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A motion control method, motion control device, electronic equipment and storage medium

A technology of motion control and electronic equipment, applied in the direction of program control, computer control, general control system, etc., can solve the problem that the movement position of the connecting rod cannot be accurately obtained

Active Publication Date: 2022-03-18
GUANGZHOU XAIRCRAFT TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Embodiments of the present invention provide a motion control method, a motion control device, electronic equipment, and a storage medium to solve the problem in the prior art that the motion position of the connecting rod cannot be accurately acquired by sensors

Method used

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  • A motion control method, motion control device, electronic equipment and storage medium
  • A motion control method, motion control device, electronic equipment and storage medium
  • A motion control method, motion control device, electronic equipment and storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0058] figure 2 A flow chart of a motion control method according to an embodiment of the present invention, and an embodiment of the present invention is applicable to a case where the control link is moved between the first limit structure and the second restricted structure, the method can be The motion control device in the embodiment is performed, and the apparatus can be implemented in software and / or hardware, and integrated in the electronic device of the present invention, such as figure 2 As shown, the motion control method specifically includes the steps of:

[0059] S101 controls the motor to drive the link movement at a preset voltage value.

[0060] Such as figure 1 As shown, the motion mechanism of the embodiment of the present invention includes a motor (not shown), the link 1, the first restricted structure 2, the second restricted structure 3, and the gearbox 4. In this moving mechanism, after the motor is powered on, the motor is turned to drive the gearbox 4...

Embodiment 2

[0073] image 3 A flow chart of a motion control method according to the second embodiment of the present invention, and an embodiment of the present invention is optimized in accordance with an embodiment of the first embodiment, specifically, such as image 3 As shown, the motion control method of the embodiment of the present invention can include the following steps:

[0074] S201 controls the motor to drive the link movement at a preset voltage.

[0075] In the embodiment of the present invention, the motor can be controlled by a constant preset voltage value driving link from the first constraint structure to the second restricted structure, or can control the motor by a plurality of preset voltage values. The rod moves from the first constrained structure to the second limit structure.

[0076] In one example, the connecting rod is in the start-up phase in the first restricted structure, the preset voltage value of the startup stage may be a relatively large voltage value, i...

Embodiment 3

[0117] Figure 5 A structural diagram of a motion control device provided in the third embodiment of the present invention, such as Figure 5 As shown, the motion control device of the embodiment of the present invention is applied to the control motor drive link from the first constrained to the second limit structure, the motion control device including:

[0118] The motor control module 501 is configured to control the motor by a preset voltage value;

[0119] The current value and the moving time length acquisition module 502 for moving the current value of the motor and the movement of the linkage of the link from the link from the first restricted structure to the second limiting structure. ;

[0120] The exercise duration determination module 503 is configured to determine whether the movement of the movement is greater than the preset first time, the preset first time long to the connecting rod from the first restricted structure without troubleshooting to the first The len...

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PUM

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Abstract

The embodiment of the present invention discloses a motion control method, a motion control device, an electronic device, and a storage medium. The motion control method includes: controlling the motor to drive the connecting rod to move at a preset voltage value; In the process of reaching the second limit structure, obtain the current value of the motor and the movement time of the connecting rod; judge whether the movement time is greater than the preset first time length, and the first time length is when the connecting rod moves from the first limit structure without failure to The duration of the second limiting structure; when the movement duration is longer than the preset first duration and the current value is greater than the preset current threshold, it is determined that the connecting rod is limited in the second limiting structure, and the preset current threshold is based on the preset current threshold The set voltage value drives the motor, and the current value when the motor drives the connecting rod to move without fault. The embodiment of the present invention can accurately detect the movement of the connecting rod to a designated position without installing a sensor.

Description

Technical field [0001] Embodiments of the present invention relate to mechanical control technology, and more particularly to a motion control method, a motion control device, an electronic device, and a storage medium. Background technique [0002] The round-trip movement of the connecting rod between two points is usually driven by a motor, and the motor needs to be reversed after the connecting rod moves to one point. [0003] Such as figure 1 As shown in the prior art, it is usually provided to set the sensor at a fixed two points (point A and point B) to determine whether the link reaches the position A or B point, when the link arrives at A or B The rear motor is reversed to move between the link between the A point and the B point, however, the sensor is used to detect whether the link reaches a point or B, under mechanical vibration, the sensor is easily damaged or the sensor position occurs, resulting in the sensor Unable to accurately determine whether the link reached ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B19/042
CPCG05B19/0423G05B2219/25257
Inventor 郜潇宁于江涛
Owner GUANGZHOU XAIRCRAFT TECH CO LTD