An overload preprocessing method based on servo electric cylinder

Abstract

The embodiment of the application discloses a servo motor-driven cylinder-based overload preprocessing method, and relates to the technical field of mechanical control. The method comprises the following steps: collecting the working current value of a servo motor-driven cylinder used for lifting control of a lifting platform in real time; controlling the extension and retraction speed of the servo motor-driven cylinder according to the working current value of the servo motor-driven cylinder; judging whether the servo motor-driven cylinder reaches an overload state according to the extension and retraction speed of the servo motor-driven cylinder; if the servo motor-driven cylinder reaches the overload state, controlling the servo motor-driven cylinder to perform reverse motion; and if the servo motor-driven cylinder does not reach the overload state, returning to the step of collecting the working current value of the servo motor-driven cylinder used for lifting control of the lifting platform in real time. The application can automatically and timely process the overload servo motor-driven cylinder, and ensures the safety of equipment.

Description

Technical Field

[0001] This invention belongs to the field of mechanical control technology, and in particular relates to an overload preprocessing method based on a servo electric cylinder. Background Technology

[0002] Servo electric cylinders are modular products that integrate a servo motor and a lead screw. They convert the rotary motion of the servo motor into linear motion to achieve reciprocating motion, used for precise push-pull, closing, and lifting control of various equipment. They offer advantages such as high control precision, low noise, energy saving, clean operation, high rigidity, strong impact resistance, long lifespan, and simple operation and maintenance, and are widely used in industries such as mechanical automation, papermaking, chemical engineering, automotive, electronics, and welding. However, when servo electric cylinders are used for lifting control of a platform, items of varying weights can be placed on the platform for lifting. If the platform becomes stuck during lifting, the current in the servo electric cylinder will increase due to the constant voltage, causing the servo motor to operate under overload. This can further damage the servo motor, even leading to serious irreversible damage.

[0003] Currently, the method for handling overloaded servo electric cylinders still relies on manual monitoring of their operation. Abnormalities are detected through manual inspection and experience, and the servo electric cylinder is promptly shut down to prevent further damage. However, there are issues with late detection and untimely handling of abnormalities (such as jamming), leading to some damage to the servo electric cylinder. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide an overload pre-processing method based on a servo electric cylinder, which addresses the problem that existing methods for handling overloaded servo electric cylinders cannot address them in a timely manner, easily leading to damage. The present invention can automatically and promptly control the overloaded servo electric cylinder to reverse its movement based on its operating current value, effectively preventing damage and ensuring equipment safety.

[0005] This invention provides an overload preprocessing method based on a servo electric cylinder, comprising:

[0006] Real-time acquisition of the operating current value of the servo electric cylinder used for lifting control of the lifting platform;

[0007] The extension and retraction speed of the servo electric cylinder is controlled according to the operating current value of the servo electric cylinder;

[0008] Determine whether the servo electric cylinder has reached an overload state based on the extension and retraction speed of the servo electric cylinder;

[0009] If the servo electric cylinder reaches an overload state, the servo electric cylinder is controlled to move in the opposite direction.

[0010] If the servo electric cylinder has not reached the overload state, then return to the step of real-time acquisition of the working current value of the servo electric cylinder used for lifting control of the lifting platform.

[0011] In an optional embodiment, after controlling the servo electric cylinder to reverse its movement if it reaches an overload state, the method further includes:

[0012] The power supply status of the servo electric cylinder is controlled based on the operating current value during the reverse movement of the servo electric cylinder.

[0013] In an optional embodiment, if the servo electric cylinder reaches an overload state, the method further includes, before controlling the servo electric cylinder to reverse its movement:

[0014] Record the extension length and operating current value of the servo electric cylinder when it just reaches the overload state;

[0015] After controlling the power supply state of the servo electric cylinder based on the operating current value during the reverse movement of the servo electric cylinder, the method further includes:

[0016] When the power supply is in a power-off state, a corresponding fault code is generated and sent to the maintenance personnel based on the extension length of the servo electric cylinder when it just reaches the overload state.

[0017] In an optional embodiment, controlling the extension and retraction speed of the servo electric cylinder based on its operating current value includes:

[0018] Based on the operating current value of the servo electric cylinder, the extension and retraction speed control value of the servo electric cylinder is determined according to the first formula;

[0019] The servo electric cylinder is controlled to operate according to the extension and retraction speed control value of the servo electric cylinder;

[0020] The first formula is

[0021]

[0022] Where V(t) represents the extension / retraction speed control value of the servo electric cylinder at the current moment; t represents the current moment; L0 represents the standard extension / retraction length of the servo electric cylinder after receiving an extension / retraction trigger pulse from the control board at the previous moment; f m P represents the maximum frequency value of the extension trigger pulse; mU represents the maximum load power of the servo electric cylinder; U represents the fixed voltage value applied across the servo electric cylinder; I0 represents the operating current value of the servo electric cylinder in the standby state without load; I(t) represents the operating current value of the servo electric cylinder at the current moment.

