阅读说明：本技术 有限转角力矩电动机的驱动控制方法和系统 (Driving control method and system for limited-angle torque motor ) 是由 孟祥云 唐开胜 李尘 李娟� 于 2021-07-27 设计创作，主要内容包括：本发明提供了有限转角力矩电动机的驱动控制方法和系统,其通过分析电动机驱动目标对象运动对应的运动影像,确定电动机是否处于正常输出转矩的状态；同时还通过采集电动机的电机转速和电机输出功率,确定电动机的实际运行转矩,以此判断电动机当前输出的转矩是否满足额定运转状态,最后针对实际运行转矩,确定对电动机施加的电压的调整值,以此将电动机恢复至额定运转状态,这样能够实现对电动机运行的有效闭环控制,从而保证电动机能够始终以额定运转状态直接驱动不同负载以及提高电动机运转控制的精确性和可靠性。(The invention provides a drive control method and a drive control system of a limited-angle torque motor, which determine whether the motor is in a normal output torque state or not by analyzing a motion image corresponding to the motion of a motor driving target object; meanwhile, the actual operation torque of the motor is determined by collecting the motor rotating speed and the motor output power of the motor, whether the current output torque of the motor meets the rated operation state is judged, and finally, the adjustment value of the voltage applied to the motor is determined according to the actual operation torque, so that the motor is recovered to the rated operation state, the effective closed-loop control on the operation of the motor can be realized, the motor can be ensured to directly drive different loads in the rated operation state all the time, and the accuracy and the reliability of the operation control of the motor are improved.)

1. The drive control method of the limited angle torque motor is characterized by comprising the following steps:

step S1, collecting the image of the target object of the acting force exerted by the limited angle torque motor in the running process of the limited angle torque motor; analyzing the image and judging whether the target object is in a stable motion state at present;

step S2, when the target object is not in the stable motion state, collecting the motor speed and the motor output power of the limited angle torque motor in the running process; determining the current running torque of the limited angle torque motor according to the motor rotating speed and the motor output power;

step S3, according to the running torque, judging whether the limited angle torque motor is in the rated running state; and when the limited angle torque motor is not in the rated operation state at present, adjusting the voltage applied to the limited angle torque motor according to the operation torque, so that the limited angle torque motor is restored to the rated operation state.

2. The drive control method of a limited rotation angle torque motor according to claim 1, characterized in that:

in step S1, acquiring an image of a target object to which an acting force is applied by the limited-angle torque motor during the operation of the limited-angle torque motor; analyzing the image and judging whether the target object is in a stable motion state at present specifically comprises the following steps:

step S101, collecting a moving image of a target object under the action of an acting force applied to the target object by a limited corner torque motor in the running process of the limited corner torque motor;

step S102, carrying out gray scale conversion and contour recognition on the motion image so as to determine the actual motion track of the target object in the motion image;

step S103, comparing the actual motion track with a preset motion track so as to determine the maximum offset distance of the motion track between the actual motion track and the preset motion track in the horizontal direction or the vertical direction; comparing the maximum offset distance with a preset offset distance threshold, and if the maximum offset distance is greater than or equal to the preset offset distance threshold, determining that the target object is not in a stable motion state currently; and if the maximum offset distance is smaller than a preset offset distance threshold value, determining that the target object is in a stable motion state at present.

3. The drive control method of a limited rotation angle torque motor according to claim 2, characterized in that:

in the step S2, when the target object is not in a motion stable state at present, acquiring the motor speed and the motor output power of the limited angle torque motor in the operation process; determining the current operating torque of the limited angle torque motor according to the motor rotating speed and the motor output power specifically comprises the following steps:

step S201, when the target object is not in a stable motion state at present, periodically collecting the motor rotating speed and the motor output power of the limited angle torque motor in the running process at preset time intervals, thereby obtaining a plurality of motor rotating speed collecting values and a plurality of motor output power collecting values;

step S202, determining a first confidence value corresponding to a motor rotating speed sequence formed by a plurality of motor rotating speed acquisition values and a confidence value corresponding to a motor output power sequence formed by a plurality of motor output power acquisition values; if the first confidence value exceeds a first confidence threshold, taking the average value of the collected values of the rotating speeds of the motors as the final rotating speed of the motor; otherwise, the motor rotating speed of the limited angle torque motor in the running process is collected again until the first confidence value exceeds the first confidence threshold value; if the second confidence value exceeds a second confidence threshold, taking the average value of the output power acquisition values of the plurality of motors as the final output power of the motors; otherwise, the motor output power of the limited angle torque motor in the running process is collected again until the second confidence value exceeds the second confidence threshold value;

step S203, determining the current operating torque of the limited angle torque motor according to the rotating speed of the motor and the output power of the motor by using the following formula (1),

in the above formula (1), T_cRepresenting the current running torque of the limited angle torque motor; n represents the motor speed; p_cRepresenting the motor output power.

4. A drive control method of a limited rotation angle torque motor according to claim 3, characterized in that:

in step S3, it is determined whether the limited angle torque motor is currently in a rated operation state based on the operating torque; when the limited angle torque motor is not currently in the rated operation state, adjusting the voltage applied to the limited angle torque motor according to the operation torque, so as to restore the limited angle torque motor to the rated operation state specifically includes:

step S301, converting the running torque T_cRated torque T of limited angle torque motor_rComparing, if 0.95T_r≤T_c≤1.05*T_rIf not, determining that the limited angle torque motor is not in the rated operation state;

step S302, constructing a torque control equation of the limited angle torque motor by using the following formula (2),

in the above formula (2), T represents the electromagnetic torque of the limited angle torque motor; k represents the circuit amplification factor of the limited angle torque motor; b represents the total logarithm of positive and negative electrode pairs of the limited angle torque motor; n represents the total number of turns of the conductive coils of the limited angle torque motor; phi represents the air gap magnetic flux value corresponding to each positive and negative electrode pair of the limited angle torque motor; alpha represents a pole arc coefficient, namely the ratio of the average value to the maximum value of air gap magnetic induction between each positive electrode pair and each negative electrode pair of the limited angle torque motor; pi represents a circumferential ratio; t is_sThe circuit delay time constant of the limited angle torque motor is shown; u represents a direct-current voltage applied to the limited-angle torque motor;

step S303, according to the above formula (2) and the running torque T_cInverting the voltage to obtain the following formula (3) to determine a voltage adjustment value DeltaU for adjusting the voltage applied to the limited angle torque motor,

when Δ U <0, it indicates that the voltage applied to the limited angle torque motor is lowered by | Δ U |;

when Δ U >0, this indicates that the voltage applied to the limited angle torque motor is lowered by | Δ U |;

wherein | Δ U | represents an absolute value of the voltage adjustment value Δ U.

