阅读说明：本技术 调节电机控制方法、装置、存储介质及车辆 (Control method and device for adjusting motor, storage medium and vehicle ) 是由 罗成刚 于 2018-07-26 设计创作，主要内容包括：本公开涉及一种调节电机控制方法、装置、存储介质及车辆,用以解决现有电动调节转向管柱在执行调节功能时平顺性不佳的技术问题。该方法包括：通过霍尔传感器获取调节电机的当前转速；判断调节电机的当前转速与标准转速之间的差值是否处于预设差值范围内,标准转速是至少根据调节电机的特性参数设定的；在调节电机的当前转速与标准转速之间的差值不处于预设差值范围内时,相应调节调节电机的输入电压,以使调节电机在输入电压下转速与标准转速之间的差值的绝对值减小。(The disclosure relates to a control method and device for a regulating motor, a storage medium and a vehicle, which are used for solving the technical problem that the smoothness is poor when an existing electric regulating steering column executes a regulating function. The method comprises the following steps: acquiring the current rotating speed of the regulating motor through a Hall sensor; judging whether the difference value between the current rotating speed of the adjusting motor and the standard rotating speed is within a preset difference value range, wherein the standard rotating speed is set at least according to the characteristic parameters of the adjusting motor; and when the difference value between the current rotating speed of the regulating motor and the standard rotating speed is not within the preset difference value range, correspondingly regulating the input voltage of the regulating motor so as to reduce the absolute value of the difference value between the rotating speed of the regulating motor and the standard rotating speed under the input voltage.)

1. A method of modulating motor control, the method comprising:

acquiring the current rotating speed of the regulating motor through a Hall sensor;

judging whether the difference value between the current rotating speed of the regulating motor and a standard rotating speed is within a preset difference value range, wherein the standard rotating speed is set at least according to the characteristic parameters of the regulating motor;

and correspondingly adjusting the input voltage of the adjusting motor when the difference value between the current rotating speed and the standard rotating speed of the adjusting motor is not within the preset difference value range, so that the absolute value of the difference value between the rotating speed and the standard rotating speed of the adjusting motor under the input voltage is reduced.

2. The method according to claim 1, characterized in that the standard rotational speed is set according to a characteristic parameter of the adjusting motor and an ambient temperature of the vehicle.

3. The method according to claim 1 or 2, characterized in that the method further comprises:

acquiring a motor control instruction;

and gradually adjusting the input voltage of the adjusting motor according to the motor control instruction so as to execute corresponding starting or stopping operation on the adjusting motor.

4. The method of claim 3, wherein the motor control command is a motor start control command, and wherein the step-wise adjusting the input voltage of the regulated motor in accordance with the motor control command comprises:

and determining that the regulating motor is in a static state at present, and increasing the input voltage of the regulating motor to a constant voltage value according to a preset voltage increase value according to the motor starting control instruction so as to execute starting operation on the regulating motor, wherein the constant voltage value is the input voltage corresponding to the regulating motor when the regulating motor reaches a standard rotating speed.

5. The method of claim 3, wherein the motor control command is a motor stop control command, and the step-by-step adjusting the input voltage of the regulated motor in accordance with the motor control command comprises:

and determining that the adjusting motor is in a running state at present, and decreasing the input voltage of the adjusting motor to zero according to a preset voltage reduction value according to the motor stop control instruction so as to execute stop operation on the adjusting motor.

6. A modulating motor control apparatus, the apparatus comprising:

the rotating speed acquisition module is used for acquiring the current rotating speed of the adjusting motor through the Hall sensor;

the difference value judging module is used for judging whether the difference value between the current rotating speed of the regulating motor and a standard rotating speed is within a preset difference value range, and the standard rotating speed is set at least according to the characteristic parameters of the regulating motor;

and the voltage adjusting module is used for correspondingly adjusting the input voltage of the adjusting motor when the difference value between the current rotating speed and the standard rotating speed of the adjusting motor is not within the preset difference value range, so that the absolute value of the difference value between the rotating speed and the standard rotating speed of the adjusting motor under the input voltage is reduced.

