CN117188901A

CN117188901A - Sliding door of vehicle, control method and vehicle

Info

Publication number: CN117188901A
Application number: CN202210612067.5A
Authority: CN
Inventors: 容贤源; 汪阳; 邱帆; 张向阳; 满虎
Original assignee: BYD Co Ltd
Current assignee: BYD Co Ltd
Priority date: 2022-05-31
Filing date: 2022-05-31
Publication date: 2023-12-08

Abstract

The embodiment of the application provides a sliding door of a vehicle, a control method and the vehicle. The sliding door includes: the device comprises a body, a control switch, a driving motor and a controller; the control switch is arranged on the body, the driving motor and the controller are arranged in the body, the driving motor is electrically connected with the controller, the control switch is electrically connected with the controller, and the driving motor is used for driving the body to slide; the control switch is used for sending a stop signal to the controller when the body slides to the middle position, and the controller is used for controlling the driving motor to be powered off and obtaining the sliding speed of the body when receiving the stop signal sent by the control switch, and controlling the driving motor to generate a counter braking force to the body if the speed of the body is not 0 so as to keep the body at the middle position; the middle position is any position between the initial position and the end position of the sliding of the body.

Description

Sliding door of vehicle, control method and vehicle

Technical Field

The application relates to the technical field of vehicles, in particular to a sliding door of a vehicle, a control method and the vehicle.

Background

With the development of technology, vehicles are increasingly used. A sliding door is generally provided on a vehicle, and a passenger can enter the vehicle or exit from the vehicle by opening or closing the sliding door. The sliding door is provided with a door handle, and passengers can open the sliding door through the door handle. When the vehicle is positioned on a slope or an inclined ground, the sliding door slides to the middle position, and when the sliding door is required to stop, the sliding door can continue to slide under the action of gravity, so that the sliding door collides with the body of the vehicle.

Disclosure of Invention

The embodiment of the application provides a sliding door of a vehicle, a control method and the vehicle, which are used for solving the problem that the sliding door is impacted with the vehicle body of the vehicle because the sliding door can continue to slide under the action of gravity when the sliding door is required to stop when the sliding door slides to a middle position in the related art.

In order to solve the technical problems, the application is realized as follows:

in a first aspect, an embodiment of the present application provides a sliding door, including: the device comprises a body, a control switch, a driving motor and a controller;

the control switch is arranged on the body, the driving motor and the controller are arranged in the body, the driving motor is electrically connected with the controller, the control switch is electrically connected with the controller, and the driving motor is used for driving the body to slide;

the control switch is used for sending a stop signal to the controller when the body slides to the middle position, and the controller is used for controlling the driving motor to be powered off and obtaining the sliding speed of the body when receiving the stop signal sent by the control switch, and controlling the driving motor to generate a counter braking force to the body to enable the body to keep static at the middle position if the speed of the body is not 0;

The middle position is any position between the initial position and the end position of the sliding of the body.

Optionally, the controller is further configured to: and when the stationary time of the body at the middle position is longer than or equal to the preset time, controlling the driving motor to reduce the counter braking force so as to enable the body to slide continuously, acquiring the sliding speed of the body, and if the sliding speed is greater than the preset speed, controlling the driving motor to adjust the counter braking force so as to enable the body to be decelerated until the sliding speed is equal to the preset speed.

Optionally, the controller is further configured to: and stopping controlling the driving motor to adjust the counter braking force when an initial signal of the body sliding to an initial position or a termination signal of a termination position is acquired.

Optionally, the controller comprises a control module and a driving module, and an induction device is arranged on a rotor of the driving motor;

the control module comprises a rotation control unit, a storage unit, a driving unit and a detection unit, wherein the rotation control unit is electrically connected with the driving unit, the storage unit is electrically connected with the rotation control unit, the rotation control unit is electrically connected with the detection unit, and the detection unit is electrically connected with the sensing device;

The driving module comprises a driving circuit, the driving circuit comprises two pairs of control units, the two pairs of control units are electrically connected with the rotation control unit, the first pair of control units are used for controlling the rotor of the driving motor to rotate forwards, and the second pair of control units are used for controlling the rotor of the driving motor to rotate reversely;

the detecting unit is used for determining the rotating speed of the rotor and the rotating direction of the rotor according to the sensing device, determining the sliding speed, the sliding direction and the current position of the body according to the rotating speed and the rotating direction of the rotor, and sending the sliding speed, the sliding direction and the current position of the body to the rotating control part and the storage part;

the rotation control part is used for controlling at least one pair of control units in the two pairs of control units according to the sliding speed and the sliding direction of the body and the current position of the body so as to enable a rotor of the driving motor to rotate positively or negatively to drive the body to slide or generate a reverse braking force on the body.

Optionally, the rotation control part is configured to: and if the speed of the body is not 0, controlling the first pair of control units to be disconnected and controlling the duty ratio of the second pair of control units to be connected so as to enable the driving motor to generate a counter braking force.

Optionally, the rotation control part is further configured to: when the sliding speed is smaller than a preset speed, a first pair of control units are controlled to be disconnected, and the duty ratio of a second pair of control units to be connected is determined; if the duty ratio is not 0, reducing the duty ratio to reduce the counter braking force of the driving motor; if the duty ratio is 0, the reduction of the duty ratio is stopped so that the reduction of the counter braking force of the driving motor is stopped.

Optionally, the sensing device comprises a magnetic ring, a first hall sensor and a second hall sensor;

the magnetic ring is sleeved on the rotor of the driving motor, the first Hall sensor and the second Hall sensor face the magnetic ring, and the first Hall sensor and the second Hall sensor are arranged at intervals;

the first Hall sensor and the second Hall sensor are electrically connected with the detection unit, and the detection unit is used for determining the rotating speed of the rotor and the rotating direction of the rotor according to the detection value of the first Hall sensor and the detection value of the second Hall sensor.

Optionally, the controller is further configured to control the driving motor to drive the body to continue sliding if a start signal sent by the control switch is received within a preset time period after the body starts to be stationary; and if the starting signal sent by the control switch is not received, controlling the driving motor to continuously generate a counter braking force so as to keep the body at the middle position.

