CN109017584A - A kind of control system of electronic side pedal - Google Patents
A kind of control system of electronic side pedal Download PDFInfo
- Publication number
- CN109017584A CN109017584A CN201810922788.XA CN201810922788A CN109017584A CN 109017584 A CN109017584 A CN 109017584A CN 201810922788 A CN201810922788 A CN 201810922788A CN 109017584 A CN109017584 A CN 109017584A
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- Prior art keywords
- controller
- motor
- control system
- side pedal
- electronic side
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- 230000033001 locomotion Effects 0.000 claims description 11
- 238000000034 method Methods 0.000 description 11
- 230000000694 effects Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000035772 mutation Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012856 packing Methods 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000004836 empirical method Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R3/00—Arrangements of steps or ladders facilitating access to or on the vehicle, e.g. running-boards
- B60R3/002—Running boards
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R3/00—Arrangements of steps or ladders facilitating access to or on the vehicle, e.g. running-boards
- B60R3/007—Removable steps or ladders, e.g. foldable
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mechanical Control Devices (AREA)
Abstract
The invention discloses a kind of control systems of electronic side pedal, it include: the motor for driving electronic side pedal travel, the H-bridge drive circuit being connected to motor and the controller connecting with H-bridge drive circuit, controller control the operating of motor by controlling the on-off of H-bridge drive circuit.By the operating for controlling motor with H-bridge drive circuit, motorized window motor is controlled by double born of the same parents' relays in compared with the prior art, during electronic side pedal is unfolded or packs up, motor both end voltage is not mutated, the speed of motor is adjustable, therefore smaller to the impact of machine components, and noise is also smaller, to extend part life, user experience is improved.
Description
Technical field
The present invention relates to vehicle miscellaneous function fields, more particularly to a kind of control system of electronic side pedal.
Background technique
With the prevalence of the higher vehicle in the chassis such as SUV, is got on or off the bus and brought more very much not to occupant due to excessively high chassis
Just, the side pedal of vehicle for facilitating occupant to get on or off the bus becomes particularly important.Side pedal of vehicle on the market has fixed and can at present
Telescopic two kinds.Fixed side pedal reduces limited height in order to not influence vehicle pass-through.And extension type side pedal passes through
Electrical energy drive is packed up when vehicle travels, not will increase vehicle width, therefore can design the reduction height for meeting occupant's demand
Degree.
The control program of electronic side pedal in the prior art is to control motorized window motor positive and inverse by double born of the same parents' relays,
By taking expansion operation as an example, when controller receives opening signal, relay forward direction is attracted, and it is another that one termination power of motor is stepped in electronic side
Outer one end ground connection, electronic side pedal is run with maximum speed, until reaching maximum opening.
The mutation that motor both end voltage is stepped in electronic side leads to the mutation of its revolving speed, in turn results in the machine that motor is stepped on to electronic side
The impact of tool structure can also issue constantly apparent noise starting or stoping.
Therefore, the impact during how reducing electronic side pedal expansion or packing up to corresponding mechanical structure, reduces noise,
It is those skilled in the art's technical issues that need to address.
Summary of the invention
The object of the present invention is to provide a kind of control systems of electronic side pedal, are controlling electronic side pedal expansion or are receiving
Smaller to mechanical structure impact when rising, generation noise is smaller, can extend part life, improves user experience.
In order to solve the above technical problems, the present invention provides a kind of control system of electronic side pedal, comprising:
For driving the motor of electronic side pedal travel, the H-bridge drive circuit being connect with the motor and with the H bridge
The controller of driving circuit connection；
Wherein, the controller controls the operating of the motor by controlling the on-off of the H-bridge drive circuit.
Optionally, the controller controls the on-off of the H-bridge drive circuit specifically:
The duty ratio for the PWM wave that the controller is inputted by control to the H-bridge drive circuit controls the H bridge driving
The on-off of circuit.