5. The drive control system of the limited corner torque motor is characterized by comprising an image acquisition and analysis module, a motor operation parameter acquisition module, a motor operation torque determination module, a motor operation state determination module and a motor applied voltage adjustment module; wherein the content of the first and second substances,

the image acquisition and analysis module is used for acquiring an image of a target object with acting force applied by the limited angle torque motor in the running process of the limited angle torque motor; analyzing the image and judging whether the target object is in a stable motion state at present;

the motor operation parameter acquisition module is used for acquiring the motor rotating speed and the motor output power of the limited corner torque motor in the operation process when the target object is not in a stable motion state at present; the motor running torque determining module is used for determining the current running torque of the limited angle torque motor according to the motor rotating speed and the motor output power;

the motor running state determining module is used for judging whether the limited angle torque motor is in a rated running state at present according to the running torque;

the motor applied voltage adjusting module is used for adjusting the voltage applied to the limited angle torque motor according to the running torque when the limited angle torque motor is not in the rated running state at present, so that the limited angle torque motor is recovered to the rated running state.

6. The drive control method and system of a limited rotation angle torque motor according to claim 5, characterized in that:

the image acquisition and analysis module is used for acquiring the image of the target object with the acting force applied by the limited-angle torque motor in the running process of the limited-angle torque motor, and specifically comprises the following steps:

collecting a moving image of a target object under the action of an acting force applied to the target object by a limited corner torque motor in the running process of the limited corner torque motor;

the image acquisition and analysis module is used for analyzing the image and judging whether the target object is in a stable motion state at present, and specifically comprises the following steps:

performing gray scale conversion and contour recognition on the motion image so as to determine the actual motion track of the target object in the motion image;

comparing the actual motion track with a preset motion track so as to determine the maximum offset distance of the motion track between the actual motion track and the preset motion track in the horizontal direction or the vertical direction; comparing the maximum offset distance with a preset offset distance threshold, and if the maximum offset distance is greater than or equal to the preset offset distance threshold, determining that the target object is not in a stable motion state currently; and if the maximum offset distance is smaller than a preset offset distance threshold value, determining that the target object is in a stable motion state at present.

7. The drive control method and system of a limited rotation angle torque motor according to claim 6, characterized in that:

the motor operation parameter acquisition module is used for acquiring the motor rotating speed and the motor output power of the limited angle torque motor in the operation process when the target object is not in a stable motion state at present, and specifically comprises the following steps:

when the target object is not in a stable motion state at present, periodically collecting the motor rotating speed and the motor output power of the limited angle torque motor in the running process at preset time intervals, thereby obtaining a plurality of motor rotating speed collecting values and a plurality of motor output power collecting values;

determining a first confidence value corresponding to a motor rotating speed sequence formed by a plurality of motor rotating speed acquisition values and a confidence value corresponding to a motor output power sequence formed by a plurality of motor output power acquisition values; if the first confidence value exceeds a first confidence threshold, taking the average value of the collected values of the rotating speeds of the motors as the final rotating speed of the motor; otherwise, the motor rotating speed of the limited angle torque motor in the running process is collected again until the first confidence value exceeds the first confidence threshold value; if the second confidence value exceeds a second confidence threshold, taking the average value of the output power acquisition values of the plurality of motors as the final output power of the motors; otherwise, the motor output power of the limited angle torque motor in the running process is collected again until the second confidence value exceeds the second confidence threshold value;

the motor running torque determining module is used for determining the current running torque of the limited angle torque motor according to the motor rotating speed and the motor output power, and specifically comprises the following steps:

determining the current operating torque of the limited angle torque motor according to the rotating speed of the motor and the output power of the motor by using the following formula (1),

in the above formula (1), T_cRepresenting the current running torque of the limited angle torque motor; n represents the motor speed; p_cRepresenting the motor output power.

8. The drive control method and system of a limited rotation angle torque motor according to claim 7, characterized in that:

the motor operation state determining module is used for judging whether the limited angle torque motor is in a rated operation state or not according to the operation torque, and specifically comprises the following steps:

applying the running torque T_cRated torque T of limited angle torque motor_rComparing, if 0.95T_r≤T_c≤1.05*T_rIf not, determining that the limited angle torque motor is not in the rated operation state;

the motor applied voltage adjusting module is used for adjusting the voltage applied to the limited angle torque motor according to the running torque when the limited angle torque motor is not in the rated running state at present, so that the limited angle torque motor is restored to the rated running state, and specifically comprises the following steps: a torque control equation of the limited angle torque motor is constructed by using the following formula (2),

in the above formula (2), T represents the electromagnetic torque of the limited angle torque motor; k represents the circuit amplification factor of the limited angle torque motor; b represents the total logarithm of positive and negative electrode pairs of the limited angle torque motor; n represents the total number of turns of the conductive coils of the limited angle torque motor; phi represents the air gap magnetic flux value corresponding to each positive and negative electrode pair of the limited angle torque motor; alpha represents a pole arc coefficient, namely the ratio of the average value to the maximum value of air gap magnetic induction between each positive electrode pair and each negative electrode pair of the limited angle torque motor; pi represents a circumferential ratio; t is_sThe circuit delay time constant of the limited angle torque motor is shown; u represents a direct-current voltage applied to the limited-angle torque motor;

according to the formula (2) and the running torque T_cInverting the voltage to obtain the following formula (3) to determine a voltage adjustment value DeltaU for adjusting the voltage applied to the limited angle torque motor,

when Δ U <0, it indicates that the voltage applied to the limited angle torque motor is lowered by | Δ U |;

when Δ U >0, this indicates that the voltage applied to the limited angle torque motor is lowered by | Δ U |;

wherein | Δ U | represents an absolute value of the voltage adjustment value Δ U.

