Electric intelligent telescopic rod control system and control method thereof

Abstract

The present invention provides an electric intelligent telescopic rod control system and a control method thereof. The control system includes a main control module, a motor and a driving component connecting the main control module and the motor, and also includes an input module, a position detection module and a FOC sampling module. The input module is used to trigger and generate a control instruction. The main control module receives the control instruction and drives the motor to rotate; the position detection module is used to detect the initial position and rotation speed of the motor to generate an initial position signal and a rotation speed signal and feed it back to the main control module; the FOC sampling module is used to collect the driving current of the motor in real time to generate a current signal and transmit it to the main control module. The main control module adjusts the current output by the driving component to the motor according to the initial position signal, the rotation speed signal and the current signal to control the rotation speed of the motor. The electric intelligent telescopic rod control system and the control method thereof provided by the present invention can control the product to automatically extend and shorten and start smoothly, and have good promotion and application value.

Description

Technical Field

[0001] The present application relates to the technical field of photographic equipment, and in particular to an electric intelligent telescopic rod control system and a control method thereof. Background Art

[0002] The telescopic rod is made of multiple rods connected together. It is widely used in people's daily life because it has the characteristics of small volume when collapsed, which is convenient for carrying and storage, and can meet the use length requirements when expanded. At present, most of the common telescopic rod structures are manual monopod telescopic rods and manual tripod telescopic rods. The expansion and contraction of these telescopic rods require manual operation. The required length must be adjusted repeatedly during use, and the required length cannot be reached as soon as possible, which consumes a lot of time and leads to low shooting efficiency. Further improvement and improvement are needed. Summary of the invention

[0003] The present invention aims to solve the problems that the existing telescopic rod needs to be manually adjusted in length, which is time-consuming and labor-intensive, resulting in low shooting efficiency, and provides an electric intelligent telescopic rod control system and a control method thereof, which can control the automatic extension and shortening of the product, and the whole machine starts smoothly and runs smoothly, and has good technical effects.

[0004] The technical solution of the present invention for solving the above technical problems is as follows: on the one hand, an electric intelligent telescopic rod control system is provided, comprising a main control module, a motor and a driving component connecting the main control module and the motor, and further comprising:

[0005] An input module, connected to the main control module, used to trigger the generation of a control instruction, the main control module receives the control instruction, and drives the motor to rotate through the drive assembly;

[0006] A position detection module, which is connected to the main control module and the motor, and is used to detect the initial position and rotation speed of the motor to generate an initial position signal and a rotation speed signal, and feed the initial position signal and the rotation speed signal back to the main control module;

[0007] The FOC sampling module is connected to the main control module and the driving component respectively, and is used to collect the driving current of the motor in real time to generate a current signal, and transmit the current signal to the main control module; the main control module adjusts the current output by the driving component to the motor according to the initial position signal, the speed signal and the current signal to control the speed of the motor.

[0008] The electric intelligent telescopic rod control system of the present invention further includes a power supply system, which includes a power supply, a switch module and a soft start module;

[0009] The switch module is used to generate an on signal and a off signal;

[0010] The soft start module is connected to the switch module and the power supply respectively, and is used to receive the start signal and the stop signal, and turn on the power supply to enter the activation state according to the start signal;

[0011] The main control module is connected to the soft start module, and is used for outputting a standby signal according to the shutdown signal and sending the signal to the soft start module, so as to control the soft start module to turn on the power supply again and enter a standby power supply state.

[0012] In the above-mentioned electric intelligent telescopic rod control system of the present invention, the main control module also includes a FOC sub-control unit, and the FOC sub-control unit includes:

[0013] A receiving module, used for receiving and reading the initial position signal, rotation speed signal and current signal;

[0014] A function calculation module, used for calculating and obtaining an initial drive signal output by the drive component to the motor according to the initial position signal, and driving the motor to perform preliminary open-loop operation through the initial drive signal;

[0015] The function calculation module is also used to calculate the rotation angle of the motor according to the speed signal, and sample the current signal at a set angle to determine whether the sampling point is located at the zero point of the sine wave; if so, the current signal is determined to be stable; if not, the drive current waveform output by the drive component to the motor is recalculated to adjust the speed of the motor.

[0016] In the above-mentioned electric intelligent telescopic rod control system of the present invention, the FOC sampling module includes a first sampling circuit, a second sampling circuit and a reference voltage circuit, the input ends of the first sampling circuit and the second sampling circuit are respectively connected to two different phase lines of the motor through the driving component, and the output ends of the first sampling circuit and the second sampling circuit are respectively connected to the FOC sub-control unit, which is used to collect the three-phase current of the motor to generate a current signal and transmit it to the FOC sub-control unit; the input end of the reference voltage circuit is connected to the power output end of the main control module, and the output end of the reference voltage circuit is respectively connected to the first sampling circuit and the second sampling circuit, which is used to provide a reference voltage for current detection.

[0017] In the above-mentioned electric intelligent telescopic rod control system of the present invention, the position detection module includes a magnet and a magnetic encoder chip installed at intervals on the motor, and also includes:

[0018] A magnetic chip starting circuit, which is connected to the FOC sub-control unit and the magnetic encoder chip respectively, and is used to receive an instruction from the FOC sub-control unit to start the magnetic encoder chip;

[0019] The position output circuit is connected to the FOC sub-control unit and the magnetic encoder chip respectively, and is used to collect the initial position signal and the speed signal of the motor and send them to the FOC sub-control unit.

[0020] In the above-mentioned electric intelligent telescopic rod control system of the present invention, the power supply system also includes a step-down module, which is respectively connected to the power supply, the main control module and the soft start module, and is used to step down the output current of the soft start module and output it to the main control module in the standby power supply state.

[0021] In the above-mentioned electric intelligent telescopic rod control system of the present invention, the soft start module includes:

[0022] A start-up circuit, which is connected to the power supply and the switch module respectively, and is used to turn on the power supply to enter an activation state according to the start signal, and disconnect the power supply according to the shutdown signal;

[0023] A standby circuit, which is connected to the start-up circuit and the main control module respectively, and is used to connect the power supply again according to the standby signal to enter the standby power supply state;

[0024] An enabling control circuit is connected to the starting circuit, the power supply and the step-down module respectively, and is used to activate the step-down module when the starting circuit is turned on.

