电动车门执行器的设计.doc

电动车门执行器的设计
37000字      65页

摘    要

电动车窗是通过车载电源来驱动车窗升降的，乘客和司机只需轻轻按下车门旁的电动车窗升降开关，电动车窗就会自动上升下降，无需人为过多的干预。由于，车窗玻璃是自动升降的，所以潜在着人身体被上升的车窗玻璃夹伤的危险，因而，其安全性也成为一个越来越被人们关注的焦点。为了安全起见，一般在具有自动关闭功能的电动车窗上都要增加防夹功能，当车窗关闭过程中检测到异物时能自动停止上升并下降一定距离，防止对物体尤其是对人身体夹伤事故的发生。这也就是防夹电动车窗。
本文针对电动车窗系统的安全性，提出了一种可以在单片机上实现的鲁棒夹物检测算法，并且设计出了相应的完整的硬件电路。由于，电机轴负载转矩变化率本身的快速响应性和对电机参数不确定性的稳健性，该算法选择电机轴负载转矩的变化率作为夹物检测的判断指标。负载转矩变化率的估计值可以通过对车窗系统的增广模型应用卡尔曼滤波算法推导出来，并且通过数学模型还可以进一步确定转矩变化率的阈值大小。硬件电路主要由微控制器，霍尔传感器，继电器，电源转换芯片等组成，相对比较简单。通过霍尔传感器的输入信号来计算出车窗玻璃的当前位置和车窗玻璃当前的移动速度。进一步再判断车窗玻璃是否在上升，是否进入防夹区域，防夹力是否超限等来确定是否要实施防夹措施，避免危险事故的发生。该设计具有稳定、可靠、抗干扰能力强的特点。

关键词：电动车窗，夹物检测，ST7单片机，卡尔曼滤波，转矩变化率估算 

ABSTRACT

The power window is droved up and down by the vehicle power supply. Passengers and the driver only need to press the door switch next to the window, the power windows will automatically rise-and-fall, without too much human intervention. Because, the windows’ glasses are shut down automatically, so involve risks of pinching a part of human body on the window path. As a result, its safety has become an increasingly been the focus of attention. For security purposes, usually in a power window with self-closing function need to additional Anti-Pinch function. If detected other objects on the window path while the windows is closing, it can stop rising and automatically drop a certain distance to avoid objects in particular folder on the physical injury incidents. This is the Anti-Pinch power window.
 A robust pinch detection algorithm which can be implemented in a cheap microprocessor is proposed for safety power window systems in this paper. In this paper the corresponding complete hardware circuits is also designed. The torque rate, which will be used to detect the pinched condition on account of its fast response and robustness against the motor parameter uncertainty. This algorithm choice load torque of the motor shaft rate of change as a folder on the judgments of detection indicators. The pinch torque rate estimator is derived by applying the steady-state Karman Filter to the augmented model which includes the motor dynamics and an additional torque rate state. For the more through mathematical models can be further identified torque rate of change in the threshold size. The Hardware circuits mainly by the microcontrollers, Hall sensors, relays, power conversion chips and other components, is relatively simple. Through the Hall sensor’ output we can calculate the windows’ current location chute and the window glass’ current speed. For the more to determine whether the glass windows is rising, whether or not to entered the Anti-Pinch region, whether or not the Anti-Pinch Force is over standard such as to determine whether or not to implement Anti-Pinch measures to avoid the risk of accidents. The design’ advantages are stable, reliable, strong anti-interference capability.

Key words：Power window,  Pinch Detection,  ST7SCM,  Karman filter,
Torque Rate Estimation

目   录

中文摘要 Ⅰ
ABSTRACT Ⅱ
1 绪论 1
1.1 课题背景 1
  1.2 国内外的研究发展现状 2
  1.3 论文研究的目的及意义 3
 2 系统的总体方案设计 4
 2.1 车窗机械传动机构总体方案设计 4
2.1.1 车窗机械传动机构常见类型 4
2.1.2 车窗机械传动机构选型分析 5
2.2 控制系统的总体方案设计 6
2.2.1 控制系统的控制任务分析 6
2.2.2 电动车窗的主要技术要求 7
2.2.3 控制系统的总体方案设计 7
2.3 本章小结 10
3 系统的硬件设计 11
3.1 玻璃升降器电机总成的设计 11
3.1.1 相关技术要求 11
3.1.2 主要组件设计 12
3.2 控制系统的硬件元器件选型及介绍 14
3.3 ST72324系列单片机介绍 14
3.3.1 ST公司单片机总体介绍 14
3.3.2 ST7通用系列单片机的特点介绍 15
3.3.3 ST72324系列单片机简介 17
3.4 控制系统的硬件电路设计 28
3.4.1 电压转换电路设计 28
3.4.2 霍尔传感器采集电路设计 29
3.4.3 继电器控制电路设计 31
3.4.4 电机电流检测电路设计 32
3.4.5 串行通信接口电路设计 33
3.4.6 ICC编程接口电路设计 33
3.5 本章小结 35
4 系统的软件设计 36
4.1 系统数学模型的建立 36
4.1.1 系统模型的抽象 36
4.1.2 系统微分方程模型的建立 37
4.1.3 系统卡尔曼滤波模型的建立 38
4.1.4 夹物检测条件的确定 40
4.2 系统的程序设计 41
4.2.1 键盘按键识别子程序设计 41
4.2.2 A/D转换子程序设计 44
4.2.3 速度位置检测子程序设计 45
4.2.4 完整程序的设计 49
4.3 软件仿真分析 56
4.4 本章小结 58
5 结论 59
致谢 60
参考文献 61

参考文献

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