can is not formed each other to be mutually combined.
The synchronous control method of automobile power back door double-rod provided by the invention, as shown in figure 1, comprising the following steps：
(1) active electric pole velocity close-loop control：The electric pushrod of one of double-rod is selected as active electric pole, according to outer
The command speed and active electric pole real time status information that portion obtains, by the proportional plus integral control strategy of closed loop, control its electricity
The real-time rotating speed of machine.
The command speed is produced by the speed planning device of electric tail gate controller system；The active electric pole real-time status
Information includes the real-time rotating speed and active electric pole real-time displacement of active electric pole motor.
It is specific as follows：
(1-1) gathers the encoder information of its motor of the active electric pole, obtains turning in real time for active electric pole motor
Speed；
(1-2) using the real-time rotating speed of the active electric pole motor obtained in step (1-1) as negative velocity feedback information, with reality
When the command speed that obtains make comparisons, obtain active electric pole speed deviation；
The active electric pole speed deviation that (1-3) obtains according to step (1-2), according to the active electric pole speed deviation
Proportional integration and the directly proportional principle of renewal active rotating speed, it is determined that renewal active rotating speed；
(1-4) causes the real-time rotating speed of the active electric pole motor to meet renewal active rotating speed, and return to step (1-1) is followed
Ring performs.
(2) driven electric pole position synchronization control：Another electric pushrod in double-rod is selected as driven electric pole, to be obtained according to outside
Command speed, active electric pole real time status information and the driven electric pole real time status information taken, passes through the proportional integration control of closed loop
System strategy, control the real-time rotating speed of its motor so that its real time position is synchronous with active electric pole.
The command speed is produced by the speed planning device of electric tail gate controller system；The active electric pole real-time status
Information includes the real-time rotating speed of active electric pole motor and driven electric pole real-time displacement；The driven electric pole real time status information includes
The real-time rotating speed of driven electric pole motor and driven electric pole real-time displacement.
It is specific as follows：
(2-1) gathers the coding information of driven its motor of electric pole, obtains the real-time rotating speed of driven electric pole；
(2-2) obtains using the real-time rotating speed of driven electric pole obtained in step (2-1) as negative velocity feedback information with real-time
The command speed make comparisons, obtain driven electric pole speed deviation；
(2-3) obtain active electric pole positional information and driven electric pole relative position information, calculate main electric pole position with
From the time diffusion operation result sum of the proportional integration and driven electric pole speed deviation of the difference of electric pole position, and according to it
The principle amendment driven electric pole speed deviation directly proportional with to the driven electric pole speed deviation after renewal, after being updated
Driven electric pole speed deviation；
Driven electric pole speed deviation after the renewal that (2-4) is obtained according to step (2-3), after according to the renewal
Driven electric pole speed deviation the proportional integration principle directly proportional to updating driven rotating speed, it is determined that updating driven rotating speed；
(2-5) causes the real-time rotating speed of the driven electric pole motor to meet to update driven rotating speed, and return to step (2-1) is followed
Ring performs.
The synchronous control device of automobile power back door double-rod provided by the invention, including：Active electric pole proportional plus integral control
Device, driven electric pole pi controller, position proportional integral-derivative controller, i.e. position PID controller, active electric pole electricity
Machine, driven electric pole motor, active electric pole integrator computing unit, driven electric pole integrator computing unit；
The active electric pole pi controller, it is defeated for negative feedback closed loop control active electric pole motor, its input
Enter command speed, its feedback end is connected with active electric pole motor output end, and its output end is connected with active electric pole input end of motor；
The active electric pole motor, for control active electric pole move, its output end also with active electric pole integrator computing unit
It is connected；
The active electric pole integrator computing unit, for calculating active electric pole real time position, its output end and position PID control
Device first input end is connected；
The position PID controller, for according to active electric pole real time position and driven electric pole real time position, revision directive
Speed；Its first input end is connected with the active electric pole integrator computing unit output end, its second input and the driven electricity
Bar integrator computing unit output end is connected, and its output end is connected with driven electric pole pi controller；
The driven electric pole pi controller, driven electric pole motor is controlled for negative feedback closed loop, its input with
Position PID controller output end is connected, and its feedback end is connected with driven electric pole motor output end, its output end and driven electric pole electricity
Machine input is connected；
The driven electric pole motor, for controlling driven electric pole to move, its output end also with driven electric pole integrator computing unit
It is connected；
The driven electric pole integrator computing unit, for calculating from eastern inductance real time position, its output end and position PID control
The input of device second is connected.
