Direct current brush motor control method, device, equipment and readable storage medium
By defining the sequence parameters of motor direction, operating voltage, and cycle, and setting the timing and combined function sequences, the inconsistencies and portability problems of DC brushed motor control are solved, realizing a simplified motor control method and equipment.
Patent Information
- Application Number
- CN202210752225.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2022-06-28
- Publication Date
- 2026-02-03
- Estimated Expiration
- 2042-06-28
AI Technical Summary
The existing control methods for brushed DC motors are not standardized, resulting in complex software that is difficult to modify and debug, and is also difficult to port, lacking a unified management mechanism.
Define sequence parameters including motor direction, operating voltage, and operating cycle; set timing; combine function sequences; control motor operation through timing parameters; and provide DC brushed motor control devices and equipment.
It achieves uniformity and flexibility in the control of DC brushed motors, simplifies software design, and improves the portability and management efficiency of motor control.
Smart Images
Figure CN114938166B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of DC brushed motor control technology, and in particular to a DC brushed motor control method, apparatus, device, and readable storage medium. Background Technology
[0002] Brushed DC motors have advantages such as simple control and are widely used in fields such as automobiles. They are found in control systems for power windows, automatic seatbelt tightening, automatic wipers, and power tailgates. However, existing applications of brushed DC motors have the following problems: Management of motor direction, speed, and running time is relatively simple; implementing complex timing management leads to cumbersome software, hindering changes and debugging. The software implementation strategies for motor control are not unified, with various methods and relatively fixed drive strategies. Porting software implementations from one motor application scenario to another may require significant code changes, potentially causing functional problems and making porting inconvenient. Furthermore, there is a lack of an abstract management mechanism for complex motor operation management, and no basic method has been established for managing changes in complex motor control. Summary of the Invention
[0003] The main objective of this invention is to provide a DC brushed motor control method, device, equipment, and readable storage medium, aiming to solve the technical problems of inconvenient, inconsistent, and difficult-to-port control applications for DC brushed motors.
[0004] In a first aspect, the present invention provides a method for controlling a brushed DC motor, the method comprising:
[0005] Define a sequence, the parameters of which include motor direction, operating voltage, and operating cycle;
[0006] Set the parameters of the sequence to obtain the time series;
[0007] By combining one or more timing sequences, a functional sequence can be obtained;
[0008] The operation of the DC brushed motor is controlled according to the timing parameters in the function sequence.
[0009] Optionally, the motor direction includes forward rotation, reverse rotation, and stop, and controlling the operation of the DC brushed motor according to the timing parameters in the function sequence includes:
[0010] Based on the direction of the motor's rotation, rotation, and stop, control the DC brushed motor to perform forward rotation, reverse rotation, and stop;
[0011] The speed of the DC brushed motor is controlled according to the operating voltage;
[0012] The operating time of the DC brushed motor is controlled according to the operating cycle.
[0013] Optionally, controlling the DC brushed motor to perform forward rotation, reverse rotation, and stop according to the motor's direction of rotation, reverse rotation, and stop includes:
[0014] When the motor is rotating in the forward direction, the control voltage for the DC brushed motor is positive.
[0015] When the motor direction is reversed, the control voltage for the DC brushed motor is reversed.
[0016] When the motor is in a stopped direction, the voltage controlling the DC brushed motor is 0.
[0017] Optionally, controlling the operation of the DC brushed motor according to the timing parameters in the function sequence includes:
[0018] When it is necessary to switch from the current function sequence to a new function sequence, if an interrupt sequence is inserted before the new function sequence, and the running cycle in the interrupt sequence is 0, the new function sequence is executed immediately; if the running cycle in the interrupt sequence is not 0, the new function sequence is executed after the interrupt sequence is completed. The interrupt sequence includes one or more timing sequences, and the interrupt sequence is not allowed to be interrupted during execution.