[0023] In an optional embodiment, determining whether the servo electric cylinder has reached an overload state based on the extension and retraction speed of the servo electric cylinder includes:

[0024] Determine whether the extension / retraction speed control value of the servo electric cylinder at the current moment is greater than a preset speed threshold;

[0025] If so, it is determined that the servo electric cylinder has not reached an overload state; otherwise, it is determined that the servo electric cylinder has reached an overload state.

[0026] In one alternative embodiment, the preset speed threshold is 0.

[0027] In an optional embodiment, controlling the power supply state of the servo electric cylinder based on the operating current value during the reverse movement of the servo electric cylinder includes:

[0028] The power-off control value of the servo electric cylinder at the current moment during the reverse motion of the servo electric cylinder is calculated according to the second formula.

[0029] Determine whether the current power-off control value of the servo electric cylinder is equal to the preset power supply control value;

[0030] If the power-off control value of the servo electric cylinder at the current moment is equal to the preset power supply control value, then continue to execute the step of controlling the servo electric cylinder to move in the opposite direction.

[0031] If the current power-off control value of the servo electric cylinder is not equal to the preset power-off control value, then the servo electric cylinder is powered off, and the power supply status of the servo electric cylinder is set to the power-off state.

[0032] The second formula is:

[0033]

[0034] In the second formula, E(t) represents the power-off control value of the servo electric cylinder at the current moment during the reverse movement of the servo electric cylinder; t represents the current moment; t0 represents the moment when the servo electric cylinder just reaches the overload state; I(t0) represents the operating current value when the servo electric cylinder just reaches the overload state; P m U represents the maximum load power of the servo electric cylinder; U represents the fixed voltage value applied across the servo electric cylinder; I(t) represents the operating current value of the servo electric cylinder at the current moment.

[0035] The step of generating a corresponding fault code and sending it to maintenance personnel based on the extension / retraction length of the servo electric cylinder when it just reaches the overload state includes:

[0036] The fault code of the servo electric cylinder is generated according to the third formula and sent to the maintenance personnel;

[0037] The third formula is as follows:

[0038] B2=E(t).&{(t-t0)2< <len[(S M )2]+(S)2}

[0039] In the third formula, B2 represents the binary form of the fault code for the servo electric cylinder; ()2 indicates converting the number within the parentheses to a binary number; S M The maximum extension length of the servo electric cylinder is indicated by len[]; len[] indicates the number of bits in the data within the parentheses; << indicates a left shift sign; .& indicates a bitwise AND operation between the unit value to the left of the sign and each bit in the binary data to the right to form a new binary data; S indicates the extension length of the servo electric cylinder when it just reaches the overload state.

[0040] In one optional embodiment, the preset power supply control value is 0.

[0041] This invention provides an overload preprocessing method based on a servo electric cylinder. First, the operating current value of the servo electric cylinder used for lifting control of a platform is collected in real time. Then, the extension / retraction speed of the servo electric cylinder is controlled based on this operating current value. Next, the extension / retraction speed is used to determine whether the servo electric cylinder has reached an overload state. Finally, if the servo electric cylinder is determined to be in an overload state, it is controlled to reverse its movement. This invention has high execution efficiency and can control the reverse movement of the servo electric cylinder when it is in an overload state, effectively preventing damage to the servo electric cylinder and ensuring equipment safety. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 A flowchart of an embodiment of an overload preprocessing method based on a servo electric cylinder provided by the present invention;

[0044] Figure 2The flowchart is shown in Embodiment 2 of an overload preprocessing method based on a servo electric cylinder provided by the present invention. Detailed Implementation

[0045] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0046] It should be understood that the described embodiments are merely some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0047] Figure 1 This is a flowchart of an embodiment of an overload preprocessing method based on a servo electric cylinder provided by the present invention. See also... Figure 1 The method includes the following steps S101-S104:

[0048] S101: Real-time acquisition of the operating current value of the servo electric cylinder used for lifting control of the lifting platform.