It is embodiment below：
Embodiment 1
A kind of synchronous control device of automobile power back door double-rod, as shown in Fig. 2 including：Active electric pole proportional integration control
Device processed, driven electric pole pi controller, position PID controller, active electric pole motor, driven electric pole motor, active electric pole
Integrator computing unit, driven electric pole integrator computing unit；
The active electric pole pi controller, it is defeated for negative feedback closed loop control active electric pole motor, its input
Enter command speed, its feedback end is connected with active electric pole motor output end, and its output end is connected with active electric pole input end of motor；
The active electric pole motor, for control active electric pole move, its output end also with active electric pole integrator computing unit
It is connected；
The active electric pole integrator computing unit, for calculating active electric pole real time position, its output end and position PID control
Device first input end is connected；
The position PID controller, for according to active electric pole real time position and driven electric pole real time position, revision directive
Speed；Its first input end is connected with the active electric pole integrator computing unit output end, its second input and the driven electricity
Bar integrator computing unit output end is connected, and its output end is connected with driven electric pole pi controller；
The driven electric pole pi controller, driven electric pole motor is controlled for negative feedback closed loop, its input with
Position PID controller output end is connected, and its feedback end is connected with driven electric pole motor output end, its output end and driven electric pole electricity
Machine input is connected；
The driven electric pole motor, for controlling driven electric pole to move, its output end also with driven electric pole integrator computing unit
It is connected；
The driven electric pole integrator computing unit, for calculating from eastern inductance real time position, its output end and position PID control
The input of device second is connected.
Embodiment 2
A kind of synchronous control method of automobile power back door double-rod, the device provided by embodiment 1 is realized, such as Fig. 3 institutes
Show, comprise the following steps that：
S1, collection external command speed, active electric pole motor, the real time status information of driven electric pole motor.
Specifically, external speed command information is produced by the speed planning device of electric tail gate controller system, the present embodiment
Simply passively receive speed command caused by the speed planning device；The real-time status of active electric pole motor and driven electric pole motor
Information includes the real-time displacement of rotating speed and electric pole when in fact, and the real-time rotating speed of motor is encoded by the Hall on each motor
Device is obtained, and active electric pole and driven electric pole real-time displacement are integrated to obtain by its real-time rotating speed elapsed time respectively.
Further, in the present embodiment, external speed cue mark is V, active, the real-time rotating speed of driven electric pole motor
Speed1 and Speed2 are respectively labeled as, active, driven electric pole real time position are labeled as Position1 and Position2.
S2, active electric pole velocity close-loop control：
The real-time rotary speed of active electric pole according to the external command speed gathered in step S1 and as feedback information
Velocity close-loop control is carried out, makes the real-time speed of main electric pushrod tightly follow external speed to instruct with the Deviation Indices designed,
Velocity close-loop control theory diagram is as shown in Figure 2.Further, in an embodiment of the present invention, choose based on left electric pushrod
Dynamic electric pole, it is driven electric pole to choose right electric pushrod.External speed instruction V and active electric pole real-time speed Speed1 is done into difference
Calculate, the input of the difference information of gained as active electric pole pi controller, main electric pole speed difference information by than
The output Out1 of active electric pole motor is obtained after example integral controller computing, is sent to active electric pole, i.e., the electricity of left electric pole
Drive circuit, to drive left electric pole motor movement.
Control flow is transferred to S3 steps.
S3, driven electric pole position synchronization control：
Velocity close-loop control is carried out according to the real-time speed feedback information of the driven electric pole motor gathered in step S1,
The speed command for tightly following input with the Deviation Indices requirement designed from the real-time speed of electric pole can be made.
In step s3, the basic reference value of driven electric pole speed command is calculated.In an embodiment of the present invention,
V, the real-time speed Speed2 with being obtained from electric pole motor is instructed to do difference, obtain driven electricity according to external speed first
Bar speed deviation.To realize the position synchronization control of principal and subordinate's electric pole, in accordance with the following methods, with to the speed command ginseng from electric pole
Value is examined to be modified.
Driven electric pole speed deviation input instruction amendment.
The amendment of driven electric pole speed command is based on the position deviation information between electric pole and main electric pole, this deviation information
Computing is carried out by the position PID controller, obtains a speed correction, the correction value and driven electric pole speed deviation
It is added, and the result after will add up finally enters command value as from electric pole speed closed loop.In an embodiment of the present invention, will
Main electric pole position and input of the difference information (Position1-Position2) as position PID arithmetic from electric pole position, such as
Shown in Fig. 2.Control flow is transferred to closed-loop control.
