阅读说明：本技术 一种电动推杆控制方法及系统 (Electric push rod control method and system ) 是由 李广德 甘欣辉 吕彤光 宋亮 *** 耿德新 吕遵明 赵长超 陈毓生 卢洪树 师 于 2020-06-03 设计创作，主要内容包括：本发明公开一种电动推杆控制方法及系统,该方法包括以下步骤：根据接收的闭合信号,输出PWM脉冲信号将驱动电动推杆的电机的转速由0提高至转速高阈值；在编码器位置达到位置阈值时,调制输出的PWM脉冲信号将电机的转速由降低转速高阈值至转速低阈值；在电动推杆达到机械限位时,通过电气限位开关切断PWM脉冲信号使得电机断电。用于解决现有技术中控制精度不高等问题,提高控制精度。(The invention discloses a method and a system for controlling an electric push rod, wherein the method comprises the following steps: outputting a PWM pulse signal to increase the rotating speed of a motor for driving the electric push rod from 0 to a rotating speed high threshold value according to the received closing signal; when the position of the encoder reaches a position threshold value, modulating an output PWM pulse signal to change the rotating speed of the motor from a high rotating speed reducing threshold value to a low rotating speed threshold value; when the electric push rod reaches the mechanical limit, the PWM pulse signal is cut off through the electric limit switch, so that the motor is powered off. The method is used for solving the problems of low control precision and the like in the prior art and improving the control precision.)

1. A control method of an electric push rod is characterized by comprising the following steps:

step 1, outputting a PWM pulse signal to increase the rotating speed of a motor for driving an electric push rod from 0 to a rotating speed high threshold value according to a received closing signal;

step 2, when the position of the encoder reaches a position threshold value, modulating an output PWM pulse signal to change the rotating speed of the motor from a high rotating speed reducing threshold value to a low rotating speed threshold value;

and 3, when the electric push rod reaches the mechanical limit, cutting off the PWM pulse signal through the hardware electric limit switch to enable the motor to be powered off.

2. The method for controlling an electric putter as set forth in claim 1, wherein the high threshold value of the rotation speed in the step 1 is 5000 to 20000 rpm; the low threshold value of the rotating speed in the step 2 is 20-200 revolutions per minute; the position threshold is sixty percent to eighty percent of the encoder position value when the electric putter reaches the maximum displacement.

3. The electric push rod control method according to claim 1 or 2, further comprising an electric push rod, wherein any one of the two electric push rods is selected as a master electric push rod, and the other electric push rod is selected as a slave electric push rod; the step 1 comprises the following steps:

step 1A, modulating PWM pulse signal pulse width according to a high rotating speed threshold value and a real-time state of a main electric push rod, and controlling the real-time rotating speed of a motor of the main electric push rod;

step 1B, modulating the pulse width of a PWM pulse signal according to the high threshold value of the rotating speed and the real-time state of the slave electric push rod, and controlling the real-time rotating speed of a motor of the slave electric push rod; synchronizing the real-time position of the slave electric push rod with the main electric push rod;

the step 2 comprises the following steps:

step 2A, modulating the pulse width of a PWM pulse signal according to a low rotating speed threshold value and the real-time state of a main electric push rod, and controlling the real-time rotating speed of a motor of the main electric push rod;

step 2B, modulating the pulse width of the PWM pulse signal according to the low threshold value of the rotating speed and the real-time state of the slave electric push rod, and controlling the real-time rotating speed of the slave electric push rod motor; and synchronizing the real-time position of the slave electric push rod with the main electric push rod.

4. The electric putter control method of claim 3, wherein the control of the motor rotation speed of the master electric putter and/or the slave electric putter is controlled in a closed loop method.

