阅读说明：本技术 一种基于电流积分窗的座椅极限位置校准方法 (Seat limit position calibration method based on current integration window ) 是由 陈林 李建平 肖爱农 冯友权 张群 赵金辉 夏雨 于 2021-08-31 设计创作，主要内容包括：本发明公开了一种基于电流积分窗的座椅极限位置校准方法,包括以下步骤：电机驱动座椅沿导轨以固定速度V向前移动；通过电机的母线电流传感器监测电机母线电流值；通过电机母线电流值积分窗方式判定座椅是否到达导轨上的向前极限位置,到达向前极限位置时记录此向前极限位置；当座椅到达向前极限位置后,电机驱动座椅向后启动,直至座椅达到设定速度时切换为固定速度V控制向后移动；座椅以固定速度V向后移动时,通过电机母线电流值积分窗方式判定座椅是否到达向后极限位置,到达向后极限位置时记录此向后极限位置。能快速准确地对座椅极限位置进行自动校准。(The invention discloses a method for calibrating a seat limit position based on a current integration window, which comprises the following steps: the motor drives the seat to move forwards along the guide rail at a fixed speed V; monitoring the bus current value of the motor through a bus current sensor of the motor; judging whether the seat reaches a forward limit position on the guide rail or not in a motor bus current value integration window mode, and recording the forward limit position when the seat reaches the forward limit position; when the seat reaches the front extreme position, the motor drives the seat to start backwards, and the seat is switched to a fixed speed V to control backwards moving until the seat reaches a set speed; when the seat moves backwards at a fixed speed V, whether the seat reaches a backward limit position is judged in a mode of a motor bus current value integral window, and the backward limit position is recorded when the seat reaches the backward limit position. The automatic calibration of the extreme positions of the seat can be carried out quickly and accurately.)

1. A method for calibrating the extreme position of a seat based on a current integration window is characterized by comprising the following steps:

step 1, a motor drives a seat to move forwards at a fixed speed V along a guide rail;

step 2, monitoring the bus current value of the motor through a bus current sensor of the motor;

step 3, judging whether the seat reaches a forward limit position on the guide rail or not in a motor bus current value integration window mode, and recording the forward limit position when the seat reaches the forward limit position;

step 4, after the seat reaches the front extreme position, the motor drives the seat to start backwards, and the seat is switched to a fixed speed V to control backwards moving until the seat reaches a set speed;

and 5, when the seat moves backwards at the fixed speed V, judging whether the seat reaches the backward limit position or not in a motor bus current value integration window mode, and recording the backward limit position when the seat reaches the backward limit position.

2. The method for calibrating seat limit positions based on current integration windows according to claim 1, further comprising the following steps after step 5:

step 6, repeating the step 1 to the step 5 for a plurality of times, taking the middle value of each front limit position as a final forward limit position, and taking the middle value of each rear limit position as a final backward limit position;

and 7, moving the seat backwards at a constant speed, stopping the motor when the intermediate position between the final forward limit position and the final backward limit position is reached, and finishing the calibration.

3. The method of claim 1, wherein the fixed speed V is between 1200r/min and 1800 r/min.

4. The method for calibrating seat limit positions based on current integration windows as claimed in claim 1, wherein in the steps 3 and 5, the specific process of determining the forward and backward limit positions by means of current integration windows is as follows: when the motor bus current value is larger than the set current value, accumulating the motor bus current value every 1ms until the accumulated value is larger than the set integral value, and judging that the seat reaches the forward limit position on the guide rail at the moment.

5. The method of claim 4, wherein the current integration window based seat limit position calibration is performed by clearing the current integration value after the seat limit position is determined and recorded by the current integration value.

6. The method for calibrating seat extreme positions based on current integration windows according to claim 4, characterized in that the difference between the determination time of two adjacent extreme positions is not less than 2s, and the difference between the determination displacement of two adjacent extreme positions is not less than 10 cm.

7. The method for calibrating seat limit position based on current integration window of claim 1, wherein in step 4 and step 5, the motor drives the seat with constant torque 2A to start from the previous limit position to the opposite direction, and the seat is driven with constant rotation speed to move continuously with speed V after the seat reaches the set speed V or after time T.

8. The method of claim 7 wherein T is between 80ms and 120 ms.

Technical Field

The invention particularly relates to a seat limit position calibration method based on a current integration window.

Background

The electric driver seat is controlled by a brushless direct current motor, and the limit position needs to be calibrated. When the seat touches the limit position, the position limit point is reached, and the seat controller records the position in the memory to finish the calibration of the limit position. In the process, the electric driver seat touches the limit position of the track or the upper limit position and the lower limit position of the seat, and the protection is triggered through the touch, so that the limit position is judged to be reached. In the collision process, the seat is easy to deform, so that the seat is damaged, the limit point needs to be judged in time, and the electric mechanism is quickly stopped. The invention adopts a seat limit position calibration method based on a current integration window, can realize the detection of the limit position through the integration operation of current and time, can effectively and quickly judge the seat limit position, realizes the limit position calibration and improves the safety of the electric driver seat.