Optionally, the body is further provided with an initial position switch to terminate the position switch;

the initial position switch and the end position switch are electrically connected with the controller, the initial position switch is used for determining whether the body is in an initial position or not, and the end position switch is used for determining whether the body is in an end position or not.

Optionally, door handles are arranged on two opposite sides of the body, and a transit mechanism and a plurality of locking devices are arranged in the body;

the door handles are used for opening or closing the locking devices so as to enable the body to be opened or closed.

In a second aspect, an embodiment of the present application provides a control method applied to the sliding door in any one of the first aspect, where the control method includes:

when a stop signal is received, the driving motor is controlled to be powered off, the sliding speed of the body is obtained, the stop signal is a signal sent by the control switch when the body slides to the middle position, and the middle position is any position between the initial position and the end position of the sliding of the body;

And if the speed of the body is not 0, controlling the driving motor to generate a counter braking force to the body so as to keep the body stationary at the middle position.

Optionally, the control method further includes:

when the stationary time of the body at the middle position is longer than or equal to a preset time, controlling the driving motor to reduce the counter braking force so as to enable the body to slide continuously, and acquiring the sliding speed of the body;

and if the sliding speed is greater than the preset speed, controlling the driving motor to adjust the counter braking force so as to enable the body to be decelerated until the sliding speed is equal to the preset speed.

Optionally, the control method further includes:

and stopping controlling the driving motor to adjust the counter braking force when an initial signal of the body sliding to an initial position or a termination signal of a termination position is acquired.

Optionally, the control method further includes: and stopping controlling the driving motor to adjust the counter braking force when an initial signal of the body sliding to an initial position or a termination signal of a termination position is acquired.

Optionally, the controller includes a driving circuit, the driving circuit includes two pairs of control units, and the control method further includes:

Determining a rotational speed of the rotor and a rotational direction of the rotor;

determining the sliding speed, the sliding direction and the current position of the body according to the rotating speed and the rotating direction of the rotor;

and controlling at least one pair of control units in the two pairs of control units according to the sliding speed and the sliding direction of the body and the current position of the body so as to enable a rotor of the driving motor to rotate positively or negatively to drive the body to slide or generate a counter braking force on the body.

Optionally, the control method further includes: and if the speed of the body is not 0, controlling the first pair of control units to be disconnected and controlling the duty ratio of the second pair of control units to be connected so as to enable the driving motor to generate a counter braking force.

Optionally, the control method further includes:

when the sliding speed is smaller than a preset speed, a first pair of control units are controlled to be disconnected, and the duty ratio of a second pair of control units to be connected is determined;

if the duty ratio is not 0, reducing the duty ratio to reduce the counter braking force of the driving motor;

if the duty ratio is 0, the reduction of the duty ratio is stopped so that the reduction of the counter braking force of the driving motor is stopped.

Optionally, the control method further includes:

if a starting signal sent by the control switch is received within a preset time period after the body starts to be stationary, the driving motor is controlled to drive the body to slide continuously;

and if the starting signal sent by the control switch is not received, controlling the driving motor to continuously generate a counter braking force so as to keep the body at the middle position.

In a third aspect, an embodiment of the present application provides a vehicle comprising a sliding door as described in any one of the first aspects above.

In the embodiment of the application, the control switch is arranged on the body, the driving motor and the controller are arranged in the body, the driving motor is electrically connected with the controller, and the control switch is electrically connected with the controller, so that the control switch can send a signal to the controller, the controller can control the driving motor to drive the body to slide, namely, the control switch can be pressed, then the control switch can send a signal to the controller, and the controller can control the driving motor, so that the driving motor drives the body to slide from an initial position, namely, the sliding door is opened or closed. In addition, when the sliding door is not slid to the final position, namely, when the sliding door slides to the middle position, if the control switch is pressed, the control switch sends a stop signal to the controller, namely, a user presses the control switch, so that the sliding door stops at the middle position, and after the controller receives the stop signal sent by the control switch, the controller controls the driving motor to be powered off, so that the driving motor stops driving the sliding body. And the controller can acquire the sliding speed of the body, and the controller judges whether the sliding speed of the body is 0, and if the sliding speed of the body is not 0, the driving motor is controlled to generate a counter braking force to the body, so that the body is stationary at the middle position, namely, the sliding speed of the body is 0.

That is, in the embodiment of the application, when the sliding door slides to the middle position, the controller can control the driving motor to be powered off by triggering the control switch to send a stop signal to the controller, and acquire the sliding speed of the sliding door, when the sliding speed of the sliding door is not 0, the driving motor is controlled to generate a counter braking force, so that the sliding door is stationary at the middle position, and the problem that the sliding door collides with the vehicle body due to gravity when the vehicle is on the ground with oblique break or inclination and the sliding door is continuously slid after being slid to the middle position can be avoided.

Drawings

FIG. 1 is a schematic view of a sliding door according to an embodiment of the present application;

FIG. 2 is a schematic diagram of a controller according to an embodiment of the present application;

FIG. 3 is a schematic diagram of a first duty cycle of a second pair of control units according to an embodiment of the present application;

FIG. 4 is a schematic diagram of a second duty cycle of a second pair of control units according to an embodiment of the present application;

FIG. 5 shows one of the flowcharts of a control method provided by an embodiment of the present application;

FIG. 6 shows a second flowchart of a control method according to an embodiment of the present application;

FIG. 7 is a third flowchart of a control method according to an embodiment of the present application;

fig. 8 shows a fourth flowchart of a control method according to an embodiment of the present application.

Reference numerals:

10: a body; 20: a control switch; 30: a driving motor; 40: a controller; 50: an initial position switch; 60: a termination position switch; 41: a control module; 42: a driving module; 301: a rotor; 311: a magnetic ring; 312: a first hall sensor; 313: a second hall sensor; 411: a rotation control unit; 412: a storage unit; 413: a driving unit; 414: a detection unit; 421: and a control unit.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

Referring to fig. 1, a schematic view of a sliding door according to an embodiment of the present application is shown; referring to fig. 2, a schematic diagram of a controller according to an embodiment of the present application is shown; referring to fig. 3, a schematic diagram of a first duty cycle of a second pair of control units according to an embodiment of the present application is shown; referring to fig. 4, a schematic diagram of a second duty cycle of a second pair of control units is shown, provided by an embodiment of the present application. As shown in fig. 1 to 4, the sliding door includes: the device comprises a body 10, a control switch 20, a driving motor 30 and a controller 40.