Technical Field

The invention relates to the technical field of motor control, in particular to a drive control method and a drive control system of a limited-angle torque motor.

Background

The limited rotation angle torque motor refers to a motor which can rotate quickly and be positioned accurately in a limited rotation angle range, and can output large torque, so that a load can be driven greatly in the limited rotation angle range. The limited rotation angle torque motor is widely applied to high-precision electric servo systems such as aviation servo valves, steering engine actuation, robot joints, radar antennas, airborne turrets and the like, and is used for directly driving loads within a limited rotation angle range. The torque output by the limited rotation angle torque motor is related to the magnitude of the direct-current voltage applied to the limited rotation angle torque motor. At present, constant voltage is applied to the limited angle torque motor, but in actual operation of the limited angle torque motor, due to internal mechanical loss and the like, the limited angle torque motor cannot output enough torque, and the limited angle torque motor cannot normally work. In the prior art, the direct-current voltage applied to the limited-angle torque motor is changed in a manual adjusting mode, so that the motor cannot be effectively guaranteed to output rated torque all the time, and meanwhile, the automation degree of the operation of the motor is greatly reduced, so that the practicability of the motor in the field of precision instruments is reduced.

Disclosure of Invention

Aiming at the defects in the prior art, the invention provides a drive control method and a drive control system of a limited-angle torque motor, which are used for collecting the image of a target object to which an acting force is applied by the limited-angle torque motor in the running process of the limited-angle torque motor; analyzing the image and judging whether the target object is in a stable motion state at present; when the target object is not in a stable motion state at present, collecting the motor rotating speed and the motor output power of the limited corner torque motor in the running process; determining the current running torque of the limited angle torque motor according to the rotating speed of the motor and the output power of the motor; finally, judging whether the limited corner torque motor is in a rated operation state currently or not according to the operation torque; when the limited corner torque motor is not in the rated operation state at present, adjusting the voltage applied to the limited corner torque motor according to the operation torque, thereby restoring the limited corner torque motor to the rated operation state; therefore, the drive control method and the system of the limited-angle torque motor determine whether the motor is in a normal output torque state or not by analyzing the motion image corresponding to the motion of the motor-driven target object; meanwhile, the actual operation torque of the motor is determined by collecting the motor rotating speed and the motor output power of the motor, whether the current output torque of the motor meets the rated operation state is judged, and finally, the adjustment value of the voltage applied to the motor is determined according to the actual operation torque, so that the motor is recovered to the rated operation state, the effective closed-loop control on the operation of the motor can be realized, the motor can be ensured to directly drive different loads in the rated operation state all the time, and the accuracy and the reliability of the operation control of the motor are improved.

The invention provides a drive control method of a limited-angle torque motor, which is characterized by comprising the following steps of:

step S1, collecting the image of the target object of the acting force exerted by the limited angle torque motor in the running process of the limited angle torque motor; analyzing the image and judging whether the target object is in a stable motion state at present;

step S2, when the target object is not in the stable motion state, collecting the motor speed and the motor output power of the limited angle torque motor in the running process; determining the current running torque of the limited angle torque motor according to the motor rotating speed and the motor output power;

step S3, according to the running torque, judging whether the limited angle torque motor is in the rated running state; when the limited corner torque motor is not in the rated operation state at present, adjusting the voltage applied to the limited corner torque motor according to the operation torque, so as to restore the limited corner torque motor to the rated operation state;

further, in step S1, during the operation of the limited angle torque motor, an image of the target object to which the limited angle torque motor applies the acting force is collected; analyzing the image and judging whether the target object is in a stable motion state at present specifically comprises the following steps:

step S101, collecting a moving image of a target object under the action of an acting force applied to the target object by a limited corner torque motor in the running process of the limited corner torque motor;

step S102, carrying out gray scale conversion and contour recognition on the motion image so as to determine the actual motion track of the target object in the motion image;

step S103, comparing the actual motion track with a preset motion track so as to determine the maximum offset distance of the motion track between the actual motion track and the preset motion track in the horizontal direction or the vertical direction; comparing the maximum offset distance with a preset offset distance threshold, and if the maximum offset distance is greater than or equal to the preset offset distance threshold, determining that the target object is not in a stable motion state currently; if the maximum offset distance is smaller than a preset offset distance threshold value, determining that the target object is in a stable motion state currently;

further, in the step S2, when the target object is not in a motion stable state at present, the motor speed and the motor output power of the limited angle torque motor during the operation process are collected; determining the current operating torque of the limited angle torque motor according to the motor rotating speed and the motor output power specifically comprises the following steps:

step S201, when the target object is not in a stable motion state at present, periodically collecting the motor rotating speed and the motor output power of the limited angle torque motor in the running process at preset time intervals, thereby obtaining a plurality of motor rotating speed collecting values and a plurality of motor output power collecting values;

step S202, determining a first confidence value corresponding to a motor rotating speed sequence formed by a plurality of motor rotating speed acquisition values and a confidence value corresponding to a motor output power sequence formed by a plurality of motor output power acquisition values; if the first confidence value exceeds a first confidence threshold, taking the average value of the collected values of the rotating speeds of the motors as the final rotating speed of the motor; otherwise, the motor rotating speed of the limited angle torque motor in the running process is collected again until the first confidence value exceeds the first confidence threshold value; if the second confidence value exceeds a second confidence threshold, taking the average value of the output power acquisition values of the plurality of motors as the final output power of the motors; otherwise, the motor output power of the limited angle torque motor in the running process is collected again until the second confidence value exceeds the second confidence threshold value;

step S203, determining the current operating torque of the limited angle torque motor according to the rotating speed of the motor and the output power of the motor by using the following formula (1),

in the above formula (1), T_cRepresenting the current running torque of the limited angle torque motor; n represents the motor speed; p_cRepresenting the output power of the motor;

further, in step S3, it is determined whether the limited angle torque motor is currently in a rated operation state or not, based on the running torque; when the limited angle torque motor is not currently in the rated operation state, adjusting the voltage applied to the limited angle torque motor according to the operation torque, so as to restore the limited angle torque motor to the rated operation state specifically includes:

step S301, converting the running torque T_cRated torque T of limited angle torque motor_rComparing, if 0.95T_r≤T_c≤1.05*T_rIf not, determining that the limited angle torque motor is not in the rated operation state;