7. The apparatus according to claim 6, wherein the standard rotation speed is set according to a characteristic parameter of the adjustment motor and an ambient temperature of the vehicle.

8. The apparatus of claim 6 or 7, further comprising:

the command acquisition module is used for acquiring a motor control command;

and the motor control module is used for gradually adjusting the input voltage of the adjusting motor according to the motor control instruction so as to execute corresponding starting or stopping operation on the adjusting motor.

9. The apparatus of claim 8, wherein the motor control command is a motor start control command, and wherein the motor control module is configured to:

and determining that the regulating motor is in a static state at present, and increasing the input voltage of the regulating motor to a constant voltage value according to a preset voltage increase value according to the motor starting control instruction so as to execute starting operation on the regulating motor, wherein the constant voltage value is the input voltage corresponding to the regulating motor when the regulating motor reaches a standard rotating speed.

10. The apparatus of claim 8, wherein the motor control command is a motor stop control command, the motor control module configured to:

and determining that the adjusting motor is in a running state at present, and decreasing the input voltage of the adjusting motor to zero according to a preset voltage reduction value according to the motor stop control instruction so as to execute stop operation on the adjusting motor.

11. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 5.

12. A modulating motor control apparatus, comprising:

a memory having a computer program stored thereon;

a processor for executing the computer program in the memory to carry out the steps of the method of any one of claims 1 to 5.

13. A vehicle, characterized in that the vehicle comprises a regulated motor control apparatus according to any one of claims 6 to 10.

Technical Field

The disclosure relates to the technical field of vehicles, in particular to a method and a device for controlling a regulating motor, a storage medium and a vehicle.

Background

The electrically-adjusted steering column is an important component of an electric power steering system, and the operating performance of the electrically-adjusted steering column directly affects the operating stability, comfort and safety of a vehicle. When the electric adjusting steering column executes the adjusting function, due to the manufacturing deviation and the structural limitation of the mechanical structure of the steering column, for example, the coaxiality deviation or the verticality deviation of the shaft part exists, the electric adjusting steering column can generate torque fluctuation more or less when rotating, the torque fluctuation can cause the phenomenon that the electric adjusting steering column is blocked in the process of executing the adjusting function, and the smoothness of the adjusting process is influenced.

Disclosure of Invention

The invention aims to provide a control method and device for an adjusting motor, a storage medium and a vehicle, which are used for solving the technical problem that the smoothness is poor when an existing electric adjusting steering column executes an adjusting function.

In order to achieve the above object, in a first aspect of the embodiments of the present disclosure, there is provided a method for adjusting motor control, the method including:

acquiring the current rotating speed of the regulating motor through a Hall sensor;

judging whether the difference value between the current rotating speed of the regulating motor and a standard rotating speed is within a preset difference value range, wherein the standard rotating speed is set at least according to the characteristic parameters of the regulating motor;

and correspondingly adjusting the input voltage of the adjusting motor when the difference value between the current rotating speed and the standard rotating speed of the adjusting motor is not within the preset difference value range, so that the absolute value of the difference value between the rotating speed and the standard rotating speed of the adjusting motor under the input voltage is reduced.

Alternatively, the standard rotation speed is set according to a characteristic parameter of the adjustment motor and an ambient temperature of the vehicle.

Optionally, the method further comprises:

acquiring a motor control instruction;

and gradually adjusting the input voltage of the adjusting motor according to the motor control instruction so as to execute corresponding starting or stopping operation on the adjusting motor.

Optionally, the motor control instruction is a motor start control instruction, and gradually adjusting the input voltage of the adjustment motor according to the motor control instruction includes:

and determining that the regulating motor is in a static state at present, and increasing the input voltage of the regulating motor to a constant voltage value according to a preset voltage increase value according to the motor starting control instruction so as to execute starting operation on the regulating motor, wherein the constant voltage value is the input voltage corresponding to the regulating motor when the regulating motor reaches a standard rotating speed.

Optionally, the motor control instruction is a motor stop control instruction, and gradually adjusting the input voltage of the adjustment motor according to the motor control instruction includes:

and determining that the adjusting motor is in a running state at present, and decreasing the input voltage of the adjusting motor to zero according to a preset voltage reduction value according to the motor stop control instruction so as to execute stop operation on the adjusting motor.