The control switch 20 is installed on the body 10, the driving motor 30 and the controller 40 are installed in the body 10, the driving motor 30 is electrically connected with the controller 40, the control switch 20 is electrically connected with the controller 40, and the driving motor 30 is used for driving the body 10 to slide. The control switch 20 is used for sending a stop signal to the controller 40 when the body 10 slides to the middle position, and the controller 40 is used for controlling the driving motor 30 to be powered off and obtaining the sliding speed of the body 10 when receiving the stop signal sent by the control switch 20, and controlling the driving motor 30 to generate a counter braking force to the body 10 to keep the body 10 stationary at the middle position if the speed of the body 10 is not 0. The intermediate position is any position between the initial position and the end position of the sliding of the body 10.

In the embodiment of the present application, since the control switch 20 is installed on the body 10, the driving motor 30 and the controller 40 are installed in the body 10, the driving motor 30 is electrically connected with the controller 40, and the control switch 20 is electrically connected with the controller 40, so that the control switch 20 can send a signal to the controller 40, the controller 40 can control the driving motor 30 to drive the body 10 to slide, that is, can send a signal to the controller 40 by pressing the control switch 20, and then the controller 40 can control the driving motor 30, so that the driving motor 30 drives the body 10 to slide from the initial position, that is, the sliding door is opened or closed. In addition, when the sliding door is not slid to the final position, that is, when the sliding door is slid to the intermediate position, if the control switch 20 is pressed, the control switch 20 transmits a stop signal to the controller 40, that is, the user presses the control switch 20, so that the sliding door is stopped at the intermediate position, and after the controller 40 receives the stop signal transmitted by the control switch 20, the controller 40 controls the driving motor 30 to be powered off, so that the driving motor 30 stops driving the sliding of the body 10. And the controller 40 acquires the sliding speed of the body 10, and the controller 40 determines whether the sliding speed of the body 10 is 0, and if the sliding speed of the body 10 is not 0, controls the driving motor 30 to generate a counter braking force to the body 10 so that the body 10 is stationary at the intermediate position, i.e., so that the sliding speed of the body 10 is 0.

That is, in the embodiment of the present application, when the sliding door slides to the middle position, the controller 40 may control the driving motor 30 to be powered off by triggering the control switch 20 to send a stop signal to the controller 40, and obtain the sliding speed of the sliding door, and when the sliding speed of the sliding door is not 0, the driving motor 30 is controlled to generate a counter braking force, so that the sliding door is stationary at the middle position, thereby avoiding the problem that the sliding door continues to slide due to the gravity after the sliding door slides to the middle position when the vehicle is on the ground with a slope broken or inclined.

In the related art, a sliding door is provided on a vehicle, the sliding door including a body 10, a control switch 20, and a driving motor 30, the driving motor 30 being controlled by the control switch 20 such that the driving motor 30 drives the body 10 to slide. When the control switch 20 is pressed to start sliding the body 10 from the initial position and the body 10 is not slid to the final position, if the control switch 20 is pressed again to stop the sliding door at the intermediate position, the control switch 20 will power off the driving motor 30, so that the sliding door loses driving force and the sliding door stops. If the vehicle is on a slope or an inclined ground, after the driving motor 30 is powered off, the sliding door loses the driving force of the driving motor 30, but the sliding door continues to slide due to the gravity of the sliding door, so that the sliding door collides with the body of the vehicle.

After the sliding door of the present application is applied to a vehicle, if the vehicle is on a slope or an inclined ground, the controller 40 obtains the sliding speed of the sliding door, and if the sliding door continues to slide under the action of its own gravity, i.e. the sliding speed of the sliding door is not 0, the controller 40 controls the driving motor 30 to generate a counter braking force, so that the body 10 is stationary through balancing the counter braking force with the gravity of the body 10, i.e. the body 10 is stationary at a middle position, thereby avoiding the problem of collision between the body 10 and the vehicle body.

It should be noted that, in the embodiment of the present application, during the sliding of the body 10, the body 10 slides between the initial position and the end position, and the body 10 stops sliding at the initial position, and the body 10 stops sliding at the end position. When the body 10 is at the initial position, the control switch 20 is pressed, so that the control switch 20 sends a start signal to the controller 40, and the controller 40 controls the driving motor 30, so that the driving motor 30 drives the body 10 to slide. When the sliding door slides to the middle position, the control switch 20 can be pressed, so that the control switch 20 sends a stop signal to the controller 40, the controller 40 can control the driving motor 30 to be powered off, that is, after the controller 40 receives the stop signal, the driving motor 30 can be powered off, and the driving motor 30 stops sliding of the driving body 10. The controller 40 acquires the sliding speed of the body 10, and if the sliding speed is not 0, controls the driving motor 30 to generate a counter braking force so that the sliding door is stationary, i.e., so that the sliding door is stopped at the intermediate position.

Additionally, in some embodiments, the controller 40 may also be configured to: when the stationary time of the body 10 at the intermediate position is longer than or equal to the preset time, the driving motor 30 is controlled to reduce the counter braking force so as to enable the body 10 to slide continuously, the sliding speed of the body 10 is obtained, and if the sliding speed is greater than the preset speed, the driving motor 30 is controlled to adjust the counter braking force so as to enable the body 10 to be decelerated until the sliding speed is equal to the preset speed.

In order to avoid this problem, in the embodiment of the present application, the controller 40 determines the period of time that the body 10 is stationary at the intermediate position, and when the period of time that the body 10 is stationary at the intermediate position is greater than or equal to the preset period of time, the controller 40 controls the driving motor 30 to reduce the counter braking force, i.e., the power consumed by the driving motor 30 is reduced. When the driving motor 30 reduces the counter braking force, the gravity of the body 10 itself may be greater than the counter braking force of the driving motor 30, so that the sliding door may continue to slide. The controller 40 obtains the sliding speed of the body 10, compares the sliding speed of the body 10 with the preset speed, and if the sliding speed is greater than the preset speed, the controller 40 controls the driving motor 30 so that the driving motor 30 adjusts the counter braking force to reduce the speed of the body 10 until the sliding speed of the body 10 is equal to the preset speed, and at this time, the controller 40 controls the driving motor 30 according to the current mode so that the sliding door slides at a speed equal to the preset speed to the end position.