It is specific as follows to carrying out closed-loop control from the speed of electric pushrod：
According to the revised driven electric pole speed deviation, closed loop controller can make from the real-time speed of electric pole to set
The Deviation Indices requirement of meter tightly follows the speed command of input.Further, in the present embodiment, driven electric pole velocity deviation
Value obtains the output Out2 from electric pole motor after pi controller computing, is sent to the i.e. right electric pole of driven electric pole
Motor-drive circuit, to drive right electric pole motor movement.
In the present embodiment, left electric pole motor speed closed-loop proportional-integral controller uses traditional control rate, such as Fig. 4 institutes
Show, its calculation formula is as follows：
Wherein, Out1 be active electric pole motor renewal active rotating speed, es(t) it is the active electric pole speed deviation,
Kp_sTo be the proportionality coefficient of proportional integration computing, T to the active electric pole velocity deviationi_sTo do time integral to velocity deviation
The time coefficient of computing.
In an embodiment of the present invention, Kp_s、Ti_sThe determination of parameter is using the trial and error procedure commonly used in engineering, the ratio product
Divide the determination process of parameter as follows：
1) T is madei_sFor 0, the rotary speed instruction V of left bar motor is arranged to 1500rpm, with 10 is that step-length is gradual since 0
Increase Kp_sValue, until a small amount of overshoot occurs in the real-time rotating speed of motor；
2) K is keptp_sValue it is constant, since 0.01 with 5 be step-length gradually increase Ti_sValue, until motor in real time turn
It is fast final stable in the range of 1450rpm~1550rpm, by T nowi_sRecord；
3) K that will be adjusted in 1)p_sValue after 0.8 scale parameter final as pi controller is multiplied by, will
2) T adjusted ini_sThe integral parameter final as pi controller.
In an embodiment of the present invention, the control rate and ginseng of right electric pole motor institute operating speed closed-loop proportional-integral controller
Number tuning process is consistent with the implementation process of left bar motor speed closed-loop proportional-integral controller.
Right electric pole motor speed closed-loop proportional-integral controller uses traditional control rate, and its calculation formula is as follows
Wherein, Out2 is to update driven rotating speed, er(t) it is driven electric pole speed deviation and the real-time rotating speed of driven electric pole
Difference, Kp_sTo be the proportionality coefficient of scale operation, T to the driven electric pole speed deviationi_sFor to the driven electric pole speed
Degree deviation does the time coefficient of time integral computing
In the present embodiment, between principal and subordinate's electric pole position deviation position PID controller, its control rate calculation formula
It is as follows：
Wherein, up(t) it is the driven electric pole velocity deviation information after renewal, ep(t) it is active electric pole position and driven electric pole
The difference of position, de (t) are driven electric pole speed deviation, Kp_pTo do scale operation to the driven electric pole speed deviation
Proportionality coefficient, Ti_pTo be the time coefficient of time integral computing, T to the driven electric pole speed deviationd_pFor to described
Driven electric pole speed deviation does the time coefficient of time diffusion computing.
In an embodiment of the present invention, Kp_p、Ti_pAnd Td_pThree parameters are adjusted using the trial and error procedure commonly used in engineering,
The tuning process of the position deviation pid parameter is as follows：
1) T is madei_pAnd Td_pFor 0, the rotary speed instruction V of main electric pole motor is arranged to 1500rpm, with 10 is step since 0
Long gradually increase Kp_pValue, and in real time record principal and subordinate's electric pole positional information.When the real time position from electric pole is relative to main electric pole
When there is a small amount of overshoot, then K is completedp_pParameter is adjusted；
2) K is keptp_pValue it is constant, since 0.01 with 1 be step-length gradually increase Ti_pValue, and in real time record principal and subordinate electricity
The positional information of bar, when the position deviation of principal and subordinate's electric pole is stable when within 5 motor encoder pulses, the Ti_pParameter is whole
Surely finish, by T nowi_pRecord；
3) K is keptp_pAnd Ti_pValue it is constant, T is gradually increased with 0.02 step-length since 0d_pValue, and record in real time
The positional information of principal and subordinate's electric pole is to position deviation stable when there is first time overshoot relative to main electric pole position from electric pole position
When time minimum and overshoot minimum, Td_pParameter adjusts completion.
4) K that will have been adjusted in 1) stepp_pIt is multiplied by the T adjusted in 0.8,2) stepi_pAnd 3) adjust in step
Td_pFinal argument of the parameter as the position PID controller.