step S302, constructing a torque control equation of the limited angle torque motor by using the following formula (2),

in the above formula (2), T represents the electromagnetic torque of the limited angle torque motor; k represents the circuit amplification factor of the limited angle torque motor; b represents the total logarithm of positive and negative electrode pairs of the limited angle torque motor; n represents the total number of turns of the conductive coils of the limited angle torque motor; phi represents the air gap magnetic flux value corresponding to each positive and negative electrode pair of the limited angle torque motor; alpha is the pole arc coefficient, i.e. the average and maximum magnetic induction of the air gap between each positive and negative electrode pair of a limited angle torque motorA ratio of large values; pi represents a circumferential ratio; t is_sThe circuit delay time constant of the limited angle torque motor is shown; u represents a direct-current voltage applied to the limited-angle torque motor;

step S303, according to the above formula (2) and the running torque T_cInverting the voltage to obtain the following formula (3) to determine a voltage adjustment value DeltaU for adjusting the voltage applied to the limited angle torque motor,

when Δ U <0, it indicates that the voltage applied to the limited angle torque motor is lowered by | Δ U |; when Δ U >0, this indicates that the voltage applied to the limited angle torque motor is lowered by | Δ U |; wherein | Δ U | represents an absolute value of the voltage adjustment value Δ U.

The invention also provides a drive control system of the limited angle torque motor, which is characterized by comprising an image acquisition and analysis module, a motor operation parameter acquisition module, a motor operation torque determination module, a motor operation state determination module and a motor applied voltage adjustment module; wherein the content of the first and second substances,

the image acquisition and analysis module is used for acquiring an image of a target object with acting force applied by the limited angle torque motor in the running process of the limited angle torque motor; analyzing the image and judging whether the target object is in a stable motion state at present;

the motor operation parameter acquisition module is used for acquiring the motor rotating speed and the motor output power of the limited corner torque motor in the operation process when the target object is not in a stable motion state at present;

the motor running torque determining module is used for determining the current running torque of the limited angle torque motor according to the motor rotating speed and the motor output power;

the motor running state determining module is used for judging whether the limited angle torque motor is in a rated running state at present according to the running torque;

the motor applied voltage adjusting module is used for adjusting the voltage applied to the limited corner torque motor according to the running torque when the limited corner torque motor is not in the rated running state at present, so that the limited corner torque motor is recovered to the rated running state;

further, the image acquisition and analysis module is used for acquiring an image of a target object with acting force applied by the limited-angle torque motor in the operation process of the limited-angle torque motor, and specifically comprises:

collecting a moving image of a target object under the action of an acting force applied to the target object by a limited corner torque motor in the running process of the limited corner torque motor;

the image acquisition and analysis module is used for analyzing the image and judging whether the target object is in a stable motion state at present, and specifically comprises the following steps:

performing gray scale conversion and contour recognition on the motion image so as to determine the actual motion track of the target object in the motion image;

comparing the actual motion track with a preset motion track so as to determine the maximum offset distance of the motion track between the actual motion track and the preset motion track in the horizontal direction or the vertical direction; comparing the maximum offset distance with a preset offset distance threshold, and if the maximum offset distance is greater than or equal to the preset offset distance threshold, determining that the target object is not in a stable motion state currently; if the maximum offset distance is smaller than a preset offset distance threshold value, determining that the target object is in a stable motion state currently;

further, the motor operation parameter acquisition module is used for acquiring the motor rotating speed and the motor output power of the limited angle torque motor in the operation process when the target object is not in the motion stable state at present, and specifically comprises:

when the target object is not in a stable motion state at present, periodically collecting the motor rotating speed and the motor output power of the limited angle torque motor in the running process at preset time intervals, thereby obtaining a plurality of motor rotating speed collecting values and a plurality of motor output power collecting values;

determining a first confidence value corresponding to a motor rotating speed sequence formed by a plurality of motor rotating speed acquisition values and a confidence value corresponding to a motor output power sequence formed by a plurality of motor output power acquisition values; if the first confidence value exceeds a first confidence threshold, taking the average value of the collected values of the rotating speeds of the motors as the final rotating speed of the motor; otherwise, the motor rotating speed of the limited angle torque motor in the running process is collected again until the first confidence value exceeds the first confidence threshold value; if the second confidence value exceeds a second confidence threshold, taking the average value of the output power acquisition values of the plurality of motors as the final output power of the motors; otherwise, the motor output power of the limited angle torque motor in the running process is collected again until the second confidence value exceeds the second confidence threshold value;

the motor running torque determining module is used for determining the current running torque of the limited angle torque motor according to the motor rotating speed and the motor output power, and specifically comprises the following steps:

determining the current operating torque of the limited angle torque motor according to the rotating speed of the motor and the output power of the motor by using the following formula (1),

in the above formula (1), T_cRepresenting the current running torque of the limited angle torque motor; n represents the motor speed; p_cRepresenting the output power of the motor;

further, the step of determining the operating state of the motor, according to the operating torque, whether the limited angle torque motor is currently in the rated operating state specifically includes:

applying the running torque T_cRated torque T of limited angle torque motor_rComparing, if 0.95T_r≤T_c≤1.05*T_rThen determining that the limited angle torque motor is currently in the rated operation stateIf not, determining that the limited angle torque motor is not in a rated operation state currently;

the motor applied voltage adjusting module is used for adjusting the voltage applied to the limited angle torque motor according to the running torque when the limited angle torque motor is not in the rated running state at present, so that the limited angle torque motor is restored to the rated running state, and specifically comprises the following steps:

a torque control equation of the limited angle torque motor is constructed by using the following formula (2),

in the above formula (2), T represents the electromagnetic torque of the limited angle torque motor; k represents the circuit amplification factor of the limited angle torque motor; b represents the total logarithm of positive and negative electrode pairs of the limited angle torque motor; n represents the total number of turns of the conductive coils of the limited angle torque motor; phi represents the air gap magnetic flux value corresponding to each positive and negative electrode pair of the limited angle torque motor; alpha represents a pole arc coefficient, namely the ratio of the average value to the maximum value of air gap magnetic induction between each positive electrode pair and each negative electrode pair of the limited angle torque motor; pi represents a circumferential ratio; t is_sThe circuit delay time constant of the limited angle torque motor is shown; u represents a direct-current voltage applied to the limited-angle torque motor;

according to the formula (2) and the running torque T_cInverting the voltage to obtain the following formula (3) to determine a voltage adjustment value DeltaU for adjusting the voltage applied to the limited angle torque motor,

when Δ U <0, it indicates that the voltage applied to the limited angle torque motor is lowered by | Δ U |; when Δ U >0, this indicates that the voltage applied to the limited angle torque motor is lowered by | Δ U |; wherein | Δ U | represents an absolute value of the voltage adjustment value Δ U.