[0025] In the above-mentioned electric intelligent telescopic rod control system of the present invention, the input module includes a button control module connected to the main control module, and the button control module includes an up button and a down button. The up button and the down button are used to output an up control instruction and a down control instruction of the set running speed to the main control module according to the number of triggers and the interval time between two adjacent triggers, and drive the motor through the drive component to rotate forward or reverse according to the set running speed.

[0026] On the other hand, a method for controlling an electric intelligent telescopic rod is also provided, which is applied to the electric intelligent telescopic rod control system as described above, and comprises the steps of:

[0027] The trigger input module generates a control instruction, the main control module receives the control instruction, and drives the motor to rotate through the driving component;

[0028] The position detection module detects the initial position and speed of the motor to generate an initial position signal and a speed signal, and feeds the initial position signal and the speed signal back to the main control module;

[0029] The FOC sampling module collects the driving current of the motor in real time to generate a current signal, and transmits the current signal to the main control module. The main control module adjusts the current output by the driving component to the motor according to the initial position signal, the speed signal and the current signal to control the speed of the motor.

[0030] The electric intelligent telescopic rod control method of the present invention further includes the steps of:

[0031] The trigger switch module generates a start signal, and the soft start module turns on the power supply and enters an activation state according to the start signal;

[0032] Releasing the switch module generates a shutdown signal, and the main control module outputs a standby signal according to the shutdown signal and sends it to the soft start module, controlling the soft start module to turn on the power supply again and enter a standby power supply state.

[0033] The implementation of an electric intelligent telescopic rod control system and a control method thereof provided by the present invention has the following beneficial effects: the present invention can drive the motor to rotate by sending a control instruction to the driving component through the main control module, thereby realizing the automatic extension and shortening of the telescopic rod; at the same time, the initial position signal and the speed signal of the motor collected by the position detection module, and the current signal of the motor collected by the FOC sampling module, the main control module can adjust the current output to the motor according to the initial position signal, so that the whole machine can start smoothly, and the main control module can also adjust the current output to the motor in real time according to the speed signal and the current signal, realizing the FOC closed-loop position control of the motor, and can maintain the power supply of the motor stable, so that the whole machine runs smoothly, ensuring the smooth lifting and lowering of the telescopic rod, and at the same time can realize the precise positioning during the extension and retraction of the telescopic rod, providing users with a good use experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0035] Figure 1 This is a principle block diagram of the electric intelligent telescopic rod control system provided by the first embodiment of the present invention;

[0036] Figure 2 is a circuit diagram of a FOC sampling module provided in Embodiment 1 of the present invention;

[0037] Figure 3 is a circuit diagram of a position detection module provided in Embodiment 1 of the present invention;

[0038] Figure 4 is an exploded view of the telescopic rod provided in the first embodiment of the present invention;

[0039] Figure 5is a circuit diagram of a power supply system provided in Embodiment 1 of the present invention;

[0040] Figure 6 4 is a flow chart of a method for controlling an electric intelligent telescopic rod provided in Embodiment 2 of the present invention. DETAILED DESCRIPTION

[0041] In order to enable those skilled in the art to more clearly understand the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0042] Embodiment 1

[0043] Figure 1 This is a block diagram showing the principle of the control system of the electric intelligent telescopic rod in the first embodiment. Figure 1 As shown, the control system includes a main control module 10, a motor 20, a drive component 30, an input module 40, a position detection module 50 and a FOC sampling module 60; wherein the drive component 30 is respectively connected to the main control module 10 and the motor 20, and the input module 40 is connected to the main control module 10, and is used to trigger and generate a control instruction. The main control module 10 receives the control instruction and drives the motor 20 to rotate through the drive component 30; the position detection module 50 is respectively connected to the main control module 10 and the motor 20, and is used to detect the initial position and speed of the motor 20 to generate an initial position signal and a speed signal, and feed the initial position signal and the speed signal back to the main control module 10; the FOC sampling module 60 is respectively connected to the main control module 10 and the drive component 30, and is used to collect the driving current of the motor 20 in real time through the drive component 30 to generate a current signal, and transmit the current signal to the main control module 10, and the main control module 10 adjusts the current output from the drive component 30 to the motor 20 according to the initial position signal, the speed signal and the current signal to control the speed of the motor 20. The above control system realizes FOC closed-loop control of the motor operation, which not only realizes the automatic extension and retraction operation of the telescopic rod, but also enables the motor to start smoothly and enter a stable operation process, providing a good user experience.

[0044] In this embodiment, the drive component 30 includes a drive module 31 and a power module 32. The drive module 31 is respectively connected to the main control module 10 and the power module 32, and is used to amplify the signal of the control instruction output from the main control module 10 to the power module 32; the power module 32 is respectively connected to the drive module 31 and the motor 20, and is used to drive the motor 20 to rotate according to the control instruction. The FOC sampling module 60 is connected to the power module 32 to obtain the three-phase current of the motor 20; preferably, the drive module 31 adopts a drive chip with model MP1907GQ-Z, and the power module 32 adopts a power chip with model IPG20N10S4L-22.

[0045] The above-mentioned control system also includes an interface module 71 and a program upgrade module 72, a camera module 73 and a CAN bus module 74 respectively connected to the interface module 71. The interface module 71 adopts a TYPE-C interface for connecting external devices, the program upgrade module 72 is used for computer serial port upgrade program, and the camera module 73 is used to issue a common IO port level protocol to control photography; the CAN bus module 74 is used for research and development debugging functions, including the parameter setting of the FOC control algorithm and the fault protection display, which can be read through the CAN bus module 74. It has rich functions and can fully meet the daily use needs of consumers.

[0046] Furthermore, the control system also includes a power supply system 80, which includes a power supply 81, a switch module 82 and a soft start module 83. The switch module 82 is used to generate an on signal and a off signal; the soft start module 83 is respectively connected to the switch module 82 and the power supply 81, and is used to receive the on signal and the off signal, and to connect the power supply 81 to enter an activated state according to the on signal; the main control module 10 is connected to the soft start module 83, and is used to output a standby signal according to the off signal and send it to the soft start module 83, and control the soft start module 83 to connect the power supply 81 again and enter a standby power supply state.