It should be noted that the preset speed may be set according to actual needs, for example, the preset speed is 1 cm/s, and for another example, the preset speed is 5 mm/s, and the specific value of the preset speed is not limited herein. In addition, in the embodiment of the application, the sliding door can slide to the final position at a smaller speed by setting the preset speed, so that the sliding door can hardly collide with the vehicle body, and the problem that the sliding door slides at a larger speed to collide with the vehicle body is avoided.

In addition, in the embodiment of the present application, after the sliding door provided in the embodiment of the present application is applied in the vehicle, the vehicle may have an energy saving mode, so that when the time period during which the sliding door is stationary at the intermediate position is greater than or equal to the preset time period, the vehicle enters the energy saving mode, and the controller 40 starts to control the driving motor 30 to reduce the counter braking force, so that the sliding door starts to slide.

Additionally, in some embodiments, the controller 40 may also be configured to: when an initial signal for sliding the body 10 to the initial position or a termination signal for terminating the position is acquired, the control of the driving motor 30 is stopped to adjust the counter braking force.

After the body 10 slides to the initial position or the end position, the controller 40 may acquire an initial signal of the body 10 sliding to the initial position or acquire an end signal of the body 10 sliding to the end position, so that the controller 40 may control the driving motor 30 to stop adjusting the counter braking force. When the controller 40 obtains an initial signal for sliding the body 10 to the initial position or a termination signal for terminating the position, it indicates that the body 10 is completely opened or completely closed, and the sliding door is not required to slide continuously at this time, so that the driving motor 30 does not need to adjust the counter braking force any more, that is, the controller 40 can control the driving motor 30 to stop adjusting the counter braking force.

In addition, in the embodiment of the present application, when the controller 40 obtains the initial signal of the body 10 sliding to the initial position or the termination signal of the termination position, the controller 40 may also control the driving motor 30 to be powered off, so that the driving motor 30 does not consume electric energy any more, and the purpose of saving electric energy is achieved.

In addition, in the embodiment of the present application, the body 10 may be further provided with an initial position switch 50 to terminate the position switch 60. The initial position switch 50 and the end position switch 60 are electrically connected to the controller 40, the initial position switch 50 is used for determining whether the body 10 is in the initial position, and the end position switch 60 is used for determining whether the body 10 is in the end position.

When the body 10 is provided with the initial position switch 50 and the end position switch 60, and the initial position switch 50 and the end position switch 60 are electrically connected to the controller 40, at this time, when the body 10 slides to the initial position, the initial position switch 50 is triggered, and the initial position switch 50 can send an initial signal to the controller 40 that the body 10 slides to the initial position, so that the controller 40 stops driving the motor 30 to adjust the counter braking force. Similarly, when the body 10 slides to the end position, the end position switch 60 is triggered, and the end position switch 60 sends an end signal to the controller 40 that the body 10 slides to the end position, so that the controller 40 stops driving the motor 30 to adjust the counter braking force.

In addition, in some embodiments, the controller 40 may include a control module 41 and a driving module 42, and the rotor 301 of the driving motor 30 is provided with a sensing device. The control module 41 includes a rotation control unit 411, a storage unit 412, a driving unit 413, and a detecting unit 414, the rotation control unit 411 is electrically connected to the driving unit 413, the storage unit 412 is electrically connected to the rotation control unit 411, the rotation control unit 411 is electrically connected to the detecting unit 414, and the detecting unit 414 is electrically connected to the sensing device. The driving module 42 includes a driving circuit, the driving circuit includes two pairs of control units 421, the two pairs of control units 421 are electrically connected to the rotation control unit 411, the first pair of control units 421 are used for controlling the rotor 301 of the driving motor 30 to rotate in a forward direction, and the second pair of control units 421 are used for controlling the rotor 301 of the driving motor 30 to rotate in a reverse direction. The detecting unit 414 is configured to determine the rotation speed of the rotor 301 and the rotation direction of the rotor 301 according to the sensing device, determine the sliding speed, the sliding direction, and the current position of the body 10 according to the rotation speed and the rotation direction of the rotor 301, and send the sliding speed, the sliding direction, and the current position of the body 10 to the rotation control unit and the storage unit. The rotation control part is used for controlling at least one pair of control units 421 of the two pairs of control units 421 according to the sliding speed, the sliding direction and the current position of the body 10, so as to enable the rotor 301 of the driving motor 30 to rotate forward or backward, so as to drive the body 10 to slide or generate a counter braking force to the body 10.

Since both pairs of control units 421 are electrically connected to the rotation control unit 411, the rotation control unit 411 can control both pairs of control units 421, i.e., the rotation control unit 411 can send signals to both pairs of control units 421 to turn on or off both pairs of control units 421. In addition, a first pair of control units 421 of the two pairs of control units 421 may control the forward rotation of the rotor 301 of the driving motor 30, that is, the first pair of control units 421 are turned on, the rotor 301 of the driving motor 30 rotates forward, and a second pair of control units 421 control the reverse rotation of the driving motor 30, that is, the second pair of control units 421 are turned on, the rotor 301 of the driving motor 30 rotates in reverse.

In addition, the driving motor 30 is provided with an induction device, and the detecting unit 414 is electrically connected with the induction device, so that the detecting unit 414 can determine the rotation speed of the rotor 301 and the rotation direction of the rotor 301 according to the induction device, and the detecting unit 414 can determine the sliding speed, the sliding direction and the current position of the body 10 according to the rotation speed and the rotation direction of the rotor 301. After the detecting unit 414 determines the sliding speed, the sliding direction, and the current position of the body 10, the detecting unit 414 transmits the sliding speed, the sliding direction, and the current position of the body 10 to the rotation control part, and the rotation control part may control at least one pair of the two pairs of the control units 421 based on the sliding speed, the sliding direction, and the current position of the body 10, if the first pair of the control units 421 is controlled to be on, the second pair of the control units 421 is controlled to be off, the rotor 301 of the driving motor 30 is caused to rotate forward, the driving motor 30 generates a driving force, the body 10 is caused to slide in the initial sliding direction, if the second pair of the control units 421 is controlled to be on, the first pair of the control units 421 is controlled to be off, the rotor 301 of the driving motor 30 is caused to rotate reversely, and the driving motor 30 generates a counter-braking force.