The control control effect test of present example is carried out in the electric tail gate of certain type SUV automobiles.For tail-gate electricity
The dynamic process opened, for the first time test are independently controlled respectively for left and right electric pole, and what the left and right electric pole received is same
Speed command, the tracking to speed command is completed by respective velocity close-loop control respectively.In this time test, tail-gate is controlled out
Open at 2/3rds of maximum opening, the positional information of the left and right electric pole is as shown in Figure 5A.Second of test then adds this
The described position Synchronous motion control method of invention, real-time tracking is carried out to the position of main electric pole from electric pole.In this time test, tail
Door is opened at maximum allowable angle by control, and the positional information of left and right electric pole is as shown in Figure 5 B.As seen from Figure 5, if
Deviation be present without the position between position synchronization control, tail-gate or so electric pole between the left and right electric pushrod of tail-gate, and should
Deviation is constantly accumulated with the increase of tail-gate opening angle, can be caused two force unbalances of tail-gate, must if things go on like this be made
Into the deformation of tail-gate.And when performing position synchronization control of the present invention to left and right electric pole, even if tail-gate is opened to most
Big aperture, the final position deviation between the bar of left and right still meet design requirement, avoid tail-gate because left and right bar position is different
Step causes the situation of deformation to occur, and indicates the validity and practicality of the method for the invention.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, all any modification, equivalent and improvement made within the spirit and principles of the invention etc., all should be included
Within protection scope of the present invention.
Claims (10)
1. the synchronous control method of a kind of automobile power back door double-rod, it is characterised in that comprise the following steps：
(1) active electric pole speed control：The electric pushrod of one of double-rod is selected to be obtained as active electric pole according to outside
Command speed and active electric pole real time status information, control the real-time rotating speed of its motor；
(2) driven electric pole position synchronization control：Another electric pushrod in double-rod is selected as driven electric pole, to be obtained according to outside
Command speed, active electric pole real time status information and driven electric pole real time status information, control the real-time rotating speed of its motor, make
It is synchronous with active electric pole to obtain its real time position.
2. the control method of automobile power back door as claimed in claim 1, it is characterised in that the command speed is by electric tail gate
The speed planning device of controller system produces；The active electric pole real time status information includes the real-time rotating speed of active electric pole motor
With active electric pole real-time displacement；The driven electric pole real time status information includes the real-time rotating speed of driven electric pole motor and driven electricity
Bar real-time displacement.
3. the synchronous control method of automobile power back door double-rod as claimed in claim 2, it is characterised in that the active electric pole speed
Degree control and/or driven electric pole speed control use closed-loop proportional-integral control strategy.
4. the synchronous control method of automobile power back door double-rod as claimed in claim 3, it is characterised in that the active electric pole
Speed control uses closed-loop proportional-integral control strategy, specific as follows：
(1-1) gathers the encoder information of its motor of the active electric pole, obtains the real-time rotating speed of active electric pole motor；
(1-2) using the real-time rotating speed of the active electric pole motor obtained in step (1-1) as negative velocity feedback information, with obtaining in real time
The command speed taken is made comparisons, and obtains active electric pole speed deviation；
The active electric pole speed deviation that (1-3) obtains according to step (1-2), according to the ratio of the active electric pole speed deviation
The example integration principle directly proportional to renewal active rotating speed, it is determined that renewal active rotating speed；
(1-4) causes the real-time rotating speed of the active electric pole motor to meet renewal active rotating speed, and return to step (1-1) circulation is held
OK.
5. the synchronous control method of automobile power back door double-rod as claimed in claim 4, it is characterised in that the active electric pole
The renewal active rotating speed of motor calculates as follows：
Wherein, Out1 be active electric pole motor renewal active rotating speed, es(t) it is the active electric pole speed deviation, Kp_sFor
The proportionality coefficient of proportional integration computing, T are to the active electric pole velocity deviationi_sTo do time integral computing to velocity deviation
Time coefficient.