[0047] The switch module 82 specifically includes a key switch SW1 (see Figure 5 ), the switch module 82 is lightly touched to generate an on signal, and the switch module 82 is released to generate an off signal. When the electric intelligent telescopic rod needs to be turned on, the switch module 82 is lightly touched to generate an on signal and sent to the soft start module 83, and the soft start module 83 is connected to the power supply 81 to enter the activation state, activating the entire power supply system; when the switch module 82 is released, a shut-down signal is generated, and the main control module 10 detects the shut-down signal and outputs a standby signal and sends it to the soft start module 83, controlling the soft start module 83 to connect the power supply 81 again and enter the standby power supply state. At this time, the entire power supply system is in a low power consumption mode, and the standby current can reach less than 10uA, which can greatly reduce the power consumption during standby.

[0048] The power supply system 80 also includes a step-down module 84, which is respectively connected to the power supply 81, the main control module 10 and the soft start module 83, and is used to step down the output current of the soft start module 83 and output it to the main control module 10 in the standby power supply state, thereby playing an overvoltage protection role and preventing circuit components from being damaged.

[0049] In this embodiment, the power supply system 80 also includes an RGB indicator light 85 connected to the main control module 10 and a charging control module 86 connected to the power supply 81. When the power supply 81 is insufficient, the main control module 10 sends a low-level signal to the RGB indicator light 85 to display an alarm. The charging control module 86 is also connected to the interface module 71 for charging the power supply 81 to achieve wireless endurance.

[0050] Furthermore, the main control module 10 also includes a FOC sub-control unit 11, and the FOC sub-control unit 11 includes a receiving module and a function calculation module. The receiving module is used to receive and read the initial position signal, the speed signal and the current signal; the function calculation module is used to calculate and obtain the initial drive signal output by the drive component 30 to the motor 20 according to the initial position signal, and drive the motor 20 to run initially in an open loop through the initial drive signal to ensure that the motor can start smoothly; the function calculation module is also used to calculate the rotation angle of the motor 20 according to the speed signal, and sample the current signal at a set angle to determine whether the sampling point is located at the zero point of the sine wave; if so, the current signal is determined to be stable; if not, the drive current waveform output by the drive component 30 to the motor 20 is recalculated to control and adjust the speed of the motor 20. The above-mentioned set angle is set according to the sine wave zero point of the current signal. If the current signal sampled at the set angle is not at the zero point, it can be determined that the actual drive current of the motor has drifted, and the corresponding current waveform needs to be re-output for adjustment, so as to realize the FOC control position closed loop, so that the motor can run stably.

[0051] It should be noted that the FOC sub-control unit can calculate and obtain the new motor phase line drive waveform through the FOC control algorithm such as Clarke transformation and Park transformation in the editor, which is not specifically expanded in this embodiment.

[0052] Furthermore, the input module 40 includes a key control module 41, a Bluetooth control module 42 and an RF communication module 43 respectively connected to the main control module 10, the Bluetooth control module 42 is used to establish a Bluetooth communication connection between the main control module 10 and the intelligent terminal, the RF communication module 43 is used to establish a wireless communication connection between the main control module 10 and the remote control, and the key control module 41 uses a mechanical trigger key. The key control module 41, the Bluetooth control module 42 and the RF communication module 43 can all be used to adjust the motor speed, and the highest priority is set to the Bluetooth control module 42, followed by the RF communication module 43, and finally the key control module 41.

[0053] The button control module 41 includes an up button and a down button, which are used to output an up control instruction and a down control instruction of a set running speed to the main control module 10 according to the number of triggers and the interval time between two adjacent triggers, and drive the motor 20 through the driving component to rotate forward or reverse at the set running speed to achieve the extension and retraction of the telescopic rod.

[0054] Specifically, when the button is triggered twice and the interval between the two triggers is less than 1S, that is, the up button and the down button are pressed twice in succession, the button control module will output the control instruction of the highest set running speed and send it to the main control module to control the telescopic rod to extend or shorten at the fastest speed. When the down button is triggered three times and the interval between each two triggers is less than 1S, that is, the down button is pressed three times in succession, the button control module outputs the retraction control instruction of the highest set running speed and sends it to the main control module to control the telescopic rod to automatically retract to the starting position at the fastest speed; when the interval between the two button triggers is greater than 1S, the control instructions of different running speeds are output according to the cumulative number of button triggers and sent to the main control module, so that the telescopic rod can be infinitely regulated. The running speed of the motor can be adjusted between 0RPM-8000RPM. For example, when the up button is pressed for the first time, the motor runs at the slowest speed (such as 500RPM) to drive the telescopic rod to extend slowly; when it is pressed for the fourth time, the motor runs at the fastest speed (such as 8000RPM) to drive the telescopic rod to extend quickly.

[0055] Furthermore, the FOC sub-control unit 11 also includes a determination module connected to the receiving module, and the determination module is set with a current threshold. When the current signal read by the receiving module is greater than the current threshold, it is determined that the telescopic rod has reached the end position, and a stop command is output to the drive component to control the motor to stop running. It should be noted that when the telescopic rod is extended or retracted to the end position, since the telescopic rod cannot continue to run, the current collected by the FOC sampling module will be much larger than the normal no-load operation process. At this time, it can be determined that the telescopic rod has reached the end position and the motor needs to be controlled to stop running.

[0056] The switch module 82 is also used to output a stop command to the main control module 10 to control the motor to stop running; in this embodiment, double-clicking the switch module 82 can control the motor to stop running, so that the telescopic rod extends or retracts to the target length.

[0057] Figure 2 is a circuit diagram of the FOC sampling module shown in the first embodiment, such as Figure 2As shown, the FOC sampling module 60 includes a first sampling circuit 61, a second sampling circuit 62 and a reference voltage circuit 63. The input ends of the first sampling circuit 61 and the second sampling circuit 62 are respectively connected to two different phase lines of the motor 20 through the drive component 30, and the output ends of the first sampling circuit 61 and the second sampling circuit 62 are respectively connected to the FOC sub-control unit 11, which are used to collect the three-phase current of the motor 20 to generate a current signal and transmit it to the FOC sub-control unit 11; the input end of the reference voltage circuit 63 is connected to the power output end of the main control module 10, and the output end of the reference voltage circuit is respectively connected to the first sampling circuit 61 and the second sampling circuit 62, which are used to provide a reference voltage for current detection.

