无人驾驶电动汽车的主动防夹车窗系统的设计【三维图-无CAD图】.zip
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无人驾驶电动汽车的主动防夹车窗系统的设计【三维图-无CAD图】.zip
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译文题目：Design of Anti-pinch of ElectricWindowon the Threshold of Automatic Configuration 基于自动控制临界值的电动车窗防夹设计 职称： 副教授 2106年 3 月 5 日Design of Anti-pinch of ElectricWindowon the Threshold of Automatic ConfigurationAbstract ：In this paper, the design of anti-pinch of electric window is based on the current feedback principle, when the motor load increases, the electrical current will increase, too. Using a smart chip with current feedback function to determine whether the window is blocked while it upwards. This paper presents an algorithm which will configure the current threshold automatically. It is an improvement on Anti-pinch of Electric Window in Vehicles.Key words: Threshold of Automatic Configuration,Anti-pinch of Electric Window, Feedback current1. IntroductionNowadays many cars installed electrical Windows.By the use of electrical windows, on the one hand, it reduce the labor intensity of drivers and passengers, with convenient operation. On the other hand, because of electrical windows rising fast, it always induced clamp accident. Electrical windows with anti-pinch function has become a necessity. When the window rising around an obstacle, it can be back to return to the bottom, thus avoiding accidents. Currently, there are two types of methods used to implement anti-pinch function: One way is using the sensor switch(such as Infrared sensor and Hall sensor).This method is generally relatively high cost, and this paper will not discuss it in detail. Another is that with the current feedback through the use of smart power chips. In the solution for anti-pinch this paper introduced, there are set-bottom switch and set-top switch in the window control mechanisms, achieving anti- pinch function by AD sampling current. Current feedback to achieve anti-pinch function is based on the principle that as the motor load increases, the motor current will increase accordingly12.2. Design PrinciplesFor the power window anti-pinch systems, detecting the value accurately is the key to achieve the anti-pinch function. Due to the cost price of designconstraints and door style, it is difficult to adopt infrared and mechanical sensors technology in other areas widely to achieve anti-pinch. Today, the mainstream method to achieve anti-pinch function are either detecting motor current or using Hall sensor to detect motor current. Both methods have the common features that, through detecting the force indirectly when window be contact with obstacles to achieve the anti-pinch function, it has the advantage that the hardware is relatively simple, of low cost and high reliability. This work discusses the method which needs to detect the motor current, and through this method, it can determine whether the force is over the limit, and without the need for Hall sensors can accurately determine whether there are obstacles blocking the windows3.This is the relationship diagram between the motor resistance and motor current value, as depicted in Fig.1-1.Figure 1-1 the relationship diagram between the motor resistance and motor current valueThis is the relationship diagram between the motor resistance and motor current value, as depicted in Fig.1-1. As shown in Fig.1-1, there exists linear relationship between the suffered force and the current value. When the suffered force increasing, the current increases accordingly, indicating that the resistance of the window is increasing and may have encountered the obstacles. Therefore, by detecting the motor current, we can learn the force the motor suffered exactly, in order to achieve the anti-pinch function. Normal load on the motor, that is the value of the force under Fnormal feedback on the current value of port AD Inormal. When the motor is to withstand the resistance Fmax, the port AD feedback current value is Imax. To achieve the anti-pinch function, it is assumed that it encounter the obstacle when the AD sample value exceeds the AD sample value with force value Fnormal100N(100N is presented by FMVSS118 safety norms the United States).Only overcoming gravity, friction and all kinds of interference, electric window switches can achieve anti-pinch. But if one of these value is too high, it will affect the anti-pinch function. And if it needs to determine whether it encounters obstacle