5. The electric putter control method of claim 4, wherein the step 1A includes:

step 11A, collecting encoder information of a motor driving a main electric push rod, and acquiring the real-time rotating speed of the motor;

step 12A, comparing the obtained real-time rotating speed of the motor serving as speed feedback information with a rotating speed high threshold value to obtain a speed deviation value;

step 13A, adjusting the pulse width of the PWM pulse signal in real time according to the obtained speed deviation value and outputting the pulse width;

and step 14A, returning to the step 11A to be executed circularly until the real-time rotating speed of the motor of the main electric push rod reaches the rotating speed high threshold value.

6. The electric putter control method of claim 4, wherein the step 1B includes:

step 11B, collecting encoder information of a motor driving the slave electric push rod, and acquiring the real-time rotating speed of the motor of the slave electric push rod, the positions of the motor encoders of the master electric push rod and the slave electric push rod;

step 12B, comparing the obtained real-time rotating speed of the slave electric push rod motor as speed feedback information with a rotating speed high threshold value to obtain a speed deviation value; comparing the obtained encoder position of the slave electric push rod motor serving as position feedback information with the encoder position of the slave electric push rod motor to obtain a position deviation value;

step 13B, adjusting the pulse width of the PWM pulse signal in real time according to the obtained speed deviation value and outputting the pulse width; regulating the pulse width of the PWM pulse signal in real time again according to the obtained position deviation value and outputting;

and step 14B, returning to the step 11B to be executed circularly until the real-time rotating speed of the motor of the slave electric push rod reaches a rotating speed high threshold value, and enabling the position of an encoder of the motor of the slave electric push rod to be consistent with the position of an encoder of the motor of the main electric push rod.

7. The electric putter control method of claim 4, wherein the step 2A includes:

step 21A, collecting encoder information of a motor driving a main electric push rod, and acquiring the real-time rotating speed of the motor;

step 22A, comparing the obtained real-time rotating speed of the motor serving as speed feedback information with a rotating speed low threshold value to obtain a speed deviation value;

step 23A, adjusting the pulse width of the PWM pulse signal in real time according to the obtained speed deviation value and outputting the pulse width;

and 24A, returning to the step 21A to be executed circularly until the real-time rotating speed of the motor of the main electric push rod reaches a rotating speed low threshold value.

8. The electric putter control method of claim 4, wherein the step 2B includes:

step 21B, collecting encoder information of a motor driving the slave electric push rod, and acquiring the real-time rotating speed of the motor of the slave electric push rod, the positions of the motor encoders of the master electric push rod and the slave electric push rod;

step 22B, comparing the obtained real-time rotating speed of the slave electric push rod motor as speed feedback information with a rotating speed high threshold value to obtain a speed deviation value; comparing the obtained encoder position of the slave electric push rod motor serving as position feedback information with the encoder position of the slave electric push rod motor to obtain a position deviation value;

step 23B, adjusting the pulse width of the PWM pulse signal in real time according to the obtained speed deviation value and outputting the pulse width; regulating the pulse width of the PWM pulse signal in real time again according to the obtained position deviation value and outputting;

and 24B, returning to the step 21B to be executed circularly until the real-time rotating speed of the motor of the slave electric push rod reaches a rotating speed low threshold value, and enabling the position of an encoder of the motor of the slave electric push rod to be consistent with the position of an encoder of the motor of the main electric push rod.

9. An electric putter control system, comprising:

the encoder is arranged on the motor spindle and used for acquiring the position of the electric push rod according to the accumulated rotating speed of the motor spindle and transmitting the position to the controller;

the limiting circuit is formed by connecting at least an electric limiting switch and a controller in series; the electric limit switch is arranged on the electric push rod, and after being triggered, the electric limit switch disconnects the limit circuit to disconnect the controller from the motor and inform the controller of in-place information;

a controller comprising a processor and a memory, the memory storing an electric putter control program, the processor performing the steps of the method of any one of claims 1 to 8 when running the electric putter control program.

Technical Field

The invention relates to the technical field of push rod control, in particular to a synchronous control method and system for an electric push rod.