[0058] In this embodiment, the first sampling circuit 61 and the second sampling circuit 62 are respectively used to detect the currents of the two different phase lines V and W of the motor. The output ends of the first sampling circuit 61 and the second sampling circuit 62 are respectively connected to the IV end and the IW end of the main control module 10. The current of the U phase line of the motor can be calculated using the formula that the phase sum of the three-phase current of the motor is equal to zero.

[0059] Specifically, the first sampling circuit 61 includes a first operational amplifier U4D, a twenty-ninth resistor R29, a forty-third resistor R43, a thirty-fifth resistor R35, a fifty-sixth resistor R56, a fifty-eighth resistor R58, a twelfth capacitor C12, a twenty-fifth capacitor C25 and a thirty-first capacitor C31;

[0060] The current signal P_V of the V-phase line of the motor 20 is loaded between the thirty-first capacitor C31 and the thirty-fifth resistor R35, the other end of the thirty-fifth resistor R35 is connected to the non-inverting input terminal of the first operational amplifier U4D, and the other end of the thirty-first capacitor C31 is grounded; one end of the fifty-sixth resistor R56 is connected to the inverting input terminal of the first operational amplifier U4D, and the other end of the fifty-sixth resistor R56 is grounded; one end of the forty-third resistor R43 is connected to the output terminal of the reference voltage circuit 63, and the other end of the forty-third resistor R43 is connected to the non-inverting input terminal of the first operational amplifier U4D; the fifty-eighth resistor One end of R58 is connected to the inverting input terminal of the first operational amplifier U4D, the other end of the fifty-eighth resistor R58 is connected to the output terminal of the first operational amplifier U4D, and the inverting input terminal of the first operational amplifier U4D is grounded; one end of the twenty-ninth resistor R29 is connected to the output terminal of the first operational amplifier U4D, the other end of the twenty-ninth resistor R29 is respectively connected to the IV terminal of the main control module 10 and the twenty-fifth capacitor C25, and the other end of the twenty-fifth capacitor C25 is grounded; one end of the twelfth capacitor C12 is connected to the non-inverting input terminal of the first operational amplifier U4D, and the other end of the twelfth capacitor C12 is grounded.

[0061] Among them, the twenty-ninth resistor R29, the thirty-fifth resistor R35 and the fifty-sixth resistor R56 are used as current limiting resistors, and the fifty-eighth resistor R58 is used as an amplifying resistor; the above-mentioned P_V signal is a current signal sampled by the resistor, and the P_V signal passes through the thirty-first capacitor C31 to filter out differential mode interference, so that the waveform flowing into the next level circuit is more stable; the P_V signal then flows into the thirty-fifth resistor R35, and the other end of the thirty-fifth resistor R35 is connected to the in-phase input end of the first operational amplifier U4D. Assuming that the first operational amplifier U4D The non-inverting input terminal is X, and the final formula is X=(1.65R35+R43P_V) / R43+R35; according to the virtual short principle of the non-inverting input terminal and the reverse input terminal of the operational amplifier, assuming that the output terminal of the first operational amplifier U4D is Y, and the thirty-fifth resistor R35 is equal to the fifty-sixth resistor R56, and the forty-third resistor R43 is equal to the fifty-eighth resistor R58, according to the calculation formula, Y=1.65+(R58 / R56)*P_V can be obtained, and the final output value of the first operational amplifier U4D can be obtained; the twenty-fifth capacitor C25 is used for RC filtering, so that the I_V signal output to the IV terminal of the main control module is more stable.

[0062] The second sampling circuit 62 includes a second operational amplifier U4A, a 38th resistor R38, a 40th resistor R40, a 50th resistor R50, a 55th resistor R55, a 61st resistor R61, a 29th capacitor C29 and a 32nd capacitor C32;

[0063] The current signal P_W of the W phase line of the motor 20 is loaded between the 50th resistor R50 and the 32nd capacitor C32, the other end of the 50th resistor R50 is connected to the non-inverting input terminal of the second operational amplifier U4A, and the other end of the 32nd capacitor C32 is grounded; one end of the 55th resistor R55 is grounded, and the other end of the 55th resistor R55 is connected to the inverting input terminal of the second operational amplifier U4A; one end of the 38th resistor R38 is connected to the output terminal of the reference voltage circuit 63, and the other end of the 38th resistor R38 is connected to the non-inverting input terminal of the second operational amplifier U4A; one end of the 61st resistor R61 is connected to the inverting input terminal of the second operational amplifier U4A, and the other end of the 61st resistor R61 is connected to the output terminal of the second operational amplifier U4A; one end of the 40th resistor R40 is connected to the output terminal of the second operational amplifier U4A, and the other end of the 40th resistor R40 is connected to the IW terminal of the main control module 10; one end of the 29th capacitor C29 is connected to the 40th resistor R40, and the other end of the 29th capacitor C29 is grounded.

[0064] Among them, the 50th resistor R50 and the 55th resistor R55 are used as current limiting resistors, and the 61st resistor R61 is used as an amplifying resistor; the P_W signal is a current signal sampled by the resistor, and the P_W signal passes through the 32nd capacitor C32 to filter out differential mode interference, so that the waveform flowing into the next level circuit is more stable; the P_W signal then flows into the 50th resistor R50, and the other end of the 50th resistor R50 is connected to the in-phase input terminal of the second operational amplifier U4A; assuming that the in-phase input terminal of the second operational amplifier U4A is X, the final calculation formula is: X=(1.65R50+R38P_V) / R50+R38; assuming that the output terminal of the second operational amplifier U4A is Y, and the 50th resistor R50 and the 55th resistor R55 are equal, and the 38th resistor R38 and the 61st resistor R61 are equal, according to the calculation formula: Y=1.65+(R61 / R55)*P_V, the final output value of the second operational amplifier U4A can be obtained; the twenty-ninth capacitor C29 is used for RC filtering, so that the I_W signal output to the IW end of the main control module is more stable.