It should be noted that the control unit may be a switch, for example, the control unit is a MOS transistor.

Additionally, in some embodiments, the rotation control portion may be configured to: if the speed of the body 10 is not 0, the first pair of control units 421 is controlled to be turned off, and the duty ratio of the second pair of control units 421 is controlled to be turned on, so that the driving motor 30 generates a counter braking force.

If the speed of the body 10 is not 0, the rotation control part may control the first pair of control units 421 to be turned off, so that the driving motor 30 does not generate a driving force for driving the sliding door to continue sliding along the initial sliding direction, and the rotation control part controls the duty ratio of the second pair of control units 421 to be turned on, wherein the duty ratio is a ratio of a duration of the on/off period to the control period in one control period. Corresponding to the driving motor 30 being caused to drive the body 10 in a direction opposite to the initial sliding direction of the body 10, i.e., corresponding to the driving motor 30 generating a counter braking force.

For example, when the rotor 301 of the driving motor 30 rotates in the forward direction, the driving motor 30 drives the body 10 to slide in the first direction, and when the rotor 301 of the driving motor 30 rotates in the reverse direction, the driving motor 30 drives the body 10 to slide in the second direction. The first direction is opposite to the second direction. When the control switch 20 is pressed, the rotor 301 of the drive motor 30 rotates in the forward direction, the body 10 slides in the first direction, and thereafter, the rotor 301 of the drive motor 30 rotates in the reverse direction, and the drive motor 30 applies a force opposite to the previous driving force, and at this time, a reaction force is generated corresponding to the drive motor 30.

Additionally, in some embodiments, the rotation control portion may also be configured to: when the sliding speed is smaller than the preset speed, the first pair of control units 421 are controlled to be disconnected, and the duty ratio of the second pair of control units 421 to be connected is determined; if the duty ratio is not 0, the duty ratio is reduced so that the counter braking force of the driving motor 30 is reduced; if the duty ratio is 0, the decrease of the duty ratio is stopped so that the decrease of the counter braking force of the driving motor 30 is stopped.

After the sliding speed of the body 10 is obtained, the rotation control part may control the first pair of control units 421 to be turned off and determine the on duty ratio of the second pair of control units 421 if the sliding speed is smaller than the preset speed, and may decrease the on duty ratio of the second pair of control units 421 if the on duty ratio is not 0, and decrease the counter braking force of the driving motor 30 after the on duty ratio of the second switch is decreased, so that the sliding speed of the body 10 may increase. If the duty ratio is already 0, the rotation control section stops decreasing the duty ratio, that is, stops the drive motor 30 from decreasing the counter braking force of the drive motor 30. That is, in the embodiment of the present application, the magnitude of the counter braking force of the driving motor 30 may be adjusted by adjusting the duty ratio at which the second pair of control units 421 is turned on.

It should be noted that, in the embodiment of the present application, the control switch 20 may be a MOS transistor, and of course, the control switch 20 may be of other types, for example, the control switch 20 is a diode, and the embodiment of the present application is not limited herein with respect to the specific type of the control switch 20.

For example, as shown in fig. 2, the first pair of control units 421 may be T1 and T4, and the second pair of control units 421 may be T2 and T3. The driving motor 30 generates a driving force when the controls T1 and T4 are turned on, so that the body 10 slides in an initial sliding direction, and the driving motor 30 generates a counter braking force when the controls T2 and T3 are turned on. In addition, when T1 is controlled, the signal to be transmitted to T1 is G1, and if G1 is a high level signal, T1 is turned on, and if G1 is a low level signal, T1 is turned off. Similarly, the signal sent to T2 is G2, the signal sent to T3 is G3, the signal sent to T4 is G4, when G2, G3 and G4 are high level signals, T2, T3 and T4 are on, and when G2, G3 and G4 are low level signals, T2, T3 and T4 are off. Thus, when the control T2 and T3 are conducted and the control T1 and T4 are disconnected, G2 and G3 can be made to be high-level signals, and G1 and G4 can be made to be low-level signals.

In addition, in the embodiment of the present application, when the driving motor 30 is required to drive the body 10 to slide in the initial sliding direction, the duty ratio of T1 and T4 may be controlled, and T2 and T3 may be controlled to be turned off, so that the driving motor 30 generates the driving force, and the driving body 10 slides in the initial sliding direction. When the driving motor 30 is required to generate the counter braking force, the duty ratios of T2 and T3 may be controlled, and T1 and T4 may be controlled to be turned off, so that the driving motor 30 generates the counter braking force.

In addition, in the embodiment of the present application, when the controller includes the driving circuit including the two pairs of control units 421, at this time, when the time period when the body 10 is stationary at the intermediate position is greater than or equal to the preset time period, the manner of controlling the driving motor 30 to reduce the counter braking force may be: the duty ratio of the second pair of control units 421 is controlled, and by controlling the duty ratio, the drive motor 30 is controlled to reduce the counter braking force. Specifically, the duty ratio of the second pair of control units 421 may be reduced, so that the counter braking force of the driving motor 30 is reduced.

In addition, if the sliding speed is greater than the preset speed, the implementation manner of controlling the driving motor 30 to adjust the counter braking force may be: the duty ratio of the second pair of control units 421 is adjusted so that the driving motor 30 adjusts the counter braking force.

Additionally, in some embodiments, the sensing device may include a magnetic ring 311, a first hall sensor 312, and a second hall sensor 313. The magnetic ring 311 is sleeved on the rotor 301 of the driving motor 30, the first hall sensor 312 and the second hall sensor 313 face the magnetic ring 311, and the first hall sensor 312 and the second hall sensor 313 are arranged at intervals. The first hall sensor 312 and the second hall sensor 313 are electrically connected to a detecting unit 414, and the detecting unit 414 is configured to determine the rotation speed of the rotor 301 and the rotation direction of the rotor 301 according to the detection values of the first hall sensor 312 and the second hall sensor 313.