Compared with the prior art, the drive control method and the system of the limited angle torque motor collect the image of the target object of the acting force applied by the limited angle torque motor in the running process of the limited angle torque motor; analyzing the image and judging whether the target object is in a stable motion state at present; when the target object is not in a stable motion state at present, collecting the motor rotating speed and the motor output power of the limited corner torque motor in the running process; determining the current running torque of the limited angle torque motor according to the rotating speed of the motor and the output power of the motor; finally, judging whether the limited corner torque motor is in a rated operation state currently or not according to the operation torque; when the limited corner torque motor is not in the rated operation state at present, adjusting the voltage applied to the limited corner torque motor according to the operation torque, thereby restoring the limited corner torque motor to the rated operation state; therefore, the drive control method and the system of the limited-angle torque motor determine whether the motor is in a normal output torque state or not by analyzing the motion image corresponding to the motion of the motor-driven target object; meanwhile, the actual operation torque of the motor is determined by collecting the motor rotating speed and the motor output power of the motor, whether the current output torque of the motor meets the rated operation state is judged, and finally, the adjustment value of the voltage applied to the motor is determined according to the actual operation torque, so that the motor is recovered to the rated operation state, the effective closed-loop control on the operation of the motor can be realized, the motor can be ensured to directly drive different loads in the rated operation state all the time, and the accuracy and the reliability of the operation control of the motor are improved.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.

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 drawings without creative efforts.

Fig. 1 is a schematic flow chart of a driving control method of a limited-rotation-angle torque motor according to the present invention.

Fig. 2 is a schematic structural diagram of a drive control system of a limited-rotation-angle torque motor provided by the invention.

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.

Referring to fig. 1, a flow chart of a driving control method of a limited rotation angle torque motor according to an embodiment of the present invention is schematically shown. The drive control method of the limited angle torque motor comprises the following steps:

step S1, collecting the image of the target object of the acting force exerted by the limited angle torque motor in the running process of the limited angle torque motor; analyzing the image and judging whether the target object is in a stable motion state at present;

step S2, when the target object is not in the stable motion state, collecting the motor speed and the motor output power of the limited angle torque motor in the running process; determining the current running torque of the limited angle torque motor according to the rotating speed of the motor and the output power of the motor;

step S3, according to the running torque, judging whether the limited angle torque motor is in the rated running state; when the limited rotation angle torque motor is not in the rated operation state at present, the voltage applied to the limited rotation angle torque motor is adjusted according to the operation torque, so that the limited rotation angle torque motor is restored to the rated operation state.

The beneficial effects of the above technical scheme are: the drive control method of the limited corner torque motor determines whether the motor is in a normal output torque state or not by analyzing a motion image corresponding to the motion of a motor driving target object; meanwhile, the actual operation torque of the motor is determined by collecting the motor rotating speed and the motor output power of the motor, whether the current output torque of the motor meets the rated operation state is judged, and finally, the adjustment value of the voltage applied to the motor is determined according to the actual operation torque, so that the motor is recovered to the rated operation state, the effective closed-loop control on the operation of the motor can be realized, the motor can be ensured to directly drive different loads in the rated operation state all the time, and the accuracy and the reliability of the operation control of the motor are improved.

Preferably, in the step S1, during the operation of the limited rotation angle torque motor, an image of the target object applied with the acting force by the limited rotation angle torque motor is collected; analyzing the image and judging whether the target object is in a stable motion state at present specifically comprises the following steps:

step S101, collecting a moving image of a target object under the action of an acting force applied to the target object by a limited corner torque motor in the running process of the limited corner torque motor;

step S102, carrying out gray scale conversion and contour recognition on the motion image so as to determine the actual motion track of the target object in the motion image;

step S103, comparing the actual motion track with a preset motion track so as to determine the maximum offset distance of the motion track between the actual motion track and the preset motion track in the horizontal direction or the vertical direction; comparing the maximum offset distance with a preset offset distance threshold, and if the maximum offset distance is greater than or equal to the preset offset distance threshold, determining that the target object is not in a stable motion state currently; and if the maximum offset distance is smaller than a preset offset distance threshold value, determining that the target object is in a stable motion state at present.

The beneficial effects of the above technical scheme are: the torque output shaft of the limited rotation angle torque motor is connected with corresponding target objects, the target objects can be, but are not limited to, mechanical arms or steering engines and other loads capable of moving freely, the limited rotation angle torque motor outputs corresponding torque in size and direction to the target objects through the torque output shaft, and the target objects can rotate correspondingly under the driving of the output torque, so that corresponding movement is carried out. If the magnitude of the torque output outwards by the limited-rotation-angle torque motor is not enough to drive the target object to move, the target object cannot move along the preset movement track in the moving process, for example, the target object is driven to be expected to move along the preset semi-arc track, when the magnitude of the output torque is not enough, the target object cannot accurately move along the preset semi-arc track, but deviates from the semi-arc track more or less in the moving process, and the smaller the output torque is, the larger the distance amplitude of the deviation from the semi-arc track in the moving process is, so that whether the target object is in a stable moving state currently can be accurately determined by detecting the movement track of the target object.

Because the motion track of the target object is constantly changed under the action of the output torque, the motion state corresponding to the target is tracked and shot in the running process of the limited-corner torque motor, so that a real-time motion tracking image of the target object can be comprehensively obtained, and then the image is subjected to gray scale conversion and contour recognition, so that the actual motion track of the target object can be extracted from the image, wherein the gray scale conversion and the contour recognition belong to conventional technical means of image processing, and further description is not needed. Then, the actual motion trajectory of the target object is compared with a preset motion trajectory, which may be, but not limited to, a linear motion trajectory or an arc motion trajectory, and then the current motion state of the target object can be accurately determined according to the maximum offset distance between the actual motion trajectory and the preset motion trajectory in the horizontal direction or the vertical direction.