[0065] The reference voltage circuit 63 includes a third operational amplifier U4B, a fifty-fourth resistor R54, a fifty-seventh resistor R57, a sixtieth resistor R60, a seventh capacitor C7 and an eighth capacitor C8;

[0066] One end of the fifty-fourth resistor R54 is connected to the power output end of the main control module 10, and the other end of the fifty-fourth resistor R54 is connected to the non-inverting input end of the third operational amplifier U4B; one end of the fifty-seventh resistor R57 is connected to the non-inverting input end of the third operational amplifier U4B, and the other end of the fifty-seventh resistor R57 is grounded; one end of the sixtieth resistor R60 is connected to the inverting input end of the third operational amplifier U4B, and the other end of the sixtieth resistor R60 is connected to the output end of the third operational amplifier U4B; the seventh capacitor C7 and the eighth capacitor C8 are connected in parallel to each other, and the output end of the third operational amplifier U4B is respectively connected to the seventh capacitor C7 and the eighth capacitor C8, and the other ends of the seventh capacitor C7 and the eighth capacitor C8 are grounded, and the output end of the third operational amplifier U4B is the output end of the reference voltage circuit 63. One end of the sixtieth resistor R60 is connected to the inverting input terminal of the third operational amplifier U4B, and the other end is connected to the output terminal of the third operational amplifier U4B, which can make the negative feedback inside the operational amplifier more stable. At this time, the operational amplifier is equivalent to a voltage follower; the seventh capacitor C7 and the eighth capacitor C8 are used as filter capacitors; the fifty-fourth resistor R54 and the fifty-seventh resistor R57 are used as voltage dividing resistors, and the resistance of the fifty-fourth resistor R54 and the fifty-seventh resistor R57 are equal.

[0067] In this embodiment, the output voltage of the power output end of the main control module 10 is 3.3V. Since the resistance values ​​of the fifty-fourth resistor R54 and the fifty-seventh resistor R57 are equal, it is calculated that the voltage at the output end of the third operational amplifier U4B is 3.3V / 2=1.65V, that is, the output voltage at the output end of the reference voltage circuit 63 is 1.65V; according to the voltage follower principle, the input impedance is high and the output impedance is low, so as to improve the load capacity of the 1.65V output.

[0068] Figure 3 is a circuit diagram of the position detection module shown in the first embodiment. Figure 3 As shown, the position detection module 50 includes a magnet (not shown) and a magnetic encoder chip U1 installed at intervals on the motor 20, and also includes a magnetic chip starting circuit 51 and a position output circuit. The magnetic chip starting circuit 51 is respectively connected to the FOC sub-control unit 11 and the magnetic encoder chip U1, and is used to receive the instruction of the FOC sub-control unit to start the magnetic encoder chip U1; the position output circuit is respectively connected to the magnetic encoder chip U1 and the FOC sub-control unit 11, and is used to collect the initial position signal and speed signal of the motor 20 and send them to the FOC sub-control unit.

[0069] In this embodiment, the distance between the magnet and the magnetic encoder chip U1 is set within 4 mm, which is used to detect the initial position and speed of the motor through magnetic induction and other technologies. Other installation details of the magnet and the magnetic encoder chip U1 can refer to the existing magnetic encoder installation method, which is not specifically limited in this embodiment.

[0070] Furthermore, the magnetic chip startup circuit 51 includes a field effect transistor M1, a third resistor R3, a fourth resistor R4 and a thirteenth capacitor C13; the power output end of the main control module 10 is connected in parallel to one end of the thirteenth capacitor C13, and the other end of the thirteenth capacitor C13 is grounded; the power output end of the main control module 10 is connected to the source of the field effect transistor M1, the drain of the field effect transistor M1 is connected to the VCC end of the magnetic encoder chip U1, the gate of the field effect transistor M1 is connected to the third resistor R3, the other end of the third resistor R3 is respectively connected to the SW end of the main control module 10 and the fourth resistor R4, and the other end of the fourth resistor R4 is connected to the power output end of the main control module 1O; the third resistor R3 is used as a current limiting resistor; the thirteenth capacitor C13 is used as a filter capacitor to ensure the stability of the power supply voltage; when the SW signal output from the SW end of the main control module 10 is a low-level signal, the magnetic encoder chip U1 starts to supply power normally and starts to be used.

[0071] The 7th pin of the magnetic encoder chip U1 is grounded, the 1st pin of the magnetic encoder chip U1 is the speed signal output terminal ENC_Z of the motor, and the 5th pin and the 8th pin of the magnetic encoder chip U1 are the initial position signal output terminals ENC_A and ENC_B of the motor respectively.

[0072] The position output circuit includes a first position output circuit 52 connected to the speed signal output terminal ENC_Z for collecting the speed signal, and a second position output circuit 53 and a second position output circuit 54 respectively connected to the initial position signal output terminals ENC_A and ENC_B for collecting the initial position signal of the motor;

[0073] Among them, the first position output circuit 52 includes a first resistor R1 and a second capacitor C2, one end of the first resistor R1 is connected to the first pin of the magnetic encoder chip U1, and the other end of the first resistor R1 is connected to the power output end of the main control module 10; one end of the second capacitor C2 is connected to the first pin of the magnetic encoder chip U1, and the other end of the second capacitor C2 is grounded; the first pin of the magnetic encoder chip U1 is connected to the ground plane in parallel with the second capacitor C2, which can be used to filter out the clutter signal brought by the system, and the first pin of the magnetic encoder chip U1 is used to output the motor speed signal ENC_Z to feed back to the FOC sub-control unit 11;

[0074] The second position output circuit 53 includes a sixth resistor R6 and a fourth capacitor C4, one end of the sixth resistor R6 is connected to the 5th pin of the magnetic encoder chip U1, and the other end of the sixth resistor R6 is connected to the power output end of the main control module; one end of the fourth capacitor C4 is connected to the 5th pin of the magnetic encoder chip U1, and the other end of the fourth capacitor C4 is grounded; similarly, the 5th pin of the magnetic encoder chip U1 is connected to the ground plane in parallel with the fourth capacitor C4, which can be used to filter out the clutter signal brought by the system, and the 5th pin of the magnetic encoder chip U1 is used to output the initial position signal ENC_A of the motor to feed back to the FOC sub-control unit 11;

[0075] The third position output circuit 54 includes a second resistor R2 and a first capacitor C1, one end of the second resistor R2 is connected to the 8th pin of the magnetic encoder chip U1, and the other end of the second resistor R2 is connected to the power output end of the main control module; one end of the first capacitor C1 is connected to the 8th pin of the magnetic encoder chip U1, and the other end of the first capacitor C1 is grounded; similarly, the 8th pin of the magnetic encoder chip U1 is connected in parallel with the first capacitor C1 to the ground plane to filter out the clutter signal brought by the system; the 8th pin of the magnetic encoder chip U1 is used to output the initial position signal ENC_B of the motor and feed it back to the FOC sub-control unit 11. The above-mentioned FOC sub-control unit 11 can obtain the speed of the motor according to the speed signal ENC_Z, and then obtain the real-time rotation angle of the motor through calculation, and can obtain the initial angle before the motor starts according to the initial position signal ENC_A and the initial position signal ENC_B.