Optionally, the controller is also connect with the position sensor of the motor；
Correspondingly, the controller be also used to receive the electronic side pedal that the position sensor measures revolving speed and
Position, and the duty ratio is adjusted according to the revolving speed, the position and preset target velocity curve.
Optionally, the controller is also used to according to the calculating of the deviation value of the revolving speed and the target velocity curve
The resistance that electronic side pedal is subject to during the motion, and control the motor when the resistance is greater than the first preset value and stop
Vehicle.
Optionally, the controller is also used to control the electronic side pedal when the resistance is greater than the second preset value anti-
To movement.
Optionally, the controller is also used to parameter area based on the received and target velocity generates adjustment curve, and whole
The fixed adjustment curve obtains the target velocity curve.
Optionally, the position sensor is specially Hall sensor.
Optionally, further includes:
The detector being connect with the controller, for detecting the state of car door and sending vehicle door status to the controller
Signal.
Optionally, further includes:
The signal receiver being connect with the controller, for receiving the target velocity of setting and sending out the target velocity
It send to the controller.
Optionally, the signal receiver is specially touch screen.
The control system of electronic side pedal provided by the present invention, comprising: for driving the motor of electronic side pedal travel,
The H-bridge drive circuit being connected to motor and the controller connecting with H-bridge drive circuit, controller pass through control H bridge driving electricity
The on-off on road controls the operating of motor.By with H-bridge drive circuit control motor operating, compared with the prior art in pass through
Double born of the same parents' relays control motorized window motor, and during electronic side pedal is unfolded or packs up, motor both end voltage is not mutated,
The speed of motor is adjustable, therefore smaller to the impact of machine components, and noise is also smaller, to extend part life, improves
User experience.
Detailed description of the invention
It, below will be to embodiment or existing for the clearer technical solution for illustrating the embodiment of the present invention or the prior art
Attached drawing needed in technical description is briefly described, it should be apparent that, the accompanying drawings in the following description is only this hair
Bright some embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is a kind of structural schematic diagram of the control system of electronic side pedal provided in an embodiment of the present invention；
Fig. 2 is the structural schematic diagram of the control system of the electronic side pedal of another kind provided in an embodiment of the present invention.
Specific embodiment
Core of the invention is to provide a kind of control system of electronic side pedal, is controlling electronic side pedal expansion or is receiving
Smaller to mechanical structure impact when rising, generation noise is smaller, can extend part life, improves user experience.
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1 is a kind of structural schematic diagram of the control system of electronic side pedal provided in an embodiment of the present invention.
The control system of electronic side pedal provided in an embodiment of the present invention includes:
For driving the motor of electronic side pedal travel, the H-bridge drive circuit being connected to motor and and H-bridge drive circuit
The controller of connection；
Wherein, controller controls the operating of motor by controlling the on-off of H-bridge drive circuit.
As shown in Figure 1, the input terminal of controller passes through electric pressure converter Regulator connection power supply KL30.Control
Implement body can be micro-control unit MCU.In general, be converted to externally input+12V voltage can be directly for micro- for electric pressure converter
+ 5V the voltage that control unit MCU is used.Micro-control unit MCU is also received by bus transceiver CAN Transceiver
Status signal in CAN bus realizes the functions such as intelligence opening, closing.
In specific implementation, the on-off of controller control H-bridge drive circuit specifically:
The duty ratio for the PWM wave that controller is inputted by control to H-bridge drive circuit controls the on-off of H-bridge drive circuit.
Wherein, H-bridge drive circuit includes driver Driver and H-bridge circuit, and driver Driver is used for microcontroller list
The pwm signal that first MCU is issued, which is amplified to, appraises and decides value to drive H-bridge circuit.H-bridge circuit quick on-off under the control of PWM wave, it is real
The speed regulation of existing motor, specific design can refer to the prior art.