In a second aspect of the disclosed embodiments, there is provided a tuning motor control apparatus, the apparatus comprising:

the rotating speed acquisition module is used for acquiring the current rotating speed of the adjusting motor through the Hall sensor;

the difference value judging module is used for judging whether the difference value between the current rotating speed of the regulating motor and a standard rotating speed is within a preset difference value range, and the standard rotating speed is set at least according to the characteristic parameters of the regulating motor;

and the voltage adjusting module is used for correspondingly adjusting the input voltage of the adjusting motor when the difference value between the current rotating speed and the standard rotating speed of the adjusting motor is not within the preset difference value range, so that the absolute value of the difference value between the rotating speed and the standard rotating speed of the adjusting motor under the input voltage is reduced.

Alternatively, the standard rotation speed is set according to a characteristic parameter of the adjustment motor and an ambient temperature of the vehicle.

Optionally, the apparatus further comprises:

the command acquisition module is used for acquiring a motor control command;

and the motor control module is used for gradually adjusting the input voltage of the adjusting motor according to the motor control instruction so as to execute corresponding starting or stopping operation on the adjusting motor.

Optionally, the motor control instruction is a motor start control instruction, and the motor control module is configured to:

and determining that the regulating motor is in a static state at present, and increasing the input voltage of the regulating motor to a constant voltage value according to a preset voltage increase value according to the motor starting control instruction so as to execute starting operation on the regulating motor, wherein the constant voltage value is the input voltage corresponding to the regulating motor when the regulating motor reaches a standard rotating speed.

Optionally, the motor control instruction is a motor stop control instruction, and the motor control module is configured to:

and determining that the adjusting motor is in a running state at present, and decreasing the input voltage of the adjusting motor to zero according to a preset voltage reduction value according to the motor stop control instruction so as to execute stop operation on the adjusting motor.

In a third aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored, which when executed by a processor, implements the steps of the regulation motor control method provided by the first aspect of the embodiments of the present disclosure.

In a fourth aspect of the embodiments of the present disclosure, there is provided a control device for a conditioning motor, including:

a memory having a computer program stored thereon;

a processor for executing the computer program in the memory to implement the steps of the regulation motor control method provided by the first aspect of the embodiments of the present disclosure.

In a fifth aspect of the disclosed embodiment, a vehicle is provided that includes the regulated motor control apparatus provided by the second aspect of the disclosed embodiment.

According to the technical scheme, the current rotating speed of the adjusting motor is obtained through the Hall sensor, whether the difference value between the current rotating speed of the adjusting motor and the standard rotating speed is within the preset difference value range or not is judged, and if the difference value between the current rotating speed of the adjusting motor and the standard rotating speed is not within the preset difference value range, the input voltage of the adjusting motor is correspondingly adjusted, so that the rotating speed of the adjusting motor approaches to the standard rotating speed. Therefore, the rotating speed of the adjusting mechanism connected with the motor is stable by keeping the rotating speed of the adjusting motor stable, the fluctuation amount of the rotating speed is reduced, the fluctuation of the rotating torque of the steering column is reduced, and the smoothness of the adjusting process of the electric adjusting steering column is improved. In addition, the reduction of the fluctuation of the rotating torque of the steering column is also beneficial to reducing the abrasion between shafts and the energy consumption and prolonging the service life of the steering column.

Additional features and advantages of the disclosure will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:

FIG. 1 is a flow chart of a method of regulating motor control provided by an embodiment of the present disclosure;

FIG. 2 is a flow chart of another method of regulating motor control provided by embodiments of the present disclosure;

FIG. 3 is a statistical chart of PWM1 signals under a first predetermined rule and a statistical chart of PWM2 signals under a second predetermined rule according to an embodiment of the disclosure;

FIG. 4 is a block diagram of a modulating motor control device provided by embodiments of the present disclosure;

fig. 5 is a block diagram of another adjustment motor control device provided in the embodiments of the present disclosure.

Detailed Description

The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.