[0076] Figure 4 FIG. 1 is an exploded view of the telescopic rod shown in the first embodiment. Figure 4As shown, the telescopic rod includes a lifting assembly and a control tube detachably mounted at the end of the lifting assembly, the control tube includes a front cover 91 and a rear cover 92 detachably mounted on the front cover 91, and the main control module 10 is preferably a TMS320F28034PAGT model main control chip, and the main control module 10 is installed in the control tube.

[0077] The lifting assembly includes an outer sleeve 93, an inner sleeve 94, a slide device 95 and a screw 96. The motor 20 is installed at one end of the outer sleeve 93 facing the control cylinder. The magnetic encoder chip U1 preferably has a magnetic encoder chip model of TLE5012B E1000. The magnet and the magnetic encoder chip U1 are coaxially installed on the side of the motor 20 facing the control cylinder. The rotating shaft of the motor 20 is connected to the screw 96. The slide device 95 includes a screw nut installed on the screw 96 and matched with the screw 96, which is used to convert the rotational motion of the motor 20 into the linear motion of the slide device 95. The slide device 95 is installed on the end of the inner sleeve 94 and slidably cooperates with the inner wall of the outer sleeve 93, which is used to drive the inner sleeve 94 to extend and retract in the outer sleeve 93. The above telescopic rod has a compact structure design, a small volume, and low hardware cost of each module, which is suitable for mass production.

[0078] Figure 5 is a circuit diagram of the power supply system shown in this embodiment, such as Figure 5 As shown, the soft start module 83 includes a start circuit 831, a standby circuit 832 and an enable control circuit 833. The start circuit 831 is respectively connected to the power supply 81 and the switch module 82, and is used to connect the power supply 81 to enter the activation state according to the start signal, and disconnect the connection with the power supply 81 according to the shutdown signal; the standby circuit 832 is respectively connected to the start circuit 831 and the main control module 10, and is used to connect the power supply 81 again according to the standby signal and enter the standby power supply state; the enable control circuit 833 is respectively connected to the start circuit 831, the power supply 81 and the step-down module 84, and is used to activate the step-down module 84 when the start circuit 831 is turned on.

[0079] The VDD terminal of the main control module 10 is connected to a ninth resistor R9, and the other end of the ninth resistor R9 is connected to the start-up circuit 831. The ninth resistor R9 is used for current limiting, and the main control module 10 is used to supply the current of the power supply system to other functional components of the telescopic rod control system.

[0080] The step-down module 84 includes a power chip U2 and a conversion circuit 841. The conversion circuit 841 is connected to the VDD terminals of the power chip U2 and the main control module 10 respectively; the EN terminal of the power chip U2 is connected to the enable control circuit 833, the VIN terminal of the power chip U2 is connected to the power supply 81, and the GND terminal of the power chip U2 is grounded. Among them, the power supply 81 can use three lithium batteries to provide the power supply voltage VCC. The model of the power chip U2 is preferably MP2359GJ. Of course, in some other embodiments of the present invention, other power chips with different models but the same functions can also be selected.

[0081] The startup circuit 831 includes a first resistor R1, a second resistor R2, a first diode D1 and a second diode D2. One end of the first resistor R1 is connected to the power supply VCC, the other end of the first resistor R1 is connected to the second resistor R2, the other end of the second resistor R2 is connected to the anode of the first diode D1, the cathode of the first diode D1 is connected to the cathode of the second diode D2 and the key switch SW1 respectively, the other end of the key switch SW1 is grounded, and the anode of the second diode D2 is connected to the ninth resistor R9. Among them, the second resistor R2 is used for current limiting, the first diode D1 and the second diode D2 are preferably Schottky diodes, and the second diode D2 is used to output a Trigger signal to the VDD end of the main control module 10. The Trigger signal is a high level signal or a low level signal. When the key switch SW1 is disconnected, the Trigger signal is a low level signal.

[0082] The standby circuit 832 includes a transistor Q1, a third resistor R3 and a fourth resistor R4. The collector of the transistor Q1 is connected to the second resistor R2, the base of the transistor Q1 is connected to the third resistor R3 and the fourth resistor R4 respectively, and the emitter of the transistor Q1 is grounded; the other end of the third resistor R3 is connected to the ON / OFF end of the main control module 10, and the other end of the fourth resistor R4 is grounded. Among them, the third resistor R3 is used for current limiting, and the ON / OFF end of the main control module 10 is used to output an ON / OFF control signal to the transistor Q1, and the ON / OFF control signal is a low-level signal or a high-level signal. When the main control module 10 detects that the Trigger signal is a low-level signal and lasts for 1S, the main control module 10 sends a high-level ON / OFF control signal to control the transistor Q1 to turn on, so that the soft start module 83 is connected to the power supply 81 again and enters the standby power supply state to ensure the normal power supply of the entire power supply system.

[0083] The enabling control circuit 833 includes a field effect transistor M1 and an eighth resistor R8, wherein the source of the field effect transistor M1 is connected to the power supply VCC, the gate of the field effect transistor M1 is connected to the first resistor R1, the drain of the field effect transistor M1 is connected to the eighth resistor R8, and the other end of the eighth resistor R8 is connected to the EN end of the power chip U2. The eighth resistor R8 is used for current limiting; the field effect transistor M1 is turned on when the key switch SW1 and the transistor Q1 are turned on. When the field effect transistor M1 is turned on, the power supply VCC flows into the EN end of the power chip U2 through the eighth resistor R8, so that the power chip U2 is activated, and the entire power supply system can be powered normally. At the same time, the first resistor R1 and the second resistor R2 can divide the voltage to ensure that the driving voltage of the gate of the field effect transistor M1 does not break down the field effect transistor M1.