Since the magnetic ring 311 is sleeved on the rotor 301 of the driving motor 30, the first hall sensor 312 and the second hall sensor 313 face the magnetic ring 311, and the first hall sensor 312 and the second hall sensor 313 are disposed at intervals, when the rotor 301 of the driving motor 30 rotates, the rotor 301 drives the magnetic ring 311 to rotate, so that the first hall sensor 312 and the second hall sensor 313 can detect different magnetic induction signals, the first hall sensor 312 sends the detected magnetic induction signals to the detection unit 414, the second hall sensor 313 sends the detected magnetic induction signals to the detection unit 414, and the detection unit 414 can determine the rotation speed of the rotor 301 and the rotation direction of the rotor 301 according to the frequency and the sequence of the magnetic induction signals sent by the first hall sensor 312 and the magnetic induction signals sent by the second hall sensor 313.

For example, the detecting unit 414 first receives the magnetic induction signal transmitted by the first hall sensor 312, then receives the magnetic induction signal transmitted by the second hall sensor 313, determines that the rotor 301 rotates in the forward direction, and the detecting unit 414 first receives the magnetic induction signal transmitted by the second hall sensor 313, then receives the magnetic induction signal transmitted by the first hall sensor 312, and determines that the rotor rotates in the reverse direction. For another example, the detecting unit 414 receives the magnetic induction signal transmitted from the first hall sensor 312 100 times in 1 second, and receives the magnetic induction signal transmitted from the second hall sensor 313 100 times, and can determine that the rotor 301 rotates 100 times in 1 second, thereby determining the rotational speed of the rotor 301.

In addition, in the embodiment of the present application, the detecting unit 414 may determine the sliding speed of the body 10 according to the rotational speed of the rotor 301 after determining the rotational speed of the rotor 301, and may determine the sliding direction of the sliding door according to the rotational direction of the rotor 301 after determining the rotational direction of the rotor 301. The rotation speed of the rotor 301 may have a correspondence with the sliding speed of the sliding door, for example, the rotation speed of the rotor 301 is 100 rotations per second, and the sliding speed of the sliding door is 1 millimeter per second, so that the sliding speed of the sliding door may be determined according to the rotation speed of the rotor 301. In addition, the rotation direction of the rotor 301 has a correspondence relationship with the sliding direction of the sliding door, for example, the rotor 301 rotates in the forward direction, the sliding door slides in the first direction, the rotor 301 rotates in the reverse direction, and the sliding door slides in the second direction.

In addition, in the embodiment of the present application, when the sliding door is at the initial position, the detecting unit 414 may acquire the initial magnetic induction signal transmitted by the first hall sensor 312, and may also acquire the initial magnetic induction signal transmitted by the second hall sensor 313, so that after the sliding door starts sliding, the detecting unit 414 may accumulate the number of times of acquiring the magnetic induction signal transmitted by the first hall sensor 312 and the number of times of acquiring the magnetic induction signal transmitted by the second hall sensor 313, thereby determining the current position of the sliding door according to the acquired number of times of magnetic induction signals.

In addition, in some embodiments, the controller 40 may be further configured to control the driving motor 30 to drive the body 10 to slide continuously if the start signal sent by the control switch 20 is received within a preset period of time after the body 10 starts to be stationary; if the start signal transmitted from the control switch 20 is not received, the driving motor 30 is controlled to continuously generate the counter braking force so that the body 10 is kept stationary at the intermediate position.

When the body 10 is kept stationary at the intermediate position, if the stationary time of the body 10 does not reach the preset time, i.e., within the preset time after the body 10 starts to be stationary, the controller 40 receives the start signal sent by the control switch 20, i.e., the user presses the control switch 20, so that the control switch 20 sends the start signal to the controller 40, the controller 40 can control the driving motor 30 to drive the body 10 to slide continuously, i.e., the controller 40 controls the driving motor 30 to stop generating the counter braking force, so that the driving motor 30 generates the driving force to drive the body 10 to slide. If the start signal sent by the control switch 20 is not received within the preset time period after the body 10 starts to be stationary, the controller 40 controls the driving motor 30 to continuously generate the counter braking force, so that the body 10 is continuously kept stationary at the middle position, that is, the user does not press the control switch 20 within the preset time period, and the controller 40 controls the driving motor 30 to generate the counter braking force, so that the body 10 is continuously kept stationary.

It should be noted that, when the sliding door includes the first pair of control units 421 and the second pair of control units 421, at this time, the controller 40 receives the start signal sent by the control switch 20 within a preset period after the body 10 starts to be stationary, and the controller 40 controls the first pair of control units 421 to be turned on and controls the second pair of control units 421 to be turned off, so that the driving motor 30 generates the driving force. If the start signal transmitted from the control switch 20 is not received within a preset time period after the body 10 starts to be stationary, the controller 40 controls the first pair of control units 421 to be turned off, and controls the duty ratio of the second pair of control units 421 so that the driving motor 30 generates a counter braking force.

Additionally, in some embodiments, door handles 70 may be provided on opposite sides of the body 10, with the transit mechanism 80 and the plurality of locking devices 90 provided in the body 10. A plurality of locking devices 90 are connected to the door handle 70 through the transit mechanism 80, and the door handle 70 is used to open or close the locking devices to open or close the body 10.

When the door handles are provided on opposite sides of the body 10, and the transit mechanism and the plurality of locking devices are provided in the body 10, one of the opposite sides of the body 10 may face the outside of the vehicle and the other may face the inside of the vehicle when the sliding door is applied in the vehicle, so that the user may open the locking devices through the door handles from the outside of the vehicle, so that the body 10 is opened, i.e., the user may open the sliding door through the door handles from the outside of the vehicle; similarly, the user can also open the locking device from the vehicle interior through the door handle so that the body 10 is opened, i.e., the user can open the sliding door from the vehicle interior through the door handle.

In addition, in the embodiment of the present application, the control switch 20 may be connected to a plurality of locking devices, so that the locking devices may also be opened by controlling the switch 20, so that the body 10 is opened.