Preferably, in the step S2, when the target object is not in a motion stable state currently, the motor speed and the motor output power of the limited angle torque motor during the operation process are collected; determining the current operating torque of the limited angle torque motor according to the motor speed and the motor output power specifically comprises the following steps:

step S201, when the target object is not in a stable motion state at present, periodically collecting the motor rotating speed and the motor output power of the limited angle torque motor in the running process at preset time intervals, thereby obtaining a plurality of motor rotating speed collecting values and a plurality of motor output power collecting values;

step S202, determining a first confidence value corresponding to a motor rotating speed sequence formed by a plurality of motor rotating speed acquisition values and a confidence value corresponding to a motor output power sequence formed by a plurality of motor output power acquisition values; if the first confidence value exceeds a first confidence threshold, taking the average value of the collected values of the rotating speeds of the motors as the final rotating speed of the motor; otherwise, the motor rotating speed of the limited angle torque motor in the running process is collected again until the first confidence value exceeds the first confidence threshold value; if the second confidence value exceeds a second confidence threshold, taking the average value of the output power acquisition values of the plurality of motors as the final output power of the motors; otherwise, the motor output power of the limited angle torque motor in the running process is collected again until the second confidence value exceeds the second confidence threshold value;

step S203, determining the current operation torque of the limited angle torque motor according to the motor rotating speed and the motor output power by using the following formula (1),

in the above formula (1), T_cRepresenting the current running torque of the limited angle torque motor; n represents the motor speed; p_cRepresenting the motor output power.

The beneficial effects of the above technical scheme are: when the current motion state of the target object is not stable, the fact that the magnitude of the torque output by the limited-angle torque motor does not meet the requirement is shown, and a positive correlation exists between the torque output by the motor and the running torque of the motor, so that the fact that the current running torque of the motor does not meet the requirement can be determined. However, as can be seen from an analysis of the operating principle of the limited-angle torque motor, the operating torque of the motor is related to the motor speed and the motor output power, and in order to determine the current operating torque of the motor, it is necessary to first detect the motor speed and the motor output power of the motor during the operation process. Because the motor is interfered by different external environment factors such as fluctuation of power supply voltage and the like in the running process, if the running torque is directly calculated by only detecting the motor rotating speed and the motor output power once for the motor, the calculation result of the running torque is possibly deviated. And the motor rotating speed and the motor output power of the motor are periodically acquired at preset time intervals (such as 5s or 10s), and whether large deviation exists between the acquired motor rotating speed and the acquired motor output power can be effectively determined in a mode of determining confidence. When the acquired motor rotating speed and the motor output power deviation are within an acceptable range, the running torque of the motor can be accurately calculated by using the formula (1), so that a reliable basis is provided for subsequent voltage adjustment.

Preferably, in step S3, it is determined whether the limited angle torque motor is currently in a rated operation state, based on the running torque; when the limited angle torque motor is not currently in the rated operation state, adjusting the voltage applied to the limited angle torque motor according to the operation torque, so as to restore the limited angle torque motor to the rated operation state specifically includes:

step S301, the running torque T is adjusted_cRated torque T of limited angle torque motor_rComparing, if 0.95T_r≤T_c≤1.05*T_rIf not, determining that the limited angle torque motor is not in the rated operation stateA rated operation state;

step S302, constructing a torque control equation of the limited angle torque motor by using the following formula (2),

in the above formula (2), T represents the electromagnetic torque of the limited angle torque motor; k represents the circuit amplification factor of the limited angle torque motor; b represents the total logarithm of positive and negative electrode pairs of the limited angle torque motor; n represents the total number of turns of the conductive coils of the limited angle torque motor; phi represents the air gap magnetic flux value corresponding to each positive and negative electrode pair of the limited angle torque motor; alpha represents a pole arc coefficient, namely the ratio of the average value to the maximum value of air gap magnetic induction between each positive electrode pair and each negative electrode pair of the limited angle torque motor; pi represents a circumferential ratio; t is_sThe circuit delay time constant of the limited angle torque motor is shown; u represents a direct-current voltage applied to the limited-angle torque motor;

step S303, according to the above formula (2) and the running torque T_cInverting the voltage to obtain the following formula (3) to determine a voltage adjustment value DeltaU for adjusting the voltage applied to the limited angle torque motor,

when Δ U <0, it indicates that the voltage applied to the limited angle torque motor is lowered by | Δ U |; when Δ U >0, this indicates that the voltage applied to the limited angle torque motor is lowered by | Δ U |; wherein | Δ U | represents an absolute value of the voltage adjustment value Δ U.

The beneficial effects of the above technical scheme are: each limited angle torque motor has a corresponding rated torque during operation, the rated torque is related to the circuit structure of the limited angle torque motor, and the rated torque can be obtained by directly inquiring an operating parameter table of the limited angle torque motor.Under the influence of drift of supply voltage or supply current in actual operation, the operation torque of the limited angle torque motor cannot be completely equal to the rated torque, but has certain fluctuation relative to the rated torque, and when the operation torque T is_cRated torque T of limited angle torque motor_rSatisfies 0.95 × T_r≤T_c≤1.05*T_rWhen the motor is in the rated operation state, the limited angle torque motor can be determined to be in the rated operation state, otherwise, the limited angle torque motor is determined not to be in the rated operation state, and therefore whether the motor is in the rated operation state or not can be quantitatively determined.

In addition, the magnetic field inside the limited angle torque motor is formed by the internal permanent magnet, the magnetic resistance of each magnetic circuit inside the motor changes along with the change of the position of the rotor of the motor, so according to the electric principle of the motor operation, the motor torque control equation shown in the formula (2) can be obtained, the motor torque control equation intuitively models the operation process of the motor, and as can be seen from the formula (2), when the motor is in the operation process, except for the direct current voltage U, the influence of other electric parameters on the operation torque of the motor can be ignored, so that the operation torque of the motor can be accurately controlled by changing the direct current voltage U.

