摘要
针对电动吸合过程中障碍物阻碍车门关闭,汽车门锁难以实现半锁到全锁吸合运动,提出汽车门锁障碍物被夹检测及防夹控制策略,以电流纹波技术对吸合电机电流波形变化情况分析是否存在障碍物;基于Simulink软件建立直流电机仿真控制模型,得出正常吸合与有障碍物阻碍吸合的电流纹波频率及幅值具有显著差异,验证纹波判断障碍物被夹的可实施性。进一步,采用STM32系列单片机作为主控单元,设计并研制电流采集电路及纹波转方波电路的实验平台,实时对电流进行采集和处理,通过有无外部阻碍物被夹对比实验,得到含电流纹波的吸合电机电流频率及幅值有显著变化,验证了障碍物被夹检测及防夹控制系统的可应用性。
To solve the problem that the electric cinch movement in the vehicle side door latch from half lock to full lock is difficult to be realized because of the obstacles,the obstacle clamping detection and anticlamping control strategy of the obstacles in the vehicle side door latch are proposed.The current ripple technology is used to analyze the current waveform of cinch motor and existence of obstacles.The simulation control model of DC motor is established based on Simulink software.It is concluded that there is a significant difference in the frequency and amplitude of electriccurrent ripple between normal cinch process and the cinch process with obstacles,which verifies the feasibility of ripple judgment of obstacle clamping.Furthermore,using STM32 series single chip microcomputer as the main control unit,the experimental platform of current acquisition circuit and ripple to square wave circuit is designed and developed to collect and process the current in real-time.Through the comparison between the two groups of experiments with and without external obstacles,it is obtained that the current ripple frequency and amplitude of the cinch motor change significantly,which verifies the applicability of the obstacle detection and anti-clamping control system.
出处
《机电一体化》
2023年第1期18-25,共8页
Mechatronics
基金
国家自然科学基金(51475050)
上海汽车工业科技发展基金会资助项目(1617)
上海市大型构件智能制造机器人技术协同创新中心开放基金(ZXY20211101)。
关键词
电动吸合
障碍物被夹检测
防夹控制
电流纹波
electric cinch
obstacle clamped detection
anti-clamping control
electriccurrent ripple