[0019] Optionally, after controlling the operation of the DC brushed motor according to the timing parameters in the functional sequence, the following steps are included:
[0020] After the DC brushed motor finishes executing the current function sequence, it enters the idle sequence and waits for the next function sequence.
[0021] Optionally, controlling the operation of the DC brushed motor according to the timing parameters in the function sequence includes:
[0022] Get system timestamp in real time;
[0023] The difference is calculated by subtracting the start time of the current sequence in the current function sequence from the real-time system timestamp.
[0024] If the difference is greater than or equal to the operating cycle of the current timing sequence in the current functional sequence, then control the DC brushed motor to execute the next timing sequence.
[0025] Secondly, the present invention also provides a DC brushed motor control device, the DC brushed motor control device comprising:
[0026] A definition module is used to define a sequence, the parameters of which include motor direction, operating voltage, and operating cycle;
[0027] The settings module is used to set the parameters of the sequence to obtain the timing sequence.
[0028] Combination module, used to combine one or more timing sequences to obtain a functional sequence;
[0029] The control module is used to control the operation of the DC brushed motor according to the timing parameters in the function sequence.
[0030] Optionally, the control module is used for:
[0031] Based on the direction of the motor's rotation, rotation, and stop, control the DC brushed motor to perform forward rotation, reverse rotation, and stop;
[0032] The speed of the DC brushed motor is controlled according to the operating voltage;
[0033] The operating time of the DC brushed motor is controlled according to the operating cycle.
[0034] Thirdly, the present invention also provides a DC brushed motor control device, the DC brushed motor control device including a processor, a memory, and a DC brushed motor control program stored in the memory and executable by the processor, wherein when the DC brushed motor control program is executed by the processor, it implements the steps of the DC brushed motor control method as described above.
[0035] Fourthly, the present invention also provides a readable storage medium storing a DC brushed motor control program, wherein when the DC brushed motor control program is executed by a processor, it implements the steps of the DC brushed motor control method as described above.
[0036] In this invention, a sequence is defined, and the parameters of the sequence include motor direction, operating voltage, and operating cycle. The parameters of the sequence are set to obtain a timing sequence. One or more timing sequences are combined to obtain a functional sequence. The operation of a brushed DC motor is controlled according to the parameters of the timing sequence in the functional sequence. This invention abstracts the important parameters of brushed DC motor operation. By configuring the timing parameters and combining multiple timing sequences, a large number of complex functional requirements for brushed DC motor control can be met, thus forming a convenient and highly portable brushed DC motor control method. Attached Figure Description
[0037] Figure 1 This is a schematic diagram of the hardware structure of an embodiment of the DC brushed motor control device of the present invention;
[0038] Figure 2This is a flowchart illustrating an embodiment of the DC brushed motor control method of the present invention;
[0039] Figure 3 This is a functional sequence diagram of an embodiment of the DC brushed motor control method of the present invention;
[0040] Figure 4 for Figure 2 A detailed flowchart of step S40;
[0041] Figure 5 This is a functional module diagram of an embodiment of the DC brushed motor control device of the present invention.
[0042] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation
[0043] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
[0044] In a first aspect, embodiments of the present invention provide a DC brushed motor control device.
[0045] Reference Figure 1 , Figure 1 This is a schematic diagram of the hardware structure of an embodiment of the DC brushed motor control device of the present invention. In this embodiment, the DC brushed motor control device may include a processor 1001 (e.g., a Central Processing Unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to realize communication between these components; the user interface 1003 may include a display screen or an input unit such as a keyboard; the network interface 1004 may optionally include a standard wired interface or a wireless interface (e.g., Wireless Fidelity, Wi-Fi); the memory 1005 may be high-speed random access memory (RAM) or non-volatile memory, such as a disk storage device. The memory 1005 may also optionally be a storage device independent of the aforementioned processor 1001. Those skilled in the art will understand that… Figure 1 The hardware structure shown does not constitute a limitation of the invention and may include more or fewer components than shown, or combine certain components, or have different component arrangements.