An embodiment of the present application provides a vehicle including the sliding door of any of the above embodiments.

Referring to fig. 5, an embodiment of the present application provides a flowchart of a control method applied to the controller of the sliding door in any one of the above embodiments, as shown in fig. 5, the control method includes:

step 501: when a stop signal is received, the driving motor is controlled to be powered off, the sliding speed of the body is obtained, the stop signal is a signal sent by the control switch when the body slides to a middle position, and the middle position is any position between the initial position and the end position of the sliding of the body.

When the sliding door slides to the intermediate position, if the control switch 20 is pressed, the control switch 20 can send a stop signal to the controller 40, and after the controller 40 receives the stop signal sent by the control switch 20, the controller 40 controls the driving motor 30 to be powered off, so that the driving motor 30 stops driving the sliding of the body 10. In addition, the controller 40 acquires the sliding speed of the body 10.

Step 502: if the speed of the body is not 0, the driving motor is controlled to generate a counter braking force to the body so as to keep the body stationary at the middle position.

If the sliding speed of the body 10 is not 0, the driving motor 30 is controlled to generate a counter braking force to the body 10 such that the body 10 is stationary at the intermediate position, i.e., such that the sliding speed of the body 10 is 0. If the sliding speed of the body is 0, the driving motor 30 is not controlled to generate a counter braking force, i.e., the driving motor 30 remains powered off.

In addition, in some implementations, as shown in fig. 6, the control method may further include: step 503: when the stationary time of the body at the middle position is longer than or equal to the preset time, controlling the driving motor to reduce the counter braking force so as to enable the body to slide continuously and obtain the sliding speed of the body; step 504: if the sliding speed is greater than the preset speed, controlling the driving motor to adjust the counter braking force so as to enable the body to be decelerated until the sliding speed is equal to the preset speed.

In order to avoid this problem, in the embodiment of the present application, the duration of the rest of the body 10 at the intermediate position is determined, and when the duration of the rest of the body 10 at the intermediate position is greater than or equal to the preset duration, the controller 40 controls the driving motor 30 to reduce the counter braking force, that is, the power consumption of the driving motor 30 is reduced. When the driving motor 30 reduces the counter braking force, the gravity of the body 10 itself may be greater than the counter braking force of the driving motor 30, so that the sliding door may continue to slide. The controller 40 obtains the sliding speed of the body 10, compares the sliding speed of the body 10 with the preset speed, and if the sliding speed is greater than the preset speed, the controller 40 controls the driving motor 30 so that the driving motor 30 adjusts the counter braking force to reduce the speed of the body 10 until the sliding speed of the body 10 is equal to the preset speed, and at this time, the controller 40 controls the driving motor 30 according to the current mode so that the sliding door slides at a speed equal to the preset speed to the end position.

Additionally, in some implementations, the control method may further include: step 505: when an initial signal of the body sliding to the initial position or a termination signal of the termination position is obtained, the control of the driving motor is stopped to adjust the counter braking force.

In addition, the controller may include a drive circuit including two pairs of control units, the drive motor having a rotor, and in some implementations, as shown in fig. 7, the control method may further include: step 506: determining the rotating speed and the rotating direction of the rotor; step 507: determining the sliding speed, the sliding direction and the current position of the body according to the rotating speed and the rotating direction of the rotor; step 508: and controlling at least one pair of control units in the two pairs of control units according to the sliding speed and the sliding direction of the body and the current position of the body so as to enable the rotor of the driving motor to rotate forward or reversely to drive the body to slide or generate a reverse braking force on the body.

The rotor of the driving motor can be provided with an induction device, and the rotation speed of the rotor and the rotation direction of the rotor are determined through the induction device. After the rotational speed and the rotational direction of the rotor are determined, the sliding speed, the sliding direction, and the current position of the body can be determined.

In addition, after the rotational speed of the rotor 301 is determined, the sliding speed of the body 10 may be determined according to the rotational speed of the rotor 301, and after the rotational direction of the rotor 301 is determined, the sliding direction of the sliding door may be determined according to the rotational direction of the rotor 301. The rotation speed of the rotor 301 may have a correspondence with the sliding speed of the sliding door, for example, the rotation speed of the rotor 301 is 100 rotations per second, and the sliding speed of the sliding door is 1 millimeter per second, so that the sliding speed of the sliding door may be determined according to the rotation speed of the rotor 301. In addition, the rotation direction of the rotor 301 has a correspondence relationship with the sliding direction of the sliding door, for example, the rotor 301 rotates in the forward direction, the sliding door slides in the first direction, the rotor 301 rotates in the reverse direction, and the sliding door slides in the second direction.

In addition, when the sliding door is at the initial position, the detecting unit 414 may acquire the initial magnetic induction signal transmitted by the first hall sensor 312 and may also acquire the initial magnetic induction signal transmitted by the second hall sensor 313, so that after the sliding door starts to slide, the detecting unit 414 may accumulate the number of times of acquiring the magnetic induction signal transmitted by the first hall sensor 312 and the number of times of acquiring the magnetic induction signal transmitted by the second hall sensor 313, thereby determining the current position of the sliding door according to the acquired number of times of the magnetic induction signals.

In addition, at least one pair of control units 421 of the two pairs of control units 421 is controlled based on the sliding speed, the sliding direction of the body 10 and the current position of the body 10, and if the first pair of control units 421 is controlled to be on and the second pair of control units 421 is controlled to be off, the rotor 301 of the driving motor 30 is rotated in the normal direction, the driving motor 30 generates driving force, the body 10 is caused to slide in the initial sliding direction, and if the second pair of control units 421 is controlled to be on and the first pair of control units 421 is controlled to be off, the rotor 301 of the driving motor 30 is caused to be reversed, and the driving motor 30 generates reverse braking force.

The order of steps 503, 504 and 505 is not limited, and for example, steps 503 and 504 may be performed first, then step 505 may be performed, and steps 505 may be performed first, then steps 503 and 504 may be performed.

The order of steps 505, 506, 507, 508 is not limited, and for example, step 505 may be performed first, and then step 506, 507, 508 may be performed, or step 506, 507, 508 may be performed first, and then step 505 may be performed.