When the electric adjusting steering column executes the adjusting function, due to the manufacturing deviation and the structural limitation of the mechanical structure of the steering column, for example, the coaxiality deviation or the verticality deviation exist in the shaft part, the electric adjusting steering column can generate torque fluctuation more or less when rotating, the torque fluctuation influences the working performance of the electric adjusting steering column, the phenomenon that the electric adjusting steering column is blocked in the adjusting function executing process can be caused, and the smoothness of the adjusting process is influenced.

In order to solve the above technical problem, an embodiment of the present disclosure provides a method for controlling a regulation motor, as shown in fig. 1, the method includes the following steps:

in step S101, the current rotational speed of the adjustment motor is acquired by the hall sensor.

Specifically, a piece of magnetic steel is fixed at the edge of a rotary disc on the rotating shaft of the adjusting motor, a Hall sensor is arranged below the rotary disc, when the rotary disc rotates along with the rotating shaft of the adjusting motor, the Hall sensor is influenced by a magnetic field generated by the magnetic steel and can output a pulse signal, and the rotating speed of the adjusting motor can be calculated by utilizing the pulse signal.

In step S102, it is determined whether the difference between the current rotation speed of the adjustment motor and the standard rotation speed is within a preset difference range.

The standard rotation speed is set at least according to characteristic parameters of the regulating motor, for example, the standard rotation speed is calibrated at least according to one or more of rated current, rated voltage, rated power, rated rotation speed and torque fluctuation amplitude of the regulating motor. Illustratively, the standard rotation speed is 3600r/min, and a preset difference range, that is, the ratio of the difference between the current rotation speed of the adjustment motor and the standard rotation speed to the standard rotation speed is less than 2%, that is, when the current rotation speed of the adjustment motor is obtained by the hall sensor to be 3528 r/min-3672 r/min, it is determined that the difference between the current rotation speed of the adjustment motor and the standard rotation speed is within the preset difference range, then step S103 is executed; and when the current rotating speed of the adjusting motor is less than 3528r/min or more than 3672r/min, determining that the difference value between the current rotating speed of the adjusting motor and the standard rotating speed is not within a preset difference value range, and executing the step S104.

Optionally, the friction force of the rotating shaft of the motor is not required to be adjusted at different environmental temperatures, and the standard rotating speed can be set according to the characteristic parameters of the adjusting motor and the environmental temperature of the vehicle in order to keep the stable working performance of the motor. For example, when the characteristic parameters of the motor are the same, the standard rotation speed is 2500r/min when the environmental temperature is-10 ℃, and is 3500r/min when the environmental temperature is 25 ℃.

In step S103, the control adjustment motor is operated to maintain the current rotation speed.

In step S104, the input voltage of the regulating motor is adjusted accordingly.

When the difference value between the current rotating speed of the adjusting motor and the standard rotating speed is not in the preset difference value range, judging the magnitude relation between the current rotating speed of the adjusting motor and the standard rotating speed, if the current rotating speed of the adjusting motor is greater than the standard rotating speed, correspondingly reducing the input voltage of the adjusting motor, if the current rotating speed of the adjusting motor is less than the standard rotating speed, correspondingly increasing the input voltage of the adjusting motor, and circularly executing the step S101 and the step S102 of the method to reduce the absolute value of the difference value between the rotating speed of the adjusting motor under the input voltage and the standard rotating speed, and finally enabling the difference value between the current rotating speed of the adjusting motor and the standard rotating speed to be in the preset difference value range, thereby realizing the relative stability of the rotating speed of the adjusting motor.

In the embodiment of the present disclosure, the regulating motor is connected to the power supply through a controllable switch, and the controllable switch is used to control the input voltage of the regulating motor, and further, the controllable switch may be controlled by regulating the duty ratio of the PWM signal, so as to regulate the input voltage of the regulating motor. For example, when the current rotating speed of the regulating motor is greater than the standard rotating speed, the duty ratio of the PWM signal is correspondingly reduced according to the difference amplitude so as to reduce the input voltage of the regulating motor and achieve the purpose of reducing the rotating speed of the regulating motor; or when the current rotating speed of the regulating motor is smaller than the standard rotating speed, the duty ratio of the PWM signal is correspondingly increased according to the difference amplitude so as to increase the input voltage of the regulating motor and achieve the purpose of increasing the rotating speed of the regulating motor. By flexibly configuring the regulation rule for regulating the input voltage of the motor, the running state of the motor can be conveniently changed under the condition of not increasing the complexity of the system.