accurately, or it reached the top or bottom, this work adopt a set top switch and bottom switch, that spring switch is triggered by pressure during the window ascent. It will ignore the data sampled at AD port, and assuming that the window reaches the bottom or top. Even having added the reach-top switch and reach-bottom switch, for each car, because every window in the process of lifting the resistance Fnormal bear is not same, so that it will inevitably lead to the data AD sampled is different. And with the car in the course of continuous wear and aging of the device will also lead to changes in the threshold current value. In the past, anti-pinch windows are achieved using AD for each car AD parameters need to be measured, and then caught the configuration of the current threshold, which brought a lot of maintenance.3. ImplementationsIn order to solve the problem mentioned above, this work presents a current threshold autoconfiguration program, to replace the previous fixed threshold, which greatly simplifies the system installation and testing. A similar approach can be used to find the threshold, that when the motor is under the pressure value of ,the current value sampled from AD can be thethreshold. This current value can be approximately calculated by as the formula. If only sampling the value once, the error is relatively large, so the average methodcan be used to offset the margin of error. After the first installation of windows, the first initial value is set, then adjusting the data automatically according to the history and present status. In his work the historical data will be stored in the MCUs flash, testing Ntest times.The the average threshold current and the implementation of testing procedures logo Ftest . When the first installation or turn on testing window switch, window will lift up and down automatically, using the end top switch set to test Inormal_i and Imax_i value and calculate Iclip_i. After the number of Ntest tests, is calculated. At this time the results Ntest and are stored in Flash as a historical reference data.To reflect the changes in threshold current, in process of using the car, due to constant wear and aging of the devices, it is necessary to adjust the data sampling, We can treat changes in threshold current in each lifting of window as a data sampling. When the window is not top or bottom set, we treat the current sampling as Inormal, and then find the mean of several samples as.After the switch is set to top or bottom, maintain operation of the motor 10ms, treat the current after 10ms as Imax. Then calculate the threshold current of the current with. However, in order to prevent the sampling data with large deviations, weighted average method is used to offset the deviation, when calculate the new threshold current with and replace the original value in the flash memory with the new value value 3 .The value of the threshold current changes with theNtest, as depicted in Fig.2-1Figure 2-1. Influence of Ntest on Ntest value is determined according to different models and different application environment. When Ntest greater value, the more decisive role in the historical data, current threshold changes with the environmental change more slowly, better stability. When Ntest is smaller, the current data are more bigger role, the current threshold of the current environment will be more sensitive, but the stability deteriorates. The method of Dynamic Configuration threshold current value effectively overcomes the fixed threshold current value of the anti-pinch shortcomings, improve the accuracy of the anti-pinch windows. When the current value sampled IadIclip ,it assumes that there is an obstacle, and at this point the window lift switches will be invalid, and the motor will drive down the windows some distance away in order toavoid accidents.4. System DesignThis paper is to achieve anti- pinch function by AD sampling current using Smart Power ICs. Current feedback to achieve anti-pinch function is based on the principle that as the motor load increases, the motor current will increase accordingly. The MC33887 is a monolithic H-Bridge Power IC with a load current feedback feature making it ideal for closed-loop DC motor control. It has a feedback output for real time monitoring of H-Bridge high-side current to facilitate closed loop operation for motor speed and torque control. So MC33887 is a good choice. Hardware consists of