Further, the control system of electronic side pedal further include:
Detector connected to the controller, for detecting the state of car door and sending vehicle door status signal to controller.It is logical
Bus transceiver CAN Transceiver is crossed, the status signal of car door is sent to controller by detector, is such as worked as and is detected car door
When unlatching, the order that electronic side pedal is unfolded is sent, when detecting closing of the door, sends the order for packing up electronic side pedal.
Further, the control system of electronic side pedal further include:
Signal receiver connected to the controller, for receiving the target velocity of setting and target velocity being sent to control
Device.Optionally, signal receiver is specifically as follows touch screen.Target velocity can be set by manufacturer and is stored in controller,
It can receive user's sets itself.
The control system of electronic side pedal provided in an embodiment of the present invention, comprising: for driving electronic side pedal travel
Motor, the H-bridge drive circuit being connected to motor and the controller connecting with H-bridge drive circuit, controller are driven by control H bridge
The on-off of circuit is moved to control the operating of motor.By with H-bridge drive circuit control motor operating, compared with the prior art in
Motorized window motor is controlled by double born of the same parents' relays, during electronic side pedal is unfolded or packs up, motor both end voltage does not have
The speed of mutation, motor is adjustable therefore smaller to the impact of the part of electronic side pedal and motor, and noise is also smaller, from
And part life is extended, improve user experience.
Fig. 2 is the structural schematic diagram of the control system of the electronic side pedal of another kind provided in an embodiment of the present invention.
As shown in Fig. 2, on the basis of the above embodiments, in another embodiment, controller is also passed with the position of motor M
Sensor connection；
Correspondingly, the signal that controller is also used to be measured according to position sensor calculates revolving speed and the position of motor, and root
Duty ratio is adjusted according to revolving speed, position and preset target velocity curve.
In specific implementation, position sensor is specifically as follows Hall sensor Hall Sensor, Hall sensor Hall
Sensor can be integrated in motor, for detecting the real time position and the speed of service of electronic side pedal.The position signal that measures and
Speed signal is passed to micro-control unit MCU and preset target velocity curve is used as micro-control unit MCU to adjust to H bridge together
The foundation of the duty ratio of the PWM wave of driving circuit input.
Further, controller is also used to parameter area based on the received and target velocity generates adjustment curve, and adjusts
Adjustment curve obtains target velocity curve.
Speed regulation algorithm generally uses PI to adjust the speed algorithm in the prior art.The parameter tuning that PI adjusts the speed algorithm is always that tradition is adjusted
The difficult point that fast function is realized, it is traditional to gather examination method and empirical method is difficult to obtain ideal setting parameter, to make entirely to adjust
Journey is difficult to reach ideal effect.
In order to improve parameter tuning effect, parameter, parameter area of the controller previously according to setting can be set by the user
And target velocity, selection parameter generates adjustment curve in parameter area, and adjustment curve and target velocity are compared, and examines and adjusts
Effect is saved, so that automatic adjusting obtains target velocity curve.
During electronic side pedal travel, controller obtains the speed of service of target velocity and current electronic side pedal, leads to
PI speed regulation algorithm is crossed, the duty ratio of the PWM wave of driving H-bridge circuit is calculated, so that the speed of electronic side pedal be made gradually to approach
Target velocity achievees the purpose that be precisely controlled electronic side pedal.
Wherein, the PI speed regulation corresponding program of algorithm can be as follows:
S32y=(((LKsint32) u16Gr1Kp* (LKsint32) s16e)/(LKsint32) WLPWM_1024)+
(s32Gr1eSum/(LKsint32)dataWlPwm_u16KiTa)；
Wherein, s16e is velocity deviation, and LKsint32 is digit conversion command (being converted to 32), u16Gr1Kp*
(LKsint32)/(LKsint32) WLPWM_1024 is constant, and s32Gr1eSum is integral parameter, dataWlPwm_u16KiTa
For adjustment speed.