Background

At present, most of cover body platforms of double synchronous push rods are controlled by an open-loop electrical limiting circuit. Through the control of the electrical limit open loop, the control mode of the traditional electrical limit and open loop control is sensitive to the change of the power supply voltage and the temperature, so that the control error is large, and the cover body can not be normally closed. The vehicle-mounted storage battery has a large power supply voltage variation range, and the lubricating resistance of the speed reducer is obviously increased at low temperature, which is an unavoidable engineering environmental factor of the use environment of the push rod.

Disclosure of Invention

The invention provides a control method and a control system for an electric push rod, which are used for overcoming the defects of low control precision and the like caused by environmental factor interference in the prior art, and the control precision is greatly improved by improving a control circuit and an optimization algorithm.

In order to achieve the purpose, the invention provides an electric push rod control method, which comprises the following steps:

step 1, outputting a PWM pulse signal to increase the rotating speed of a motor from 0 to a rotating speed high threshold value according to a received closing signal;

step 2, when the position of the encoder reaches a threshold value, modulating the output PWM pulse signal to change the rotating speed of the motor from a high rotating speed reducing threshold value to a low rotating speed threshold value;

and 3, when the electric push rod reaches the mechanical limit, cutting off the PWM pulse signal through the electric limit switch to enable the motor to be powered off.

In order to achieve the above object, the present invention further provides an electric putter control system, comprising:

the encoder is arranged on the motor spindle and used for acquiring the position of the electric push rod according to the accumulated rotating speed of the motor spindle and transmitting the position to the controller;

the limiting circuit is formed by connecting at least an electric limiting switch and a controller in series; the electric limit switch is arranged on the electric push rod, and after being triggered, the electric limit switch disconnects the limit circuit to disconnect the controller from the motor and inform the controller of in-place information;

and the controller comprises a processor and a memory, the memory stores an electric push rod control program, and the processor executes the steps of the method when the electric push rod control program is run.

According to the control method and the control system of the electric push rod, the control algorithm of the controller of the push rod is optimized, after a closing signal is received, the speed of the motor of the electric push rod is firstly rapidly increased to a high rotating speed threshold value from 0, the electric push rod is rapidly pushed to stretch so that the rear cover plate rotates upwards, when the position of the electric push rod reaches a mechanical limit value, the specific position can be limited by the position threshold value, the speed of the motor is rapidly reduced, the specific rotating speed can be limited by a low rotating speed threshold value, until the mechanical limit value is closed, an electric limit switch is triggered, a drive control circuit of the motor is cut off, the motor is powered off, and the motor stops; the reason why the closed position can eliminate the error is that the motor contacts the electrical limit to be powered off by reducing the rotation speed of the motor from a high threshold to a low threshold in advance, and the stop position is approximately equal to the position of the electrical limit due to the slow rotation speed of the motor. After the power supply voltage changes, the rotating speed is still kept to be low when the electric limit is contacted, and the stop position is approximately equal to the position of the electric limit. Because the motor rotates at a low speed before stopping, the low-temperature resistance increasing stopping position is still approximately equal to the position of the electric limit. Thereby eliminating the effect of supply voltage and low temperature resistance variations on closure repeatability accuracy. Thereby guaranteeing the normal work of the cover body under the low power and low temperature working condition. The interference of the use environment to the control precision is overcome by using a speed closed loop and electrical limit control mode.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is a flowchart of a control method for an electric putter according to an embodiment of the present invention;

fig. 2 is a frame diagram of an electric putter control system according to a second embodiment of the present invention;

FIG. 3 is a perspective view of a specific application device according to a first embodiment and a second embodiment of the present invention;

FIG. 4 is a detailed optimization diagram applied to the controller algorithm of FIG. 3;

fig. 5 is a schematic diagram of a limit circuit in the electric putter control system according to the second embodiment of the present invention.

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.

In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; the connection can be mechanical connection, electrical connection, physical connection or wireless communication connection; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the protection scope of the present invention.