It should be noted that the executing main body in the embodiment of the present disclosure may be a regulating motor, or may be other devices besides the regulating motor, for example, a vehicle controller, or other controllers in the same local area network as the regulating motor, and the present disclosure is not limited thereto. When the method is implemented specifically, if the execution main body is the adjusting motor, the adjusting motor can directly acquire the current rotating speed of the adjusting motor and compare the current rotating speed with the standard rotating speed for judgment. If the execution main body is the vehicle control unit or one of other controllers, the controller generates a corresponding adjusting instruction after comparing and judging the rotating speed information with the standard rotating speed after acquiring the current rotating speed of the adjusting motor, and performs corresponding adjusting operation on the input voltage of the adjusting motor according to the adjusting instruction.

In the technical scheme, the current rotating speed of the regulating motor is obtained through the Hall sensor, whether the difference value between the current rotating speed of the regulating motor and the standard rotating speed is within the preset difference value range or not is judged, and if the difference value between the current rotating speed of the regulating motor and the standard rotating speed is not within the preset difference value range, the input voltage of the regulating motor is correspondingly regulated, so that the rotating speed of the regulating motor approaches to the standard rotating speed. Therefore, the rotating speed of the adjusting mechanism connected with the motor is stable by keeping the rotating speed of the adjusting motor stable, so that the fluctuation amount of the rotating speed is reduced, the fluctuation of the rotating torque of the steering column is reduced, and the smoothness of the adjusting process of the electric adjusting steering column is improved. In addition, the reduction of the fluctuation of the rotating torque of the steering column is also beneficial to reducing the abrasion between shafts and the energy consumption and prolonging the service life of the steering column.

Fig. 2 is a flowchart of another method for controlling a tuning motor according to an embodiment of the present disclosure, as shown in fig. 1, the method includes the following steps:

in step S201, a motor control command is acquired.

In the embodiment of the disclosure, the motor control instruction includes a motor start control instruction and a motor stop control instruction, which may be triggered and generated by a steering system start or stop signal, and after the motor control instruction is obtained, it may be queried whether the working state of the adjustment motor satisfies an instruction execution condition, for example, when the motor stop control instruction is obtained and the adjustment motor is currently in a running state, the working state of the adjustment motor satisfies the instruction execution condition, and then the adjustment motor is stopped according to the obtained motor stop control instruction. Gradually adjusting the input voltage of the adjusting motor according to the motor control instruction so as to execute corresponding starting or stopping operation on the adjusting motor, and classifying the operation according to the instruction as follows: if the motor control instruction is a motor starting control instruction, executing step S202; if the motor control command is a motor stop control command, step S207 is executed.

In step S202, the motor control command is a motor start control command, and if it is determined that the adjustment motor is currently in a stationary state, the input voltage of the adjustment motor is gradually increased to a constant voltage value according to the motor start control command, so as to start the adjustment motor.

And when the motor control instruction is a motor starting control instruction, inquiring the current working state of the regulating motor, and if the regulating motor is in a static state, gradually regulating the input voltage of the motor to a constant voltage value according to the motor starting control instruction and a preset voltage increment value so as to execute starting operation on the regulating motor. The constant voltage value is an input voltage corresponding to the adjustment motor reaching the standard rotation speed, for example, the preset voltage increase value is 0.5V, when the motor control instruction is a motor start control instruction, the control motor gradually increases the input voltage of the motor by taking 0.5V as an increase gradient to start the adjustment motor, and when the adjustment motor reaches the standard rotation speed, the input voltage of the adjustment motor is 14V, the input voltage of the adjustment motor is continuously kept at 14V.