Disclosure of Invention

The invention aims to solve the technical problem that the current integration window-based seat limit position calibration method can be used for quickly and accurately automatically calibrating the seat limit position.

The technical scheme adopted by the invention for solving the technical problems is as follows:

a method for calibrating the extreme position of a seat based on a current integration window comprises the following steps:

step 1, a motor drives a seat to move forwards at a fixed speed V along a guide rail;

step 2, monitoring the bus current value of the motor through a bus current sensor of the motor;

step 3, judging whether the seat reaches a forward limit position on the guide rail or not in a motor bus current value integration window mode, and recording the forward limit position when the seat reaches the forward limit position;

step 4, after the seat reaches the front extreme position, the motor drives the seat to start backwards, and the seat is switched to a fixed speed V to control backwards moving until the seat reaches a set speed;

and 5, when the seat moves backwards at the fixed speed V, judging whether the seat reaches the backward limit position or not in a motor bus current value integration window mode, and recording the backward limit position when the seat reaches the backward limit position.

According to the technical scheme, after the step 5, the method further comprises the following steps:

step 6, repeating the step 1 to the step 5 for a plurality of times, taking the middle value of each front limit position as a final forward limit position, and taking the middle value of each rear limit position as a final backward limit position;

and 7, moving the seat backwards at a constant speed, stopping the motor when the intermediate position between the final forward limit position and the final backward limit position is reached, and finishing the calibration.

According to the technical scheme, the fixed speed V is 1200 r/min-1800 r/min.

According to the above technical solution, in the step 3 and the step 5, the specific process of determining the forward and backward limit positions by means of the current value integration window is as follows: when the motor bus current value is larger than the set current value, accumulating the motor bus current value every 1ms until the accumulated value is larger than the set integral value, and judging that the seat reaches the forward limit position on the guide rail at the moment.

According to the technical scheme, after the seat limit position is judged and recorded through the current accumulated value, the current accumulated value is cleared.

According to the technical scheme, the judgment time difference of two adjacent limit positions is not less than 2s, and the judgment displacement difference of two adjacent limit positions is not less than 10 cm.

According to the technical scheme, in the step 4 and the step 5, the motor drives the seat to start from the upper limit position to the reverse direction with constant torque, and the seat continues to move at the fixed speed V after reaching the set speed.

According to the technical scheme, in the step 4 and the step 5, the motor drives the seat to start from the upper limit position to the reverse direction by using the constant torque 2A, and the seat is driven to move continuously at the speed V by using the constant rotating speed after the seat reaches the set speed V or after the time T is counted; when the seat is touched and returned, the seat is controlled by adopting a constant torque control mode, so that the correction failure caused by mechanical aging or track resistance increase can be avoided, the set speed is reached or the timing T is reached, and the constant rotating speed control is changed into the constant rotating speed control.

According to the technical scheme, the timing T is 80 ms-120 ms.

According to the technical scheme, the optimal time for timing T is 100 ms.

The invention has the following beneficial effects:

the invention provides a method for calibrating the limit position of a seat based on a current integration window, which can quickly and accurately automatically calibrate the limit position of the seat when a calibration working mode is realized, is particularly suitable for an electric driver seat of an airplane, belongs to the technical field of aviation, can also be applied to other trigger systems based on limit position detection, such as signal processing and design, automobile collision avoidance and the like, and has a good application prospect.

Drawings

FIG. 1 is a schematic flow chart of a method for calibrating the extreme positions of a seat based on a current integration window according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of the change of the motor bus current when the seat collides with the upper limit mechanism of the guide rail in the embodiment of the present invention;

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings and examples.

Referring to fig. 1 to 2, the invention provides a method for calibrating a limit position of a seat based on a current integration window, comprising the following steps:

step 1, a motor drives a seat to move forwards at a fixed speed V along a guide rail;

step 2, collecting a current signal of the motor through a bus current sensor of the motor, performing validity judgment and low-pass filtering on a signal range, and monitoring an actual physical value of the bus current of the motor;

step 3, judging whether the seat reaches a forward limit position on the guide rail or not in a motor bus current value integration window mode, and recording the forward limit position when the seat reaches the forward limit position;

step 4, after the seat reaches the front extreme position, the motor drives the seat to start backwards, and the seat is switched to a fixed speed V to control backwards moving until the seat reaches a set speed;

and 5, when the seat moves backwards at the fixed speed V, judging whether the seat reaches the backward limit position or not in a motor bus current value integration window mode, and recording the backward limit position when the seat reaches the backward limit position.

Further, after the step 5, the method also comprises the following steps:

step 6, repeating the step 1 to the step 5 for a plurality of times, taking the middle value of each front limit position as a final forward limit position, and taking the middle value of each rear limit position as a final backward limit position;

and 7, moving the seat backwards at a constant speed, stopping the motor when the intermediate position between the final forward limit position and the final backward limit position is reached, and finishing the calibration.

Further, the fixed speed V is 1200 r/min-1800 r/min.

