公开(公告)号：US12071798B2

公开(公告)日：2024-08-27

申请号：US17625404

申请日：2020-05-29

Applicant: BEIJING JINGWEI HIRAIN TECHNOLOGIES CO., INC.

Inventor： Shuang Liu ,  Weihao Zhu ,  Yanzhao Liu ,  Sheng Jia

IPC: H02P29/02 ,  E05F15/40 ,  E05F15/603 ,  E05F15/70

CPC classification number: E05F15/40 ,  E05F15/603 ,  E05F15/70 ,  E05Y2201/434 ,  E05Y2400/36 ,  E05Y2400/40 ,  E05Y2400/554 ,  E05Y2900/531 ,  E05Y2900/542 ,  E05Y2900/55

Abstract: The present invention provides an anti-pinch detection method and system comprising: determining a first current change rate according to a current collected in a present period and a previous period; determining a second current change rate according to the current collected in the present period and a target period, there being N periods between the target period and present period; detecting whether a closure component encounters an obstacle according to the second current change rate. If yes, determining the stiffness of the obstacle according to the first current change rate; determining a real-time obstacle compression distance according to a contact position zero point and a motor position collected in real time; and determining a real-time anti-pinch force according to the stiffness of the obstacle and the real-time obstacle compression distance, and controlling a motor to reverse when the real-time anti-pinch force is greater than a preset anti-pinch detection threshold.

公开(公告)号：US11563391B2

公开(公告)日：2023-01-24

申请号：US17295097

申请日：2019-08-30

Applicant: BEIJING JINGWEI HIRAIN TECHNOLOGIES CO., INC.

Inventor： Jingyuan Fan ,  Shuang Liu

IPC: H02P5/50

Abstract: Provided are a motor control method and a device, applicable in the technical field of motor control, and particularly applicable to a controller in a motor control system. The system comprises one controller and at least two motors, and each of the motors drives one drive entity. The method comprises: acquiring a control instruction at a current time, a positional relationship of drive entities, and a system state after a previous program cycle has ended; on the basis of the acquired information, and in combination with a pre-established mapping of transition relationships and transition conditions between all system states, determining, from the control instruction at the current time, a target system state corresponding to the system state after the previous program cycle has ended, determining, according to the target system state, a target control instruction, and controlling actions of all of the motors.