6. the synchronous control method of automobile power back door double-rod as claimed in claim 3, it is characterised in that the driven electric pole
Speed control uses closed-loop proportional-integral control strategy, specific as follows：
It is specific as follows：
(2-1) gathers the coding information of driven its motor of electric pole, obtains the real-time rotating speed of driven electric pole；
(2-2) using the real-time rotating speed of driven electric pole obtained in step (2-1) as negative velocity feedback information, with the institute obtained in real time
State command speed to make comparisons, obtain driven electric pole speed deviation；
(2-3) obtains the positional information of active electric pole and the relative position information of driven electric pole, calculate main electric pole position with from electricity
The time diffusion operation result sum of the proportional integration of the difference of bar position and driven electric pole speed deviation, and according to itself and with
The directly proportional driven electric pole speed deviation of principle amendment of driven electric pole speed deviation after renewal, it is driven after being updated
Electric pole speed deviation；
Driven electric pole speed deviation after the renewal that (2-4) is obtained according to step (2-3), according to according to after the renewal from
The proportional integration of the dynamic electric pole speed deviation principle directly proportional to updating driven rotating speed, it is determined that updating driven rotating speed；
(2-5) causes the real-time rotating speed of the driven electric pole motor to meet to update driven rotating speed, and return to step (2-1) circulation is held
OK.
7. the synchronous control method of automobile power back door double-rod as claimed in claim 6, it is characterised in that the driven electric pole
Speed deviation calculates in accordance with the following methods：
Wherein, up(t) it is the driven electric pole velocity deviation information after renewal, ep(t) it is active electric pole position and driven electric pole position
Difference, de (t) is driven electric pole speed deviation, Kp_pTo do the ratio of scale operation to the driven electric pole speed deviation
Example coefficient, Ti_pTo be the time coefficient of time integral computing, T to the driven electric pole speed deviationd_pFor to described driven
Electric pole speed deviation does the time coefficient of time diffusion computing.
8. the synchronous control method of automobile power back door double-rod as claimed in claim 6, it is characterised in that the renewal is driven
Rotating speed calculates as follows：
Wherein, Out2 is to update driven rotating speed, er(t) it is the difference of driven electric pole speed deviation and the real-time rotating speed of driven electric pole,
Kp_sTo be the proportionality coefficient of scale operation, T to the driven electric pole speed deviationi_sFor to the driven electric pole velocity deviation
Value does the time coefficient of time integral computing.
A kind of 9. synchronous control device of automobile power back door double-rod, it is characterised in that including：Active electric pole proportional plus integral control
Device, driven electric pole pi controller, position proportional integral-derivative controller, active electric pole motor, driven electric pole motor, master
Dynamic electric pole integrator computing unit, driven electric pole integrator computing unit；
The active electric pole pi controller, its input input the command speed, its feedback end and active electric pole electricity
Machine output end is connected, and its output end is connected with active electric pole input end of motor；
The active electric pole motor, its output end are also connected with active electric pole integrator computing unit；
The active electric pole integrator computing unit, its output end are connected with position proportional integral-derivative controller first input end；
The position proportional integral-derivative controller, its first input end and the active electric pole integrator computing unit output end phase
Even, its second input is connected with the driven electric pole integrator computing unit output end, its output end and driven electric pole proportional integration
Controller is connected；
The driven electric pole pi controller, its input are connected with position proportional integral-derivative controller output end, its
Feedback end is connected with driven electric pole motor output end, and its output end is connected with driven electric pole input end of motor；
The driven electric pole motor, its output end are also connected with driven electric pole integrator computing unit；
The driven electric pole integrator computing unit, its output end are connected with the input of position proportional integral-derivative controller second.
10. the synchronous control device of automobile power back door double-rod as claimed in claim 9, it is characterised in that the position ratio
Example integral-derivative controller, for according to active electric pole real time position and driven electric pole real time position, revision directive speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710422549.3A CN107355162A (en) | 2017-06-07 | 2017-06-07 | The control method and device that a kind of automobile power back door double-rod is synchronized with the movement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710422549.3A CN107355162A (en) | 2017-06-07 | 2017-06-07 | The control method and device that a kind of automobile power back door double-rod is synchronized with the movement |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107355162A true CN107355162A (en) | 2017-11-17 |