Fig. 3 is a statistical graph of PWM1 signals under a first preset rule and a statistical graph of PWM2 signals under a second preset rule provided by an embodiment of the present disclosure, and referring to fig. 3, in a possible implementation, when the motor control command is a motor start control command, the duty ratio of the PWM1 signal may be increased step by step according to the first preset rule to increase the input voltage of the regulated motor. Specifically, the controllable switch is controlled by the PWM1 signal with the duty ratio of 12.5% in the first period, so that the regulating motor is started at a small rotating speed under the input voltage corresponding to the duty ratio, and in the next period, the duty ratio of the PWM1 signal is sequentially regulated to 25%, 37.5%, 50%, 62.5% and the like, and the input voltage of the regulating motor is gradually increased along with the increase of the duty ratio of the PWM1 signal. And if the duty ratio of the PWM1 signal is 62.5% when the regulating motor reaches the standard rotating speed, keeping the input voltage corresponding to the duty ratio of the PWM1 signal of 62.5% so as to keep the input voltage of the regulating motor constant.

In step S203, the current rotation speed of the adjustment motor is acquired by the hall sensor.

In step S204, it is determined whether the difference between the current rotation speed of the adjustment motor and the standard rotation speed is within a preset difference range.

When the difference between the current rotating speed of the regulating motor and the standard rotating speed is within the preset difference range, executing step S205; if the difference between the current rotation speed of the adjustment motor and the standard rotation speed is not within the preset difference range, step S206 is performed.

In step S205, the control adjusts the motor to keep the current rotation speed running.

In step S206, the input voltage of the regulating motor is adjusted accordingly.

In step S207, the motor control command is a motor stop control command, and if it is determined that the adjustment motor is currently in the operating state, the input voltage of the adjustment motor is gradually reduced to zero according to the motor stop control command, so as to stop the adjustment motor.

And when the motor control command is a motor stop control command, the input voltage of the motor is adjusted in a descending manner according to a preset voltage reduction value. For example, the preset voltage reduction value is 1V, and when the motor control command is a motor stop control command, the motor is controlled to gradually reduce the input voltage of the motor by a reduction gradient of 1V so as to perform a stop operation on the adjustment motor.

Fig. 3 is a statistical graph of PWM1 signals under a first preset rule and a statistical graph of PWM2 signals under a second preset rule provided by an embodiment of the present disclosure, and referring to fig. 3, in a possible implementation, when the motor control command is a motor stop control command, the duty ratio of the PWM2 signal may be gradually reduced according to the second preset rule to reduce the input voltage of the regulated motor. Specifically, the controllable switch is controlled by a PWM2 signal corresponding to a constant input voltage of the regulating motor in a first period, for example, the duty ratio of the PWM2 signal is 62.5%, so that the regulating motor is gradually decelerated from a high-speed operation at the input voltage corresponding to the current duty ratio, the duty ratio of the PWM2 signal is sequentially regulated to 50%, 37.5%, 25%, 12.5%, and the like in the next period, and the input voltage of the regulating motor is gradually reduced as the duty ratio of the PWM2 signal is reduced until the regulating motor stops operating.

By adopting the method, the rotating speed of the adjusting motor in the running process is kept stable, so that the smoothness of the adjusting process of the electric adjusting steering column is ensured, and the NVH performance of the adjusting motor in the starting and stopping processes is improved. Specifically, after the motor control instruction is obtained, the input voltage of the adjusting motor is gradually adjusted according to the motor control instruction, so that corresponding starting or stopping operation is performed on the adjusting motor, the working state switching of the adjusting motor is realized in a mode of gradually adjusting the input voltage of the adjusting motor, the rotating speed of the starting process of the adjusting motor is changed from rapid rising to slow acceleration, and the rotating speed of the stopping process of the adjusting motor is changed from sudden stopping to slow deceleration, so that the switching process of the working state of the adjusting motor is smoother and more moderate, impact noise generated in the sudden starting or stopping process of the adjusting motor can be effectively reduced, and the NVH performance of a vehicle steering system and comfortable experience of driving of a user are improved.

Fig. 4 is a block diagram of a control device 400 for a regulating motor according to an embodiment of the present disclosure, where as shown in fig. 4, the device 400 includes:

a rotating speed obtaining module 410, configured to obtain a current rotating speed of the adjustment motor through a hall sensor;

a difference value judging module 420, configured to judge whether a difference value between a current rotation speed of the adjustment motor and a standard rotation speed is within a preset difference value range, where the standard rotation speed is set according to at least a characteristic parameter of the adjustment motor;

and the voltage adjusting module 430 is configured to correspondingly adjust the input voltage of the adjustment motor when the difference between the current rotation speed of the adjustment motor and the standard rotation speed is not within the preset difference range, so that the absolute value of the difference between the rotation speed of the adjustment motor at the input voltage and the standard rotation speed is reduced.