[0046] Continue to refer to Figure 1 , Figure 1The memory 1005, which serves as a computer storage medium, may include an operating system, a network communication module, a user interface module, and a DC brushed motor control program. The processor 1001 can call the DC brushed motor control program stored in the memory 1005 and execute the DC brushed motor control method provided in this embodiment of the invention.
[0047] Secondly, embodiments of the present invention provide a method for controlling a DC brushed motor.
[0048] To more clearly demonstrate the DC brushed motor control method provided in the embodiments of this application, we will first introduce the application scenarios of the DC brushed motor control method provided in the embodiments of this application.
[0049] The DC brushed motor control method provided in this application is used to control DC brushed motors according to specific functional requirements. DC brushed motor control is simple and widely used, but the current implementation of DC brushed motor control is not unified, and there are many different methods. Some are too complicated and cumbersome, which leads to the problem of inconvenience in porting. Therefore, a unified and efficient control method for DC brushed motors is needed.
[0050] In one embodiment, reference is made to Figure 2 , Figure 2 This is a flowchart illustrating an embodiment of the DC brushed motor control method of the present invention, as shown below. Figure 2 As shown, the DC brushed motor control method includes:
[0051] Step S10: Define a sequence, the parameters of which include motor direction, operating voltage and operating cycle.
[0052] In this embodiment, the sequence is an abstract concept in the operation of a brushed DC motor, representing the operating state of the brushed DC motor. The operating state of the brushed DC motor can be described from three aspects, namely, the parameters that form the three sequences of motor direction, operating voltage, and operating cycle.
[0053] Step S20: Set the parameters of the sequence to obtain the time series.
[0054] In this embodiment, after setting the parameters of the motor direction, operating voltage and operating cycle of the sequence, a timing sequence is obtained, which can be regarded as the smallest basic unit of DC brushed motor operation.
[0055] Step S30: Combine one or more timing sequences to obtain a functional sequence.
[0056] In this embodiment, based on the functional requirements for controlling the DC brushed motor, one or more timing sequences are combined to obtain a functional sequence. Furthermore, multiple functional sequences can be combined to achieve various complex functional requirements, as shown in the following example. Figure 3 , Figure 3 This is a functional sequence diagram of an embodiment of the DC brushed motor control method of the present invention, as shown below. Figure 3 As shown, the function sequence includes three timing sequences: T1, T2, and T3. In the T1 sequence, the motor direction is forward, the operating voltage is 8mV (forward voltage), and the operating cycle is 6ms.
[0057] Step S40: Control the operation of the DC brushed motor according to the timing parameters in the function sequence.
[0058] In this embodiment, the functional sequence includes one or more timing sequences, which in turn include three parameters: motor direction, operating voltage, and operating cycle. The operation of the DC brushed motor is controlled according to the parameters in the timing sequence.
[0059] In this embodiment, a sequence is abstracted and defined for the brushed DC motor. The parameters of the sequence include motor direction, operating voltage, and operating cycle. Setting the parameters of the sequence yields a timing sequence. Combining one or more timing sequences yields a functional sequence. Based on the parameters of the timing sequence in the functional sequence, the brushed DC motor is controlled to operate. By abstracting the important parameters of the brushed DC motor operation and configuring the timing parameters and combining multiple timing sequences, a large number of complex functional requirements for the control of the brushed DC motor can be met, thus forming a brushed DC motor control method that is easy to configure and highly portable.
[0060] Furthermore, in one embodiment, the motor direction includes forward rotation, reverse rotation, and stop, as shown in the reference. Figure 4 , Figure 4 for Figure 2 A detailed flowchart of step S40 is shown below. Figure 4 As shown, step S40 includes:
[0061] Step S401: Control the DC brushed motor to perform forward rotation, reverse rotation, and stop according to the direction of the motor rotation, reverse rotation, and stop.