Further, the optimum choice of the fixed speed V is 1500 r/min.

Further, in the step 3 and the step 5, the specific process of determining the forward and backward limit positions by means of the current value integration window is as follows: when the motor bus current value is larger than the set current value, accumulating the motor bus current value every 1ms until the accumulated value is larger than the set integral value, and judging that the seat reaches the forward limit position on the guide rail at the moment.

Further, after the seat limit position is judged and recorded through the current accumulated value, the current accumulated value is cleared.

Further, the difference of the judging time of two adjacent limit positions is not less than 2s, and the difference of the judging displacement of two adjacent limit positions is not less than 10 cm.

Namely: when the time difference of the two adjacent limit positions is less than 2s or the displacement difference of the two adjacent limit positions is less than 10cm, the rear position is determined to be a non-limit position, and the seat continues to move along the original moving direction until the corresponding limit position is found.

Further, in the steps 4 and 5, the motor drives the seat to start from the upper limit position to the reverse direction with constant torque, and the seat continues to move at the fixed speed V after reaching the set speed.

Further, in the step 4 and the step 5, the motor drives the seat to start from the upper limit position to the reverse direction with the constant torque 2A, and the seat is driven to continue moving with the speed V at the constant rotating speed after the seat reaches the set speed V or after the time T is counted; when the seat is touched and returned, the seat is controlled by adopting a constant torque control mode, so that the correction failure caused by mechanical aging or track resistance increase can be avoided, and the seat is changed into constant rotating speed control after reaching a set speed or reaching a timing T.

Further, the timer T is 80ms to 120 ms.

Further, the optimum time for timing T is 100 ms.

The working principle of the invention comprises the following steps:

step 1, controlling a motor to move forwards at a fixed speed V (the fixed speed V is 1500r/min) by a seat in a soft start mode;

step 2, carrying out DSP sampling on the bus current sensor signal, and carrying out validity judgment and low-pass filtering on the signal range;

step 3, calculating to obtain an actual physical value of the bus current according to the conversion relation between the actual physical dimension and the AD conversion;

step 4, judging whether the bus current is larger than a set current value, accumulating the bus current value every 1ms after the bus current is larger than a set limit, judging that the current reaches a forward limit position at the moment when an accumulated value is larger than a set integral value, and resetting the current accumulated value;

step 5, after the seat reaches the front pole position, the seat control motor is controlled to be started backwards by constant torque, and when the seat reaches a set speed, the seat control motor is switched to be controlled by constant speed to move backwards;

step 6, the seat moves backwards at a constant rotating speed, bus current signals are continuously monitored, when the situation that the seat reaches the backward limit position is judged, the time and the displacement judged by two adjacent limit positions are judged, when the phase difference is too small (the time is less than 2s or the displacement is less than 10cm), the limit position is abandoned, the seat moves backwards continuously until the condition is met, the backward limit position at the moment is recorded, the motor is controlled to start forwards at a constant torque, and the seat moves backwards at a constant speed after the set speed or 100ms is reached;

step 7, the seat moves forwards at a fixed speed, bus current signals are continuously monitored, when the seat reaches a forward limit position, the time and the displacement judged by two adjacent limit positions are judged, if the difference is too small (the time is less than 2s or the displacement is less than 10cm), the limit position is abandoned, the seat moves forwards continuously until the condition is met, the forward limit position at the moment is recorded, the motor is controlled to start backwards at a constant torque, and the seat moves backwards at a constant speed after reaching a set speed or 100 ms;

furthermore, the motor is connected with the seat through a transmission mechanism, the seat is driven to move back and forth along the guide rail, a current sensor is arranged on a bus of the control motor, the motor is connected with a controller, the controller is connected with the current sensor, and limiting mechanisms are arranged at two ends of the guide rail.

The invention provides a seat limit position calibration method based on a current integration window. By adopting the technology, when the electric driver seat is in a calibration working mode and is used for calibrating the limit position of a track or the upper limit position and the lower limit position of the seat, the limit position of the seat based on the current integration window is detected, and calibration is carried out according to a fixed calibration flow, so that the electric driver seat can respond to large-current touch in time, and the reliability is increased for small-current touch.

And judging whether the seat reaches the limit position or not by adopting a seat limit position calibration method based on a current integration window through the integration operation of current and time. Taking the front and rear calibration limit positions as an example, the following strategy is adopted: when the electric driver seat receives a calibration command, the motor is controlled to move towards one direction at a fixed speed, bus current is sensed in real time, AD acquisition, sensor signal validity judgment, low-pass filtering and physical quantity conversion of the processor are carried out to convert the bus current into effective bus current, time integration is carried out, a collision current and time relation graph is shown in figure 1, when an integral value reaches a collision condition, the motor is controlled to reverse at the fixed speed, the limit position at the moment is recorded, after a current loop lasts for a certain time, the speed loop is switched back, and the other limit position is recorded in the same way.

The above is only a preferred embodiment of the present invention, and certainly, the scope of the present invention should not be limited thereby, and therefore, the present invention is not limited by the scope of the claims.