Family
ID=60272255
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710422549.3A Pending CN107355162A (en) | 2017-06-07 | 2017-06-07 | The control method and device that a kind of automobile power back door double-rod is synchronized with the movement |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107355162A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111021874A (en) * | 2019-12-09 | 2020-04-17 | 国网智能科技股份有限公司 | Tunnel fireproof door and related self-checking method and fireproof method |
| CN111641355A (en) * | 2020-06-03 | 2020-09-08 | 中国人民解放军96901部队25分队 | Electric push rod control method and system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2010046008A1 (en) * | 2008-10-25 | 2010-04-29 | Brose Fahrzeugteile Gmbh & Co. Kg | Drive assembly for motorized adjusting of an adjusting element in a motor vehicle |
| CN104895445A (en) * | 2014-03-07 | 2015-09-09 | 摩拓泰汽车部件有限公司 | Method of controlling power trunk or power tailgate |
| CN106522727A (en) * | 2016-10-28 | 2017-03-22 | 北京经纬恒润科技有限公司 | Method and device for synchronously driving double rods of vehicle electric trunk door |
| CN106787971A (en) * | 2017-04-01 | 2017-05-31 | 常州寻心电子科技有限公司 | A kind of bi-motor cooperative control system and method |
-
2017
- 2017-06-07 CN CN201710422549.3A patent/CN107355162A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2010046008A1 (en) * | 2008-10-25 | 2010-04-29 | Brose Fahrzeugteile Gmbh & Co. Kg | Drive assembly for motorized adjusting of an adjusting element in a motor vehicle |
| CN104895445A (en) * | 2014-03-07 | 2015-09-09 | 摩拓泰汽车部件有限公司 | Method of controlling power trunk or power tailgate |
| CN106522727A (en) * | 2016-10-28 | 2017-03-22 | 北京经纬恒润科技有限公司 | Method and device for synchronously driving double rods of vehicle electric trunk door |
| CN106787971A (en) * | 2017-04-01 | 2017-05-31 | 常州寻心电子科技有限公司 | A kind of bi-motor cooperative control system and method |
Non-Patent Citations (1)
| Title |
|---|
| 冯新宇: "《ARM Cortex-M3体系结构与编程》", 29 February 2016, 清华大学出版社 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111021874A (en) * | 2019-12-09 | 2020-04-17 | 国网智能科技股份有限公司 | Tunnel fireproof door and related self-checking method and fireproof method |
| CN111641355A (en) * | 2020-06-03 | 2020-09-08 | 中国人民解放军96901部队25分队 | Electric push rod control method and system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108649847A (en) | Motor PI attitude conirol methods based on frequency method and fuzzy control | |
| CN105577058A (en) | Novel fuzzy active disturbance rejection controller based five-phase fault-tolerant permanent magnet motor speed control method | |
| Morawiec | Z-type observer backstepping for induction machines | |
| CN105515455B (en) | Biswitch reluctance motor synchronisation control means and device | |
| CN102497153A (en) | Constant-power-angle self-adaptive control method of permanent magnet synchronous motor | |
| CN113271042A (en) | Multi-motor fixed time optimization cooperative control method | |
| CN107355162A (en) | The control method and device that a kind of automobile power back door double-rod is synchronized with the movement | |
| Milasi et al. | Implementation of emotional controller for interior permanent magnet synchronous motor drive | |
| CN104022701B (en) | Mould method for control speed in a kind of permanent magnetic linear synchronous motor Newton method | |
| Mohammdi-Milasi et al. | Speed control of an interior permanent magnet synchronous motor using BELBIC (brain emotional learning based intelligent controller) | |
| CN110308647A (en) | The unmanned plane three-stage fuzzy PID control method of the input item containing error intergal | |
| Plathottam et al. | Transient loss minimization in induction machine drives using optimal control theory | |
| CN106338911A (en) | Expert PID control method applied to rotary electromechanical actuator servo system | |
| Autsou et al. | Principles and Methods of Servomotor Control: Comparative Analysis and Applications | |
| CN106026832A (en) | Improved ADRC control algorithm-based permanent magnet synchronous linear motor control method | |
| Uddin et al. | A simplified self-tuned neuro-fuzzy controller based speed control of an induction motor drive | |
| Nam et al. | Multi parametric programming and exact linearization based model predictive control of a permanent magnet linear synchronous motor | |
| CN106953582B (en) | A kind of alternating-current variable frequency motor dragging two-dimensional planar location control method | |
| CN113037174B (en) | Permanent magnet synchronous motor composite variable structure control method based on fuzzy switching strategy | |
| Moussavi et al. | PMDC motor speed control optimization by implementing ANFIS and MRAC | |
| Daryabeigi et al. | Interior permanent magnet synchronous motor (IPMSM), with a developed brain emotional learning based intelligent controller (BELBIC) | |
| Li et al. | Improved relative coupling control with second-order consensus compensation for multi-PMSMs | |
| Mu et al. | A continuous sliding mode controller for the PMSM speed regulation based on disturbance observer | |
| CN103633911B (en) | The building method of bearingless synchronous reluctance motor differential geometrical decoupled control device | |
| Wang et al. | Design and implementation of adaptive fuzzy cerebellar model articulation controller for direct torque control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171117 |