[0062] Step S402: Control the speed of the DC brushed motor according to the operating voltage;
[0063] Step S403: Control the running time of the DC brushed motor according to the operating cycle.
[0064] In this embodiment, the operation of the DC brushed motor is controlled according to three parameters: motor direction, operating voltage, and operating cycle. The higher the operating voltage, the faster the DC brushed motor rotates.
[0065] Further, in one embodiment, step S401 includes:
[0066] When the motor is rotating in the forward direction, the control voltage for the DC brushed motor is positive.
[0067] When the motor direction is reversed, the control voltage for the DC brushed motor is reversed.
[0068] When the motor is in a stopped direction, the voltage controlling the DC brushed motor is 0.
[0069] In this embodiment, the voltage of the DC brushed motor includes a forward voltage and a reverse voltage, which respectively control the DC brushed motor to rotate forward and reverse. When the voltage of the DC brushed motor is 0, the DC brushed motor stops rotating.
[0070] Further, in one embodiment, step S40 includes:
[0071] When it is necessary to switch from the current function sequence to a new function sequence, if an interrupt sequence is inserted before the new function sequence, and the running cycle in the interrupt sequence is 0, the new function sequence is executed immediately; if the running cycle in the interrupt sequence is not 0, the new function sequence is executed after the interrupt sequence is completed. The interrupt sequence includes one or more timing sequences, and the interrupt sequence is not allowed to be interrupted during execution.
[0072] In this embodiment, the interrupt sequence includes one or more timing sequences that cannot be interrupted during execution. Therefore, the interrupt sequence is actually a special function sequence with higher priority. The interrupt sequence is mainly used when switching from one function sequence to another, i.e., when the new function sequence needs to preempt or interrupt the current function sequence. In some cases, direct switching is not possible, such as switching directly from forward to reverse rotation, which might directly damage the DC brushed motor. In such situations, the interrupt sequence can be used to facilitate the transition before the switch. If the running cycle in the interrupt sequence is 0, the new function sequence is executed immediately. If there are multiple timing sequences in the interrupt sequence, the running cycle of each timing sequence needs to be set to... 0 is used to achieve direct switching. If the running cycle of the timing sequence in the interrupt sequence is not 0, the new function sequence will be executed after the interrupt sequence is completed. In general, the running cycle of the timing sequence is the running time of the DC brushed motor. For example, if the running cycle of the DC brushed motor is set to 3 seconds, the DC brushed motor will run for 3 seconds. When the running cycle is set to 0, it means that the DC brushed motor will automatically execute the next timing sequence. For example, if an existing function sequence includes four timing sequences A, B, C and D, if you want to execute only timing sequences B and D, you can set the running cycles of timing sequences A and C to 0 accordingly. This makes it very convenient to flexibly adjust the execution of the actual function sequence by simply adjusting the running cycle to 0.
[0073] Further, in one embodiment, after step S40, the following is included:
[0074] After the DC brushed motor finishes executing the current function sequence, it enters the idle sequence and waits for the next function sequence.
[0075] In this embodiment, the idle sequence refers to the DC brushed motor being in an idle state. It can be set according to specific functional requirements, or it can be used to describe various operating states of the DC brushed motor over a period of time, which is beneficial for subsequent statistical description of the operating state of the DC brushed motor.
[0076] Further, in one embodiment, step S40 includes:
[0077] Get system timestamp in real time;
[0078] The difference is calculated by subtracting the start time of the current sequence in the current function sequence from the real-time system timestamp.
[0079] If the difference is greater than or equal to the operating cycle of the current timing sequence in the current functional sequence, then control the DC brushed motor to execute the next timing sequence.
[0080] In this embodiment, the system timestamp is obtained in real time. When the execution time of a certain time sequence that is being executed exceeds the running cycle of that time sequence, that is, the current time sequence is completed and the next time sequence is executed.