MC68HC908GR8, MC33689, MC33887 and MC338844-7.The MC33689 is an integrated power management chip with LIN driver module, and the MC33887 is a monolithic H-Bridge Power IC with a load current feedback feature, and theMC33884 is an integrated Smart switch chip, and the MC68HC908GR8 is a 8-bit microcontroller. This is a logical connection diagram between the chip, as depicted in Fig.3-1.Figure 3-1.Hardware Design of Window moduleIn this work, the MC33887 can pass the current sampled by AD through FB output to MCU, then MCU determines whether there are obstacles through the value of the current. When the current value is greater than Iclip, it can be assumed that there is an obstacle.5. ConclusionsWindow lift system is an extremely complex system, that the environment, machinery and many other factors will impact the operation of the automatic windows. In other countries, the anti-pinch power windows product research and application has been for decades, and the technology is not a matter.But in china, because Automobile electronic starts lately, the technology remains a challenge. This paper analyzes the method that through the motor current to achieve anti-pinch electric function. As each has a separate ECU electric window control, in a damaged condition, the other three can still work, increasing the system reliability and safety. This method to achieve anti-pinch function through the motor current feedback can reduce the system cost effectively.AcknowledgementThis work is supported by the National Natural Science Foundation of China under grant No. 60903011, Natural Science Foundation of Zhejiang province under grant No.Y1100689, Science and Technology Department of Zhejiang ProvinceFoundation under grant No. 2010C31122.References1 Atmel.AVR480:Anti-Pinch System for Electrical Window.2006.2 Chen Zhaolong,Fan Qingbo.The development of jamproof glass lifter based on freescale single chipmachine(SCM)J.chaohu college journal No.3,Vol.8.3 Xie Youhua, Yin Chengliang, Shu Jie.Application of LIN Bus in Power Window System Controlling. Control&Automation.2008,24(5).4 Freescale. MC9S08AW16 Data Sheet.Rev.2.5 Freescale. MC33689 Data Sheet .Rev.2.6 Freescale. MC33887 Data Sheet.Rev.2.7 Freescale. MC33993 Data Sheet.Rev.基于自动控制临界值的电动车窗防夹设计摘要：本文中，设计的电动车窗防夹原理是基于电流反馈原则进行，当电机负载增加时，电路中电流也相应增大。利用小型芯片将电流反馈形式放大，用以判断车窗在上升过程中是否被阻碍。本文中描述了一种根据电流临界值自动控制的运算法则，将有利于提高电动车窗防夹系统在汽车上的运用。关键词：自动控制临界值，电动防夹车窗，电流反馈1引言今天，越来越多的汽车都配置了电动车窗。使用电动车窗一方面可以降低驾驶员的劳动强度，给予乘客更加舒适方便的操作；但另一方面，随着电动车窗使用量的增加，也经常伴随着夹伤等安全事故。电动车窗具备防夹功能也逐渐成为必须配置，当车窗自动上升过程中碰到障碍物时能够自动下降至最低处，这样就可以避免安全事故的发生。目前，比较普遍的有两种方式用以实现防夹功能：一种方法是运用传感开关（比如红外线传感器和霍尔传感器）这种方法相较普遍方法而言成本较高，所以本文中将不再对此方法做过多的赘述。另外一种方法是运用小型功率芯片电流反馈的方法，在本文中提出的解决防夹方案中，在车窗的机械控制系统中设定一个顶部开关和一个底部开关，通对AD电流进行监测以实现防夹功能。电流反馈实现车窗防夹功能的基本原理是：电机负载增加时，通过电机的电流也随之相应增大12。2设计原则对于电动防夹车窗，精确实现防夹功能是体现其价值的关键。由于设计成本和车门型式的约束，很难通过在其它空间布置红外线和机械传感器而实现防夹。今天，比较广泛运用的方法是检测电机电流或使用霍尔传感器监测电机电流。两种方法都有共同的特点，即间接的监测当车窗遇到障碍物时产生的力，从而实现防夹功能，这样使得硬件设计更加简单，成本更低、可靠性好。这项研究讨论的方法是在不运用霍尔传感器的基础上，通过监测电机电流从而得出窗阻力是否达到设定的最低值，用以判断车窗在上升过程中是否遇到障碍物3。电机受的阻力与电机电流值关系如图1-1所示：图1-1 电机阻力与电流值关系图如图1-1所示，车窗玻璃上升过程中受到的阻力与电机反馈电流程线性关系。当阻力增大时，电机电流相应的增大，表明需要使车窗继续上升的力增加，可能是遇到障碍物阻挡。因此为了实现自动防夹功能，我们可以监测电机电流的变化从而可以精确的掌握此时电机承受了多大的阻力。当电机在正常负载情况时，其正常承受的作用力通过AD转换接口变反馈的值为Fnormal，电机达到其承受的最大阻力Fmax时，通过AD转换接口反馈的回来最大的电流值Imax。为了实现防夹功能，设定车窗上升时通过AD转换接口反馈回来的力超过车窗普通上升力+100 N时，则表明遇到了障碍物（100N的力值是根据美国安全规范条列FMVSS118标准执行）。只有克服车窗在自动上升过程中的重力、摩擦力和其他各种因素的干扰，电动车窗开关才能实现防夹，如果其中任意一项值太高，将会影响电动车窗防夹功能。如果需要准确的判定是遇到障碍物还是到达顶部或底部，还需要设置一个顶部开关和底部开关，当车窗上升至顶部/下降至底部，开关在承受一定的压力后被触发，此时电流值的增大则会被AD转换接口忽略。因为每个车窗在上升过程中承受的阻力不同，所以不可避免的导致监测的AD信号不同，甚至需要在每个车窗处增加顶部开关和底部开关。且随着汽车不断的磨损和老化过程中依然需要不断的修正设定的电流临界值。以往，AD转换器被用在每个具有电动防夹车窗的汽车上，且AD转换器参数需要测量，然后捕捉当前的电流临界值，这样会带来大量的维护和维修。3安装及过程为解决上述问题,本论文提出了一种自动控制临界值的程序,以替换之前的或临界值配置,此工作极大的提高了系统的安装和测试。采用类似逼近的方法来查找临界值，当电机运行于低于压力值Fnormal+（Fmax-Fnormal）/3时，从AD所取的当前样本值可以被认为是当前临界值。此所取的当前样本值可以采用下面的的公式来进行近似计算 IclipInormal+（Imax-Inormal）/3 。当样本数为1时，误差值将会被放大，因此采用计算平均值的方法来减小误差。当初次安装该车窗时，所设定的初始值会根据历史和当前状态进行自动调整。在其工作状态下历史数据会被存储在闪存MCU内，并测试N次。当前平均阀值电流为，测试程序的标志Ftest会生效。 当首次安装或打开测试车窗时，车窗会自动上升和下降，使用顶置开关设置测试值Inormal 、Imax并计算值Iclip_i。当测试N次后，根据公式会得到计算值。测试结果Ntest和会被存储于闪存，以替代所涉及的原始值。为响应临界值电流的变化，在车辆使用处理过程中，由于持续的磨损和设备的老化，有必要对样本数据进行调整，我们可以对每一次的车窗上升数据进行变化处理并以此作为样本数据。当车窗不在最高或最低时，我们将当前样本数据作非正常处理，并找到样本数据的平均值作为当开关被设置到顶部或底部时,保持电机运行10ms并将其置为Imax.然后按照公式： 计算当前临界值电流。尽管如此,为避免样本数据产生较大的偏差,使用加权平均法来消除此偏差,根据公式 计算出临界值电流后,用新产生的值替换存储于闪存的原始值 。临界值电流随Ntest的变化情况，如图2-1所示。图2-1 对Ntest的影响Ntest的值取决于不同的模型和不
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