The device obtains the current rotating speed of the regulating motor through the rotating speed obtaining module, the rotating speed obtaining module judges whether the difference value between the current rotating speed of the regulating motor and the standard rotating speed is within a preset difference value range, and if the difference value between the current rotating speed of the regulating motor and the standard rotating speed is not within the preset difference value range, the voltage regulating module correspondingly regulates the input voltage of the regulating motor so that the rotating speed of the regulating motor approaches the standard rotating speed. Therefore, the rotating speed of the adjusting mechanism connected with the motor is stable by keeping the rotating speed of the adjusting motor stable, so that the fluctuation amount of the rotating speed is reduced, the fluctuation of the rotating torque of the steering column is reduced, and the smoothness of the adjusting process of the electric adjusting steering column is improved. In addition, the reduction of the fluctuation of the rotating torque of the steering column is also beneficial to reducing the abrasion between shafts and the energy consumption and prolonging the service life of the steering column.

Fig. 5 is a block diagram of a control device 500 for a regulating motor according to an embodiment of the present disclosure, and as shown in fig. 5, the device 500 includes:

an instruction obtaining module 510, configured to obtain a motor control instruction;

the motor control module 520 is used for gradually adjusting the input voltage of the adjusting motor according to the motor control instruction so as to execute corresponding starting or stopping operation on the adjusting motor;

a rotating speed obtaining module 530, configured to obtain a current rotating speed of the adjustment motor through the hall sensor;

a rotation speed setting module 540, configured to set a standard rotation speed according to a characteristic parameter of the adjustment motor and an ambient temperature of the vehicle;

a difference value judging module 550, configured to judge whether a difference value between the current rotation speed of the adjustment motor and a standard rotation speed is within a preset difference value range, where the standard rotation speed is set according to at least a characteristic parameter of the adjustment motor;

and the voltage adjusting module 560 is configured to correspondingly adjust the input voltage of the adjustment motor when the difference between the current rotation speed of the adjustment motor and the standard rotation speed is not within the preset difference range, so that the absolute value of the difference between the rotation speed of the adjustment motor and the standard rotation speed at the input voltage is reduced.

By adopting the device, the rotating speed of the adjusting motor in the running process is kept stable, so that the smoothness of the adjusting process of the electric adjusting steering column is ensured, and the NVH performance of the adjusting motor in the starting and stopping processes is improved. After the instruction acquisition module acquires the motor control instruction, the motor control module gradually adjusts the input voltage of the adjusting motor according to the motor control instruction so as to execute corresponding starting or stopping operation on the adjusting motor, thus realizing the switching of the working state of the adjusting motor by gradually adjusting the input voltage of the adjusting motor, changing the rotating speed of the starting process of the adjusting motor from rapid rising to slow acceleration, changing the rotating speed of the stopping process of the adjusting motor from sudden stopping to slow deceleration, so that the switching process of the working state of the adjusting motor becomes smoother and more moderate, effectively reducing the impact noise generated in the sudden starting or stopping process of the adjusting motor, and improving the NVH performance of a vehicle steering system and the comfortable experience of a user in driving.

With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.

Accordingly, the disclosed embodiments also provide a computer readable storage medium, on which computer program instructions are stored, which when executed by a processor implement the steps of the regulation motor control method provided by the disclosed embodiments.

Accordingly, an embodiment of the present disclosure further provides a tuning motor control apparatus, including a memory, on which a computer program is stored; a processor for executing the computer program in the memory to implement the steps of the regulation motor control method provided by the above disclosed embodiments.

The disclosed embodiment further provides a vehicle including the control device for adjusting the motor provided by the disclosed embodiment, which specifically refers to the corresponding description above and is not repeated herein.

The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, various possible combinations will not be separately described in this disclosure.

In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.