Additionally, in some implementations, the control method may further include: step 509: if the speed of the body is not 0, the first pair of control units is controlled to be disconnected, and the duty ratio of the second pair of control units is controlled to be conducted, so that the driving motor generates a counter braking force.

If the speed of the body 10 is not 0, the first pair of control units 421 may be controlled to be turned off at this time, so that the driving motor 30 does not generate a driving force for driving the sliding door to continue sliding in the initial sliding direction, and the rotation control part controls the duty ratio of the second pair of control units 421 to be turned on, wherein the duty ratio is a ratio of the duration of the on period of the switch to the control period in one control period. Corresponding to the driving motor 30 being caused to drive the body 10 in a direction opposite to the initial sliding direction of the body 10, i.e., corresponding to the driving motor 30 generating a counter braking force.

Additionally, in some implementations, the control method may further include: when the sliding speed is smaller than the preset speed, the first pair of control units are controlled to be disconnected, and the duty ratio of the second pair of control units to be connected is determined; if the duty ratio is not 0, the duty ratio is reduced so as to reduce the counter braking force of the driving motor; if the duty ratio is 0, the reduction of the duty ratio is stopped so that the reduction of the counter braking force of the driving motor is stopped.

After the sliding speed of the body 10 is obtained, if the sliding speed is smaller than the preset speed, the first pair of control units 421 may be controlled to be turned off, and the duty ratio of the second pair of control units 421 to be turned on may be determined, if the duty ratio is not 0, the rotation control part may decrease the duty ratio of the second pair of control units 421 to be turned on, and after the duty ratio of the second switch to be turned on is decreased, the counter braking force of the driving motor 30 may decrease, so that the sliding speed of the body 10 may increase. If the duty ratio is already 0, the rotation control section stops decreasing the duty ratio, that is, stops the drive motor 30 from decreasing the counter braking force of the drive motor 30.

In addition, in some implementations, as shown in fig. 8, the control method may further include: step 5a, if a starting signal sent by a control switch is received within a preset time period after the body starts to be stationary, controlling the driving motor to drive the body to slide continuously; step 5b: and if the starting signal sent by the control switch is not received, controlling the driving motor to continuously generate a counter braking force so as to keep the body at a static position.

In the embodiment of the application, when the sliding door slides to the middle position, the controller 40 can control the driving motor 30 to be powered off by triggering the control switch 20 to send a stop signal to the controller 40, and obtain the sliding speed of the sliding door, when the sliding speed of the sliding door is not 0, the driving motor 30 is controlled to generate a counter braking force, so that the sliding door is stationary at the middle position, and the problem that the sliding door is impacted with the vehicle body due to gravity when the vehicle is on the ground with oblique break or inclination can be avoided after the sliding door slides to the middle position.

It should be noted that, in the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described as different from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other.

While alternative embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following appended claims be interpreted as including alternative embodiments and all such alterations and modifications as fall within the scope of the embodiments of the application.

Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity from another entity without necessarily requiring or implying any actual such relationship or order between such entities. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that an article or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such article or terminal. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude that an additional identical element is present in an article or terminal device comprising the element.

While the foregoing has been described in some detail by way of illustration of the principles and embodiments of the application, and while in accordance with the principles and implementations of the application, those skilled in the art will readily recognize that the application is not limited thereto.

Claims

1. A sliding door of a vehicle, the sliding door comprising: the device comprises a body, a control switch, a driving motor and a controller;

2. The sliding door of claim 1 wherein the controller is further configured to: and when the stationary time of the body at the middle position is longer than or equal to the preset time, controlling the driving motor to reduce the counter braking force so as to enable the body to slide continuously, acquiring the sliding speed of the body, and if the sliding speed is greater than the preset speed, controlling the driving motor to adjust the counter braking force so as to enable the body to be decelerated until the sliding speed is equal to the preset speed.

3. The sliding door of claim 2 wherein the controller is further configured to: and stopping controlling the driving motor to adjust the counter braking force when an initial signal of the body sliding to an initial position or a termination signal of a termination position is acquired.

4. The sliding door according to claim 2, wherein the controller comprises a control module and a driving module, and a rotor of the driving motor is provided with an induction device;

5. The sliding door according to claim 4, wherein the rotation control section is configured to: and if the speed of the body is not 0, controlling the first pair of control units to be disconnected and controlling the duty ratio of the second pair of control units to be connected so as to enable the driving motor to generate a counter braking force.

6. The sliding door according to claim 4, wherein the rotation control section is further configured to: when the sliding speed is smaller than a preset speed, a first pair of control units are controlled to be disconnected, and the duty ratio of a second pair of control units to be connected is determined; if the duty ratio is not 0, reducing the duty ratio to reduce the counter braking force of the driving motor; if the duty ratio is 0, the reduction of the duty ratio is stopped so that the reduction of the counter braking force of the driving motor is stopped.

7. A sliding door according to claim 3 wherein the sensing means comprises a magnetic ring, a first hall sensor and a second hall sensor;

8. The sliding door according to claim 1, wherein the controller is further configured to control the driving motor to drive the body to continue sliding if the start signal sent by the control switch is received within a preset period of time after the body starts to be stationary; and if the starting signal sent by the control switch is not received, controlling the driving motor to continuously generate a counter braking force so as to keep the body at the middle position.

9. A sliding door according to any one of claims 1 to 8 wherein the body is further provided with an initial position switch to terminate the position switch;

10. A control method, characterized by being applied to the sliding door according to any one of claims 1 to 9, comprising:

11. The control method according to claim 10, characterized in that the control method further comprises:

12. The control method according to claim 11, characterized in that the control method further comprises:

13. The control method according to claim 11, wherein the controller includes a drive circuit including two pairs of control units, the drive motor having a rotor, the control method further comprising:

14. The control method according to claim 13, characterized in that the control method further comprises: and if the speed of the body is not 0, controlling the first pair of control units to be disconnected and controlling the duty ratio of the second pair of control units to be connected so as to enable the driving motor to generate a counter braking force.

15. The control method according to claim 13, characterized in that the control method further comprises:

16. The control method according to claim 10, characterized in that the control method further comprises:

17. A vehicle, characterized in that it comprises a sliding door according to any one of claims 1-9.