[0084] The conversion circuit 841 includes a first capacitor C1, a second capacitor C2, a third capacitor C3, a third diode D3, a fifth resistor R5, a sixth resistor R6 and an inductor L1; one end of the first capacitor C1 is connected to the BST end of the power chip U2, and the other end of the first capacitor C1 is connected to the SW end of the power chip U2; one end of the inductor L1 is connected to the SW end of the power chip U2, and the other end of the inductor L1 is respectively connected to the second capacitor C2 and the third capacitor C3; one end of the second capacitor C2 and the third capacitor C3 is connected to the VDD end of the main control module 10, and the other end of the second capacitor C2 and the third capacitor C3 is grounded; the cathode of the third diode D3 is connected to the SW end of the power chip U2, and the anode of the third diode D3 is grounded; one end of the fifth resistor R5 is connected to the VDD end of the main control module 10, and the other end of the fifth resistor R5 is connected to the sixth resistor R6; one end of the sixth resistor R6 is respectively connected to the fifth resistor R5 and the FB end of the power chip U2, and the other end of the sixth resistor R6 is grounded. The fifth resistor R5 and the sixth resistor R6 are used for voltage division to provide feedback voltage to the FB terminal of the power chip U2; the third diode D3 is preferably a Schottky diode.

[0085] The above-mentioned conversion circuit 841 is connected to construct a BUCK circuit through the SW end of the power chip U2 and the third diode D, the inductor L1, the second capacitor C2 and the third capacitor C3. The current flows to the inductor L1 through the SW end of the power chip U2, and then flows to the second capacitor C2 and the third capacitor C3, and then flows from the second capacitor C2 and the third capacitor C3 to the third diode D3, so that the power supply voltage can be reduced to the voltage required by the main control module 10 and supplied to the main control module 10. The power supply voltage after voltage reduction is approximately 10-13V.

[0086] In order to better understand the present invention, the following Figure 5 The working principle of the power supply system in this embodiment is described in detail:

[0087] When the key switch SW1 is lightly touched, the current of the power supply VCC flows through the first resistor R1, the second resistor R2 and the first diode D1 in sequence and then reaches the ground plane, and the soft start module 83 enters the activation state; at this time, the field effect transistor M1 is turned on, and the current of the power supply VCC flows into the EN terminal of the power chip U2 through the eighth resistor R8, activating the conversion circuit 841 to step down the power supply to the main control module 10, and the entire power supply system can start to supply power normally;

[0088] When the push switch SW1 is released, the second diode D2 sends a low-level Trigger signal to the main control module 10. When the main control module 10 detects that the Trigger signal is a low-level signal and lasts for 1S, the main control module 10 sends a high-level ON / OFF control signal to control the transistor Q1 to turn on, and the soft start module 83 enters the standby power supply state and can continue to supply power normally. At this time, the standby current can reach below 10uA, and the entire power supply system is in low power consumption mode, which can reduce the power loss of the power supply in standby mode and extend the working time of the equipment.

[0089] Embodiment 2

[0090] Figure 6 is a flow chart of a control method for an electric intelligent telescopic rod provided in a second embodiment of the present invention. The control method is applied to the control system of the electric intelligent telescopic rod in the first embodiment above. Figure 1 and Figure 6 As shown, the control method specifically includes the steps of:

[0091] S1, triggering the input module 40 to generate a control instruction, the main control module 10 receives the control instruction, and drives the motor 20 to rotate through the driving component 30;

[0092] S2, detecting the initial position and speed of the motor 20 by the position detection module 50 to generate an initial position signal and a speed signal, and feeding the initial position signal and the speed signal back to the main control module 10;

[0093] S3, the FOC sampling module 60 collects the driving current of the motor 20 in real time to generate a current signal, and transmits the current signal to the main control module 10, and the main control module 10 adjusts the current output from the driving component 30 to the motor 20 according to the initial position signal, the speed signal and the current signal to control the speed of the motor 20. The control method can control the telescopic rod to automatically extend and retract, and the startup is smooth, the power supply is stable during the operation, and it has a good practical experience. In addition, the sequence numbers of the above steps are at least for the convenience of description, and the actual implementation process is not carried out according to the sequence numbers.

[0094] The above step S3 specifically also includes:

[0095] S31, receiving and reading the initial position signal, rotation speed signal and current signal;

[0096] S32, calculating and obtaining an initial driving signal output by the driving component 30 to the motor 20 according to the initial position signal, and driving the motor 20 to perform preliminary open-loop operation through the initial driving signal, so that the motor 20 can start smoothly;

[0097] S33, calculating the rotation angle of the motor 20 according to the speed signal, and sampling the current signal at a set angle to determine whether the sampling point is located at the zero point of the sine wave; if so, determining that the current signal is stable; if not, recalculating and obtaining the drive current waveform output by the drive component 30 to the motor 20 to adjust the speed of the motor 20, realize the FOC control position closed loop of the motor, and ensure stable power supply during normal operation of the motor.

[0098] Furthermore, the control method further comprises the steps of:

[0099] S01, triggering the switch module 82 to generate a start signal, and the soft start module 83 turns on the power supply 81 according to the start signal and enters an activation state;

[0100] S02, release the switch module 82 to generate a shutdown signal, the main control module 10 outputs a standby signal according to the shutdown signal and sends it to the soft start module 83, controls the soft start module 83 to connect the power supply 81 again and enter the standby power supply state. At this time, the standby current can reach less than 10uA, and the entire telescopic rod is in a low-power standby mode. By triggering the input module 40 to generate a control command, the motor can be controlled to start running. The above steps can fully reduce the power consumption of the power supply in standby mode and extend the working time of the device.

[0101] To sum up, the electric intelligent telescopic rod control system and control method provided by the present invention can drive the motor to rotate by sending control instructions to the driving component through the main control module, thereby realizing automatic extension and shortening of the telescopic rod; at the same time, the position detection module collects the initial position signal and speed signal of the motor, and the FOC sampling module collects the current signal of the motor. The main control module can adjust the current output to the motor according to the initial position signal, so that the whole machine can start smoothly. The main control module can also adjust the current output to the motor in real time according to the speed signal and the current signal, realizing FOC closed-loop position control of the motor, and can maintain stable power supply to the motor, so that the whole machine runs smoothly, ensuring smooth lifting and lowering of the lifting rod, and at the same time can realize precise positioning during the extension and retraction of the telescopic rod, providing users with a good user experience.