On the basis of the formula (2), the formula (3) can be obtained by combining corresponding inversion operation and is used for representing the voltage adjustment value delta U and the running torque T_cThe relation between the voltage and the direct current voltage can be quickly determined, so that the running torque of the motor can be controlled by increasing or decreasing the direct current voltage, the motor can be always in a good and efficient working state, and the service life of the motor can be prolonged.

Fig. 2 is a schematic structural diagram of a drive control system of a limited-rotation-angle torque motor according to an embodiment of the present invention. The drive control system of the limited corner torque motor comprises an image acquisition and analysis module, a motor operation parameter acquisition module, a motor operation torque determination module, a motor operation state determination module and a motor applied voltage adjustment module; wherein the content of the first and second substances,

the image acquisition and analysis module is used for acquiring an image of a target object with acting force applied by the limited angle torque motor in the running process of the limited angle torque motor; analyzing the image and judging whether the target object is in a stable motion state at present;

the motor operation parameter acquisition module is used for acquiring the motor rotating speed and the motor output power of the limited corner torque motor in the operation process when the target object is not in a stable motion state at present;

the motor running torque determining module is used for determining the current running torque of the limited angle torque motor according to the motor rotating speed and the motor output power;

the motor running state determining module is used for judging whether the limited corner torque motor is in a rated running state at present according to the running torque;

the motor applied voltage adjusting module is used for adjusting the voltage applied to the limited angle torque motor according to the running torque when the limited angle torque motor is not in the rated running state currently, so that the limited angle torque motor is recovered to the rated running state.

The beneficial effects of the above technical scheme are: the drive control system of the limited corner torque motor determines whether the motor is in a normal output torque state or not by analyzing a motion image corresponding to the motion of a motor drive target object; meanwhile, the actual operation torque of the motor is determined by collecting the motor rotating speed and the motor output power of the motor, whether the current output torque of the motor meets the rated operation state is judged, and finally, the adjustment value of the voltage applied to the motor is determined according to the actual operation torque, so that the motor is recovered to the rated operation state, the effective closed-loop control on the operation of the motor can be realized, the motor can be ensured to directly drive different loads in the rated operation state all the time, and the accuracy and the reliability of the operation control of the motor are improved.

Preferably, the image acquisition and analysis module is configured to acquire an image of a target object to which a force is applied by the limited rotation angle torque motor during operation of the limited rotation angle torque motor, and specifically includes:

collecting a moving image of a target object under the action of an acting force applied to the target object by a limited corner torque motor in the running process of the limited corner torque motor;

the image acquisition and analysis module is used for analyzing the image and judging whether the target object is in a stable motion state at present specifically comprises the following steps:

carrying out gray scale conversion and contour recognition on the moving image so as to determine the actual motion track of the target object in the moving image;

comparing the actual motion track with a preset motion track so as to determine the maximum offset distance of the motion track between the actual motion track and the preset motion track in the horizontal direction or the vertical direction; comparing the maximum offset distance with a preset offset distance threshold, and if the maximum offset distance is greater than or equal to the preset offset distance threshold, determining that the target object is not in a stable motion state currently; and if the maximum offset distance is smaller than a preset offset distance threshold value, determining that the target object is in a stable motion state at present.

The beneficial effects of the above technical scheme are: the torque output shaft of the limited rotation angle torque motor is connected with corresponding target objects, the target objects can be, but are not limited to, mechanical arms or steering engines and other loads capable of moving freely, the limited rotation angle torque motor outputs corresponding torque in size and direction to the target objects through the torque output shaft, and the target objects can rotate correspondingly under the driving of the output torque, so that corresponding movement is carried out. If the magnitude of the torque output outwards by the limited-rotation-angle torque motor is not enough to drive the target object to move, the target object cannot move along the preset movement track in the moving process, for example, the target object is driven to be expected to move along the preset semi-arc track, when the magnitude of the output torque is not enough, the target object cannot accurately move along the preset semi-arc track, but deviates from the semi-arc track more or less in the moving process, and the smaller the output torque is, the larger the distance amplitude of the deviation from the semi-arc track in the moving process is, so that whether the target object is in a stable moving state currently can be accurately determined by detecting the movement track of the target object.

Because the motion track of the target object is constantly changed under the action of the output torque, the motion state corresponding to the target is tracked and shot in the running process of the limited-corner torque motor, so that a real-time motion tracking image of the target object can be comprehensively obtained, and then the image is subjected to gray scale conversion and contour recognition, so that the actual motion track of the target object can be extracted from the image, wherein the gray scale conversion and the contour recognition belong to conventional technical means of image processing, and further description is not needed. Then, the actual motion trajectory of the target object is compared with a preset motion trajectory, which may be, but not limited to, a linear motion trajectory or an arc motion trajectory, and then the current motion state of the target object can be accurately determined according to the maximum offset distance between the actual motion trajectory and the preset motion trajectory in the horizontal direction or the vertical direction.

Preferably, the motor operation parameter acquisition module is configured to, when the target object is not in a motion stable state at present, acquire the motor rotation speed and the motor output power of the limited angle torque motor in the operation process, specifically include:

when the target object is not in a stable motion state at present, periodically collecting the motor rotating speed and the motor output power of the limited angle torque motor in the running process at preset time intervals, thereby obtaining a plurality of motor rotating speed collecting values and a plurality of motor output power collecting values;

determining a first confidence value corresponding to a motor rotating speed sequence formed by a plurality of motor rotating speed acquisition values and a confidence value corresponding to a motor output power sequence formed by a plurality of motor output power acquisition values; if the first confidence value exceeds a first confidence threshold, taking the average value of the collected values of the rotating speeds of the motors as the final rotating speed of the motor; otherwise, the motor rotating speed of the limited angle torque motor in the running process is collected again until the first confidence value exceeds the first confidence threshold value; if the second confidence value exceeds a second confidence threshold, taking the average value of the output power acquisition values of the plurality of motors as the final output power of the motors; otherwise, the motor output power of the limited angle torque motor in the running process is collected again until the second confidence value exceeds the second confidence threshold value;

the motor running torque determining module is used for determining the current running torque of the limited angle torque motor according to the motor rotating speed and the motor output power, and specifically comprises the following steps:

determining the current operating torque of the limited angle torque motor according to the rotating speed of the motor and the output power of the motor by using the following formula (1),

in the above formula (1), T_cRepresenting the current running torque of the limited angle torque motor; n represents the motor speed; p_cRepresenting the motor output power.