Further, controller is also used to calculate electronic side pedal according to the deviation value of revolving speed and target velocity curve and transport
The resistance being subject to during dynamic controls motor brake when resistance is greater than the first preset value.
The pre-recorded electronic side pedal resistance that each position is subject to during the motion, is subject to not according to different location
Anti-pinch algorithm is generated with resistance.In practical applications, controller is calculated according to the position of electronic side pedal using anti-pinch algorithm
The corresponding offset in the position arrived does difference operation with the practical resistance being subject in the position, when difference be greater than preset value, or
When resistance is greater than the first preset value, illustrate to encounter obvious barrier, motor M brake is controlled at this time, so that electronic side pedal be made to stop
It only moves, to achieve the effect that anti-pinch.
The mode of controller control motor M brake can simultaneously turn on for two metal-oxide-semiconductors on the low side of control H-bridge circuit, main
It is dynamic to brake to stop the movement of electronic side pedal in time.
In addition, electronic side pedal is due to inertia continuation after motor powers off in order to prevent in electronic side pedal proper motion
It travels forward, controller can make electronic side pedal in such a way that two metal-oxide-semiconductors on the low side of control H-bridge circuit simultaneously turn on
Current location is stopped at rapidly.
Further, controller is also used to control electronic side pedal counter motion when resistance is greater than the second preset value.
When electronic side pedal travel excessive velocities or when thering is object to be caught in the gap of electronic side pedal suddenly, electronic side
Pedal not only needs stop motion, it is also necessary to which counter motion is to mitigate the impact to object.Therefore, controller can also be according to pre-
The second preset value first set controls electronic side pedal counter motion when resistance is greater than the second preset value.
The control system of electronic side pedal provided in an embodiment of the present invention, controller are measured according to the position sensor of motor
Electronic side pedal the speed of service and position, the speed of service of the electronic side pedal of automatic adjusument, and provide corresponding calculation
Method.Wherein, anti-pinch algorithm uses automatic adjusument algorithm, to compensate for individual difference and mechanism aging because when producing
Anti- grip force is caused the defect of difference occur.The adjusting of PI algorithm parameter uses automatic setting method, certainly by preset parameter area
It is dynamic to complete adjusting, it is high-efficient and be easier to reach ideal effect.
In several embodiments provided herein, it should be understood that disclosed control system, it can be by other
Mode realize.For example, the apparatus embodiments described above are merely exemplary, for example, the division of module, only one
Kind of logical function partition, there may be another division manner in actual implementation, for example, multiple module or components can combine or
It is desirably integrated into another system, or some features can be ignored or not executed.Another point, it is shown or discussed it is mutual it
Between coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or communication link of device or module
It connects, can be electrical property, mechanical or other forms.Module may or may not be physics as illustrated by the separation member
Upper separated, the component shown as module may or may not be physical module, it can and it is in one place, or
Person may be distributed on multiple network modules.Some or all of the modules therein can be selected according to the actual needs real
The purpose of existing this embodiment scheme.
It, can also be in addition, can integrate in a processing module in each functional module in each embodiment of the application
It is that modules physically exist alone, can also be integrated in two or more modules in a module.
A kind of control system of electronic side pedal provided by the present invention is described in detail above.It is each in specification
A embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments, respectively
Same and similar part may refer to each other between a embodiment.For the device disclosed in the embodiment, due to itself and embodiment
Disclosed method is corresponding, so being described relatively simple, reference may be made to the description of the method.It should be pointed out that pair
For those skilled in the art, without departing from the principle of the present invention, the present invention can also be carried out
Some improvements and modifications, these improvements and modifications also fall within the scope of protection of the claims of the present invention.
It should also be noted that, in the present specification, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that the process, method, article or equipment for including a series of elements not only includes that
A little elements, but also including other elements that are not explicitly listed, or further include for this process, method, article or
The intrinsic element of equipment.In the absence of more restrictions, the element limited by sentence "including a ...", is not arranged
Except there is also other identical elements in the process, method, article or apparatus that includes the element.