[0081] Thirdly, embodiments of the present invention also provide a DC brushed motor control device.
[0082] Reference Figure 5 , Figure 5 This is a functional module diagram of an embodiment of the DC brushed motor control device of the present invention.
[0083] In this embodiment, the DC brushed motor control device includes:
[0084] Definition module 10 is used to define a sequence, the parameters of which include motor direction, operating voltage and operating cycle;
[0085] Setting module 20 is used to set the parameters of the sequence to obtain the timing sequence;
[0086] Combination module 30 is used to combine one or more timing sequences to obtain a functional sequence;
[0087] The control module 40 is used to control the operation of the DC brushed motor according to the timing parameters in the function sequence.
[0088] Furthermore, in one embodiment, the control module 40 includes:
[0089] The motor direction control unit is used to control the DC brushed motor to perform forward rotation, reverse rotation, and stop according to the motor's direction of rotation, reverse rotation, and stop.
[0090] The operating voltage control unit is used to control the speed of the DC brushed motor according to the operating voltage.
[0091] The operating cycle control unit is used to control the operating time of the DC brushed motor according to the operating cycle.
[0092] Furthermore, in one embodiment, the motor direction control unit is used for:
[0093] When the motor is rotating in the forward direction, the control voltage for the DC brushed motor is positive.
[0094] When the motor direction is reversed, the control voltage for the DC brushed motor is reversed.
[0095] When the motor is in a stopped direction, the voltage controlling the DC brushed motor is 0.
[0096] Furthermore, in one embodiment, the control module 40 is used for:
[0097] When it is necessary to switch from the current function sequence to a new function sequence, if an interrupt sequence is inserted before the new function sequence, and the running cycle in the interrupt sequence is 0, the new function sequence is executed immediately; if the running cycle in the interrupt sequence is not 0, the new function sequence is executed after the interrupt sequence is completed. The interrupt sequence includes one or more timing sequences, and the interrupt sequence is not allowed to be interrupted during execution.
[0098] Furthermore, in one embodiment, the DC brushed motor control device further includes an idle module for:
[0099] After the DC brushed motor finishes executing the current function sequence, it enters the idle sequence and waits for the next function sequence.
[0100] Furthermore, in one embodiment, the control module 40 is used for:
[0101] Get system timestamp in real time;
[0102] The difference is calculated by subtracting the start time of the current sequence in the current function sequence from the real-time system timestamp.
[0103] If the difference is greater than or equal to the operating cycle of the current timing sequence in the current functional sequence, then control the DC brushed motor to execute the next timing sequence.
[0104] The functions of each module in the above-mentioned DC brushed motor control device correspond to the steps in the above-mentioned DC brushed motor control method embodiment, and their functions and implementation processes will not be described in detail here.
[0105] Fourthly, embodiments of the present invention also provide a readable storage medium.
[0106] The present invention provides a DC brushed motor control program stored on a readable storage medium, wherein when the DC brushed motor control program is executed by a processor, the steps of the DC brushed motor control method described above are implemented.
[0107] The method implemented when the DC brushed motor control program is executed can be referred to in various embodiments of the DC brushed motor control method of the present invention, and will not be repeated here.
[0108] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.
[0109] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.
[0110] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device to execute the methods described in the various embodiments of the present invention.
[0111] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.