[0102] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An electric intelligent telescopic rod control system, characterized in that: It includes a main control module, a motor and a driving component connecting the main control module and the motor, and also includes: An input module, connected to the main control module, used to trigger the generation of a control instruction, the main control module receives the control instruction, and drives the motor to rotate through the drive assembly; A position detection module, which is connected to the main control module and the motor, and is used to detect the initial position and rotation speed of the motor to generate an initial position signal and a rotation speed signal, and feed the initial position signal and the rotation speed signal back to the main control module; A FOC sampling module, which is connected to the main control module and the drive component respectively, and is used to collect the drive current of the motor in real time to generate a current signal, and transmit the current signal to the main control module; the main control module adjusts the current output by the drive component to the motor according to the initial position signal, the speed signal and the current signal to control the speed of the motor; Also included is a power supply system, which includes a power supply, a switch module and a soft start module; The switch module is used to generate an on signal and a off signal; The soft start module is connected to the switch module and the power supply respectively, and is used to receive the start signal and the stop signal, and turn on the power supply to enter the activation state according to the start signal; The main control module is connected to the soft start module, and is used to output a standby signal according to the shutdown signal and send it to the soft start module, so as to control the soft start module to turn on the power supply again and enter the standby power supply state; The main control module also includes a FOC sub-control unit, and the FOC sub-control unit includes: A receiving module, used for receiving and reading the initial position signal, rotation speed signal and current signal; A function calculation module, used for calculating and obtaining an initial drive signal output by the drive component to the motor according to the initial position signal, and driving the motor to perform preliminary open-loop operation through the initial drive signal; The function calculation module is also used to calculate the rotation angle of the motor according to the speed signal, and sample the current signal at a set angle to determine whether the sampling point is located at the zero point of the sine wave; if so, the current signal is determined to be stable; if not, the drive current waveform output by the drive component to the motor is recalculated to adjust the speed of the motor.

2. The electric intelligent telescopic rod control system according to claim 1, characterized in that: The FOC sampling module includes a first sampling circuit, a second sampling circuit and a reference voltage circuit, wherein the input ends of the first sampling circuit and the second sampling circuit are respectively connected to two different phase lines of the motor through the driving component, and the output ends of the first sampling circuit and the second sampling circuit are respectively connected to the FOC sub-control unit, for collecting the three-phase current of the motor to generate a current signal and transmit it to the FOC sub-control unit; The input end of the reference voltage circuit is connected to the power output end of the main control module, and the output end of the reference voltage circuit is respectively connected to the first sampling circuit and the second sampling circuit to provide a reference voltage for current detection.

3. The electric intelligent telescopic rod control system according to claim 1, characterized in that: The position detection module includes a magnet and a magnetic encoder chip installed at intervals on the motor, and also includes: A magnetic chip starting circuit, which is connected to the FOC sub-control unit and the magnetic encoder chip respectively, and is used to receive an instruction from the FOC sub-control unit to start the magnetic encoder chip; The position output circuit is connected to the FOC sub-control unit and the magnetic encoder chip respectively, and is used to collect the initial position signal and the speed signal of the motor and send them to the FOC sub-control unit.

4. The electric intelligent telescopic rod control system according to claim 1, characterized in that: The power supply system also includes a step-down module, which is connected to the power supply, the main control module and the soft start module respectively, and is used to step down the output current of the soft start module and output it to the main control module in the standby power supply state.

5. The electric intelligent telescopic rod control system according to claim 4, characterized in that: The soft start module comprises: A start-up circuit, which is connected to the power supply and the switch module respectively, and is used to turn on the power supply to enter an activation state according to the start signal, and disconnect the power supply according to the shutdown signal; A standby circuit, which is connected to the start-up circuit and the main control module respectively, and is used to connect the power supply again according to the standby signal to enter the standby power supply state; An enabling control circuit is connected to the starting circuit, the power supply and the step-down module respectively, and is used to activate the step-down module when the starting circuit is turned on.

6. The electric intelligent telescopic rod control system according to claim 1, characterized in that: The input module includes a button control module connected to the main control module, and the button control module includes an up button and a down button. The up button and the down button are used to output an up control instruction and a down control instruction of a set running speed to the main control module according to the number of triggers and the interval time between two adjacent triggers, and drive the motor to rotate forward or reverse at the set running speed through the drive component.

7. A control method for an electric intelligent telescopic rod, applied to the electric intelligent telescopic rod control system according to any one of claims 1 to 6, characterized in that: Includes steps: S1, triggering the input module to generate a control instruction, the main control module receives the control instruction, and drives the motor to rotate through the driving component; S2, detecting the initial position and speed of the motor by the position detection module to generate an initial position signal and a speed signal, and feeding the initial position signal and the speed signal back to the main control module; S3, collecting the driving current of the motor in real time through the FOC sampling module to generate a current signal, and transmitting the current signal to the main control module, the main control module adjusts the current output by the driving component to the motor according to the initial position signal, the speed signal and the current signal to control the speed of the motor; Step S3 also includes: S31, receiving and reading the initial position signal, rotation speed signal and current signal; S32, calculating and obtaining an initial drive signal output by the drive component to the motor according to the initial position signal, and driving the motor to perform preliminary open-loop operation through the initial drive signal; S33, calculating the rotation angle of the motor according to the speed signal, and sampling the current signal at a set angle to determine whether the sampling point is located at the zero point of the sine wave; if so, determining that the current signal is stable; if not, recalculating and obtaining the driving current waveform output by the driving component to the motor to adjust the speed of the motor.

8. The control method of the electric intelligent telescopic rod according to claim 7, characterized in that: Also includes the steps: The trigger switch module generates a start signal, and the soft start module turns on the power supply and enters an activation state according to the start signal; Releasing the switch module generates a shutdown signal, and the main control module outputs a standby signal according to the shutdown signal and sends it to the soft start module, controlling the soft start module to turn on the power supply again and enter a standby power supply state.

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