Claims (10)
1. a kind of control system of electronic side pedal characterized by comprising
For driving the motor of electronic side pedal travel, the H-bridge drive circuit being connect with the motor and driven with the H bridge
The controller of circuit connection；
Wherein, the controller controls the operating of the motor by controlling the on-off of the H-bridge drive circuit.
2. control system according to claim 1, which is characterized in that the controller controls the H-bridge drive circuit
On-off specifically:
The duty ratio for the PWM wave that the controller is inputted by control to the H-bridge drive circuit controls the H-bridge drive circuit
On-off.
3. control system according to claim 1, which is characterized in that position sensing of the controller also with the motor
Device connection；
Correspondingly, the controller is also used to receive revolving speed and the position for the electronic side pedal that the position sensor measures
It sets, and the duty ratio is adjusted according to the revolving speed, the position and preset target velocity curve.
4. control system according to claim 3, which is characterized in that the controller is also used to according to the revolving speed and institute
The deviation value for stating target velocity curve calculates the resistance that the electronic side pedal is subject to during the motion, and big in the resistance
The motor brake is controlled when the first preset value.
5. control system according to claim 4, which is characterized in that the controller is also used to be greater than the when the resistance
The electronic side pedal counter motion is controlled when two preset values.
6. control system according to claim 3, which is characterized in that the controller is also used to parameter model based on the received
It encloses and generates adjustment curve with target velocity, and adjust the adjustment curve and obtain the target velocity curve.
7. control system according to claim 3, which is characterized in that the position sensor is specially Hall sensor.
8. control system according to claim 1, which is characterized in that further include:
The detector being connect with the controller, for detecting the state of car door and sending vehicle door status letter to the controller
Number.
9. control system according to claim 1, which is characterized in that further include:
The signal receiver being connect with the controller, for receiving the target velocity of setting and being sent to the target velocity
The controller.
10. control system according to claim 9, which is characterized in that the signal receiver is specially touch screen.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810922788.XA CN109017584A (en) | 2018-08-14 | 2018-08-14 | A kind of control system of electronic side pedal |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810922788.XA CN109017584A (en) | 2018-08-14 | 2018-08-14 | A kind of control system of electronic side pedal |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109017584A true CN109017584A (en) | 2018-12-18 |
Family
ID=64634097
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810922788.XA Pending CN109017584A (en) | 2018-08-14 | 2018-08-14 | A kind of control system of electronic side pedal |
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| Country | Link |
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| CN (1) | CN109017584A (en) |
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| JP2013103667A (en) * | 2011-11-16 | 2013-05-30 | Bridgestone Kbg Co Ltd | Antiskid plate |
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| CN207059910U (en) * | 2017-08-16 | 2018-03-02 | 上海艾铭思汽车控制系统有限公司 | The controller and meeting pedal device of a kind of meeting pedal |
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| CN207304418U (en) * | 2017-10-09 | 2018-05-01 | 恩坦华汽车零部件（镇江）有限公司 | A kind of control circuit of glass lifter motor |
-
2018
- 2018-08-14 CN CN201810922788.XA patent/CN109017584A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1830091A (en) * | 2002-03-04 | 2006-09-06 | 国际整流器公司 | H-bridge with single lead frame |
| CN2878808Y (en) * | 2005-12-13 | 2007-03-14 | 湖北汽车工业学院 | Electric control electric mechanical type automobile automatic transmission controller |
| CN102424021A (en) * | 2011-11-11 | 2012-04-25 | 浙江工业大学 | Electric automatic telescopic pedal of off-road vehicle |
| JP2013103667A (en) * | 2011-11-16 | 2013-05-30 | Bridgestone Kbg Co Ltd | Antiskid plate |
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| CN202850734U (en) * | 2012-10-10 | 2013-04-03 | 长安大学 | Anti-pinch controller of car window |
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Application publication date: 20181218 |
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