電動車門執(zhí)行器的設計
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摘    要

電動車窗是通過車載電源來驅動車窗升降的，乘客和司機只需輕輕按下車門旁的電動車窗升降開關，電動車窗就會自動上升下降，無需人為過多的干預。由于，車窗玻璃是自動升降的，所以潛在著人身體被上升的車窗玻璃夾傷的危險，因而，其安全性也成為一個越來越被人們關注的焦點。為了安全起見，一般在具有自動關閉功能的電動車窗上都要增加防夾功能，當車窗關閉過程中檢測到異物時能自動停止上升并下降一定距離，防止對物體尤其是對人身體夾傷事故的發(fā)生。這也就是防夾電動車窗。
本文針對電動車窗系統(tǒng)的安全性，提出了一種可以在單片機上實現(xiàn)的魯棒夾物檢測算法，并且設計出了相應的完整的硬件電路。由于，電機軸負載轉矩變化率本身的快速響應性和對電機參數(shù)不確定性的穩(wěn)健性，該算法選擇電機軸負載轉矩的變化率作為夾物檢測的判斷指標。負載轉矩變化率的估計值可以通過對車窗系統(tǒng)的增廣模型應用卡爾曼濾波算法推導出來，并且通過數(shù)學模型還可以進一步確定轉矩變化率的閾值大小。硬件電路主要由微控制器，霍爾傳感器，繼電器，電源轉換芯片等組成，相對比較簡單。通過霍爾傳感器的輸入信號來計算出車窗玻璃的當前位置和車窗玻璃當前的移動速度。進一步再判斷車窗玻璃是否在上升，是否進入防夾區(qū)域，防夾力是否超限等來確定是否要實施防夾措施，避免危險事故的發(fā)生。該設計具有穩(wěn)定、可靠、抗干擾能力強的特點。

關鍵詞：電動車窗，夾物檢測，ST7單片機，卡爾曼濾波，轉矩變化率估算 

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   錄

中文摘要 Ⅰ
ABSTRACT Ⅱ
1 緒論 1
1.1 課題背景 1
  1.2 國內(nèi)外的研究發(fā)展現(xiàn)狀 2
  1.3 論文研究的目的及意義 3
 2 系統(tǒng)的總體方案設計 4
 2.1 車窗機械傳動機構總體方案設計 4
2.1.1 車窗機械傳動機構常見類型 4
2.1.2 車窗機械傳動機構選型分析 5
2.2 控制系統(tǒng)的總體方案設計 6
2.2.1 控制系統(tǒng)的控制任務分析 6
2.2.2 電動車窗的主要技術要求 7
2.2.3 控制系統(tǒng)的總體方案設計 7
2.3 本章小結 10
3 系統(tǒng)的硬件設計 11
3.1 玻璃升降器電機總成的設計 11
3.1.1 相關技術要求 11
3.1.2 主要組件設計 12
3.2 控制系統(tǒng)的硬件元器件選型及介紹 14
3.3 ST72324系列單片機介紹 14
3.3.1 ST公司單片機總體介紹 14
3.3.2 ST7通用系列單片機的特點介紹 15
3.3.3 ST72324系列單片機簡介 17
3.4 控制系統(tǒng)的硬件電路設計 28
3.4.1 電壓轉換電路設計 28
3.4.2 霍爾傳感器采集電路設計 29
3.4.3 繼電器控制電路設計 31
3.4.4 電機電流檢測電路設計 32
3.4.5 串行通信接口電路設計 33
3.4.6 ICC編程接口電路設計 33
3.5 本章小結 35
4 系統(tǒng)的軟件設計 36
4.1 系統(tǒng)數(shù)學模型的建立 36
4.1.1 系統(tǒng)模型的抽象 36
4.1.2 系統(tǒng)微分方程模型的建立 37
4.1.3 系統(tǒng)卡爾曼濾波模型的建立 38
4.1.4 夾物檢測條件的確定 40
4.2 系統(tǒng)的程序設計 41
4.2.1 鍵盤按鍵識別子程序設計 41
4.2.2 A/D轉換子程序設計 44
4.2.3 速度位置檢測子程序設計 45
4.2.4 完整程序的設計 49
4.3 軟件仿真分析 56
4.4 本章小結 58
5 結論 59
致謝 60
參考文獻 61

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