The beneficial effects of the above technical scheme are: when the current motion state of the target object is not stable, the fact that the magnitude of the torque output by the limited-angle torque motor does not meet the requirement is shown, and a positive correlation exists between the torque output by the motor and the running torque of the motor, so that the fact that the current running torque of the motor does not meet the requirement can be determined. However, as can be seen from an analysis of the operating principle of the limited-angle torque motor, the operating torque of the motor is related to the motor speed and the motor output power, and in order to determine the current operating torque of the motor, it is necessary to first detect the motor speed and the motor output power of the motor during the operation process. Because the motor is interfered by different external environment factors such as fluctuation of power supply voltage and the like in the running process, if the running torque is directly calculated by only detecting the motor rotating speed and the motor output power once for the motor, the calculation result of the running torque is possibly deviated. And the motor rotating speed and the motor output power of the motor are periodically acquired at preset time intervals (such as 5s or 10s), and whether large deviation exists between the acquired motor rotating speed and the acquired motor output power can be effectively determined in a mode of determining confidence. When the acquired motor rotating speed and the motor output power deviation are within an acceptable range, the running torque of the motor can be accurately calculated by using the formula (1), so that a reliable basis is provided for subsequent voltage adjustment.

Preferably, the determining module for determining whether the limited angle torque motor is currently in the rated operation state according to the operation torque specifically includes:

the running torque T_cRated torque T of limited angle torque motor_rComparing, if 0.95T_r≤T_c≤1.05*T_rIf not, determining that the limited angle torque motor is not in the rated operation state;

the motor applied voltage adjusting module is used for adjusting the voltage applied to the limited angle torque motor according to the running torque when the limited angle torque motor is not in the rated running state at present, so that the limited angle torque motor is restored to the rated running state, and specifically comprises the following steps:

a torque control equation of the limited angle torque motor is constructed by using the following formula (2),

in the above formula (2), T represents the electromagnetic torque of the limited angle torque motor; k represents the circuit amplification factor of the limited angle torque motor; b represents the total logarithm of positive and negative electrode pairs of the limited angle torque motor; n represents the total number of turns of the conductive coils of the limited angle torque motor; phi represents the air gap magnetic flux value corresponding to each positive and negative electrode pair of the limited angle torque motor; alpha represents a pole arc coefficient, namely the ratio of the average value to the maximum value of air gap magnetic induction between each positive electrode pair and each negative electrode pair of the limited angle torque motor; pi represents a circumferential ratio; t is_sThe circuit delay time constant of the limited angle torque motor is shown; u denotes applyingDirect current voltage to a limited angle torque motor;

then according to the above formula (2) and the running torque T_cInverting the voltage to obtain the following formula (3) to determine a voltage adjustment value DeltaU for adjusting the voltage applied to the limited angle torque motor,

when Δ U <0, it indicates that the voltage applied to the limited angle torque motor is lowered by | Δ U |; when Δ U >0, this indicates that the voltage applied to the limited angle torque motor is lowered by | Δ U |; wherein | Δ U | represents an absolute value of the voltage adjustment value Δ U.

The beneficial effects of the above technical scheme are: each limited angle torque motor has a corresponding rated torque during operation, the rated torque is related to the circuit structure of the limited angle torque motor, and the rated torque can be obtained by directly inquiring an operating parameter table of the limited angle torque motor. Under the influence of drift of supply voltage or supply current in actual operation, the operation torque of the limited angle torque motor cannot be completely equal to the rated torque, but has certain fluctuation relative to the rated torque, and when the operation torque T is_cRated torque T of limited angle torque motor_rSatisfies 0.95 × T_r≤T_c≤1.05*T_rWhen the motor is in the rated operation state, the limited angle torque motor can be determined to be in the rated operation state, otherwise, the limited angle torque motor is determined not to be in the rated operation state, and therefore whether the motor is in the rated operation state or not can be quantitatively determined.

In addition, the magnetic field inside the limited angle torque motor is formed by the internal permanent magnet, the magnetic resistance of each magnetic circuit inside the motor changes along with the change of the position of the rotor of the motor, so according to the electric principle of the motor operation, the motor torque control equation shown in the formula (2) can be obtained, the motor torque control equation intuitively models the operation process of the motor, and as can be seen from the formula (2), when the motor is in the operation process, except for the direct current voltage U, the influence of other electric parameters on the operation torque of the motor can be ignored, so that the operation torque of the motor can be accurately controlled by changing the direct current voltage U.

On the basis of the formula (2), the formula (3) can be obtained by combining corresponding inversion operation and is used for representing the voltage adjustment value delta U and the running torque T_cThe relation between the voltage and the direct current voltage can be quickly determined, so that the running torque of the motor can be controlled by increasing or decreasing the direct current voltage, the motor can be always in a good and efficient working state, and the service life of the motor can be prolonged.

As can be seen from the content of the above embodiment, the driving control method and system of the limited-rotation-angle torque motor acquire the image of the target object to which the limited-rotation-angle torque motor applies the acting force during the operation of the limited-rotation-angle torque motor; analyzing the image and judging whether the target object is in a stable motion state at present; when the target object is not in a stable motion state at present, collecting the motor rotating speed and the motor output power of the limited corner torque motor in the running process; determining the current running torque of the limited angle torque motor according to the rotating speed of the motor and the output power of the motor; finally, judging whether the limited corner torque motor is in a rated operation state currently or not according to the operation torque; when the limited corner torque motor is not in the rated operation state at present, adjusting the voltage applied to the limited corner torque motor according to the operation torque, thereby restoring the limited corner torque motor to the rated operation state; therefore, the drive control method and the system of the limited-angle torque motor determine whether the motor is in a normal output torque state or not by analyzing the motion image corresponding to the motion of the motor-driven target object; meanwhile, the actual operation torque of the motor is determined by collecting the motor rotating speed and the motor output power of the motor, whether the current output torque of the motor meets the rated operation state is judged, and finally, the adjustment value of the voltage applied to the motor is determined according to the actual operation torque, so that the motor is recovered to the rated operation state, the effective closed-loop control on the operation of the motor can be realized, the motor can be ensured to directly drive different loads in the rated operation state all the time, and the accuracy and the reliability of the operation control of the motor are improved.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.