Claims
1. A method for controlling a DC brushed motor, characterized in that, The DC brushed motor control method includes: Define a sequence, the parameters of which include motor direction, operating voltage, and operating cycle; Set the parameters of the sequence to obtain the time series; By combining one or more timing sequences, a functional sequence can be obtained; The operation of the DC brushed motor is controlled according to the timing parameters in the function sequence; The step of controlling the operation of the brushed DC motor according to the timing parameters in the functional sequence includes: When it is necessary to switch from the current function sequence to a new function sequence, if an interrupt sequence is inserted before the new function sequence, and the running cycle in the interrupt sequence is 0, the new function sequence is executed immediately; if the running cycle in the interrupt sequence is not 0, the new function sequence is executed after the interrupt sequence is completed. The interrupt sequence includes one or more timing sequences, and the interrupt sequence is not allowed to be interrupted during execution. After controlling the operation of the DC brushed motor according to the timing parameters in the functional sequence, the following steps are included: After the DC brushed motor completes the current function sequence, it enters the idle sequence and waits for the next function sequence. The idle sequence is set based on functional requirements to provide a statistical description of the DC brushed motor's operating status.
2. The DC brushed motor control method as described in claim 1, characterized in that, The motor direction includes forward rotation, reverse rotation, and stop. Controlling the operation of the DC brushed motor according to the timing parameters in the function sequence includes: Based on the direction of the motor's rotation, rotation, and stop, control the DC brushed motor to perform forward rotation, reverse rotation, and stop; The speed of the DC brushed motor is controlled according to the operating voltage; The operating time of the DC brushed motor is controlled according to the operating cycle.
3. The DC brushed motor control method as described in claim 2, characterized in that, The control of the DC brushed motor to perform forward rotation, reverse rotation, and stop according to the motor direction includes: When the motor is rotating in the forward direction, the control voltage for the DC brushed motor is positive. When the motor direction is reversed, the control voltage for the DC brushed motor is reversed. When the motor is in a stopped direction, the voltage controlling the DC brushed motor is 0.
4. The DC brushed motor control method as described in claim 1, characterized in that, The step of controlling the operation of the brushed DC motor according to the timing parameters in the functional sequence includes: Get system timestamp in real time; The difference is calculated by subtracting the start time of the current sequence in the current function sequence from the real-time system timestamp. If the difference is greater than or equal to the operating cycle of the current timing sequence in the current functional sequence, then control the DC brushed motor to execute the next timing sequence.
5. A DC brushed motor control device, characterized in that, The DC brushed motor control device includes: A definition module is used to define a sequence, the parameters of which include motor direction, operating voltage, and operating cycle; The settings module is used to set the parameters of the sequence to obtain the timing sequence. Combination module, used to combine one or more timing sequences to obtain a functional sequence; The control module is used to control the operation of the brushed DC motor according to the timing parameters in the function sequence; The control module is used to switch from the current function sequence to a new function sequence. If an interrupt sequence is inserted before the new function sequence, and the running cycle in the interrupt sequence is 0, the new function sequence is executed immediately. If the running cycle in the interrupt sequence is not 0, the new function sequence is executed after the interrupt sequence is completed. The interrupt sequence includes one or more timing sequences, and the interrupt sequence is not allowed to be interrupted during execution. The DC brushed motor control device also includes an idle module for: After the DC brushed motor completes the current function sequence, it enters the idle sequence and waits for the next function sequence. The idle sequence is set based on functional requirements to provide a statistical description of the DC brushed motor's operating status.
6. The DC brushed motor control device as described in claim 5, characterized in that, The control module is used for: Based on the direction of the motor's rotation, rotation, and stop, control the DC brushed motor to perform forward rotation, reverse rotation, and stop; The speed of the DC brushed motor is controlled according to the operating voltage; The operating time of the DC brushed motor is controlled according to the operating cycle.
7. A DC brushed motor control device, characterized in that, The DC brushed motor control device includes a processor, a memory, and a DC brushed motor control program stored in the memory and executable by the processor, wherein when the DC brushed motor control program is executed by the processor, it implements the steps of the DC brushed motor control method as described in any one of claims 1 to 4.
8. A readable storage medium, characterized in that, The readable storage medium stores a DC brushed motor control program, wherein when the DC brushed motor control program is executed by a processor, it implements the steps of the DC brushed motor control method as described in any one of claims 1 to 4.
Citation Information
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