Control method for carrying out knocking protection and inclination protection on lifting table without calculating Euler angle

Abstract

A control method for knock protection and tilt protection of a lifting table without calculating an Euler angle relates to the field of lifting tables and is used for solving the problem of slow response speed of the lifting table caused by complex Euler angle operation process. In a static state, repeatedly collecting acceleration values of each axis, weighting the acceleration values to a previous value, averaging the acceleration values, and storing the averaged acceleration values as an initial state value of the desktop; in a motion state, collecting an average value of acceleration of each axis as an acceleration reference value; respectively calculating an acceleration component on each axis; presetting a basic sensitivity limit value and superposing the acceleration component of each axis to obtain a sensitivity deviation value of each axis; and superposing the acceleration reference value and the sensitivity deviation value of each axis to obtain a safety limit range of each axis, and triggering protection when the acceleration exceeds the range. The method has the advantages that the Euler angle does not need to be calculated, the time consumed for calculating the Euler angle is saved, and a program can process other tasks more quickly.

Description

technical field [0001] The invention relates to the field of lift tables, in particular to a control method for knock protection and tilt protection of lift tables without calculating Euler angles. Background technique [0002] As people pay more and more attention to health and quality of life, many home, office, and medical products are now equipped with electric functions, such as lifting desks, installing motors on the legs of the desk, and pushing the drive screw, which can make the desktop rise or fall. In terms of safety, it is necessary to consider table tilt protection and knock / impact protection. Usually, accelerometer is used for table tilt protection. It is necessary to calculate the initial angle of the table and the angle change during the movement. When the angle change is too large, the tilt / knock is triggered. Shock / impact protection, control the lifting motion to stop or reset for protection, but in the process of detecting angle changes, it is necessary to...

AI Technical Summary

Problems solved by technology

[0002] As people pay more and more attention to health and quality of life, many household, office, and medical products are equipped with electric functions, such as lifting tables. Motors are installed on the legs of the table to push the transmission screw to make the tabletop rise or fall. Falling, in terms of safety, table tilt protection and knock / impact protection need to be considered. Usually, an accelerometer is used to protect the table tilt. It needs to calculate the initial angle of the table and the angle change during the movement, and trigger the tilt / knock when the angle change is too large. Impact / collision protection, control the lifting movement to stop or reset for protection, but in the process of detecting angle changes, it is necessary to continuously measure and calculate the Euler angle, but the calculation process is too complicated and takes up a lot of code space, resulting in the response of the lifting table Slow speed and poor user experience

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