[0049] In this embodiment, since the voltage of the servo electric cylinder is constant, if the lifting platform is jammed, the current value of the servo electric cylinder used for lifting control will increase. Therefore, the current value is collected to facilitate subsequent judgment on whether the servo electric cylinder is in an overload operation state.

[0050] S102: Control the extension and retraction speed of the servo electric cylinder according to the working current value of the servo electric cylinder.

[0051] As an optional embodiment, step S102 includes:

[0052] S1021: Based on the operating current value of the servo electric cylinder, determine the extension / retraction speed control value of the servo electric cylinder according to the first formula.

[0053] The first formula is:

[0054]

[0055] Where V(t) represents the extension / retraction speed control value of the servo electric cylinder at the current moment; t represents the current moment; L0 represents the standard extension / retraction length of the servo electric cylinder after receiving an extension / retraction trigger pulse from the control board at the previous moment; f m P represents the maximum frequency value of the extension trigger pulse; m U represents the maximum load power of the servo electric cylinder; U represents the fixed voltage value applied across the servo electric cylinder; I0 represents the operating current value of the servo electric cylinder in the standby state without load; I(t) represents the operating current value of the servo electric cylinder at the current moment.

[0056] In this embodiment, the extension and retraction speed of the servo electric cylinder is calculated based on the current value of the servo electric cylinder. If the operating current value of the servo electric cylinder reaches a relatively large value at the current moment, such that the current power U×I(t)=P m When V(t) = 0 is calculated according to the first formula, the servo electric cylinder is stopped. The lifting speed of the lifting platform, i.e., the extension speed of the servo electric cylinder, is controlled based on this calculated extension speed control value. This has two advantages: firstly, it allows for timely stopping of lifting when the servo electric cylinder reaches an overload state, ensuring equipment safety; secondly, it allows for dynamic adjustment based on different overload threshold values ​​(i.e., Pm), so that the larger the overload threshold value, the faster the speed decreases, improving the compatibility of the method.

[0057] S1022: Control the servo electric cylinder to operate according to the extension / retraction speed control value of the servo electric cylinder.

[0058] S103: Determine whether the servo electric cylinder has reached an overload state based on the extension and retraction speed of the servo electric cylinder. If yes, execute S104; otherwise, return to execute S101.

[0059] S104: Control the servo electric cylinder to move in the opposite direction.

[0060] As an optional embodiment, after step S104, the method further includes: controlling the power supply state of the servo electric cylinder according to the working current value during the reverse movement of the servo electric cylinder.

[0061] In this embodiment, when the servo electric cylinder is in an overload state, the servo electric cylinder is moved in the opposite direction, which can help the servo electric cylinder get out of the overload state as soon as possible. After the overload state is removed, the electric cylinder is then powered off to ensure that there is no stress compression and effectively protect the servo electric cylinder.

[0062] As an optional embodiment, step S103 may include the following steps S1031-S1033:

[0063] S1031: Determine whether the extension / retraction speed control value of the servo electric cylinder at the current moment is greater than the preset speed threshold; if yes, execute S1032, otherwise execute S1033.

[0064] In this embodiment, the preset speed threshold is 0, which can also be a small value. When the extension and retraction speed of the servo electric cylinder is 0, the corresponding current power of the servo electric cylinder (i.e., U×I(t)) has reached the maximum load power (i.e., P). m In case of overload, the servo electric cylinder should be promptly controlled to remove itself from the overload state, such as by reversing its operation, so as to prevent damage to the servo electric cylinder.

[0065] S1032: Determine that the servo electric cylinder has not reached an overload state.

[0066] S1033: Determine that the servo electric cylinder has reached an overload state.

[0067] This invention provides an overload preprocessing method based on a servo electric cylinder. First, the operating current value of the servo electric cylinder used for lifting control of a platform is collected in real time. Then, the extension / retraction speed of the servo electric cylinder is controlled based on this operating current value. Next, the extension / retraction speed is used to determine whether the servo electric cylinder has reached an overload state. Finally, if the servo electric cylinder is determined to be in an overload state, it is controlled to reverse its movement. This invention has high execution efficiency and can control the reverse movement of the servo electric cylinder when it is in an overload state, effectively preventing damage to the servo electric cylinder and ensuring equipment safety.

[0068] Figure 2 This is a flowchart of an embodiment of an overload preprocessing method based on a servo electric cylinder provided by the present invention. See also... Figure 2 The method includes the following steps S201-S208:

[0069] S201: Real-time acquisition of the operating current value of the servo electric cylinder used for lifting control of the lifting platform.

[0070] S202: Control the extension and retraction speed of the servo electric cylinder according to the working current value of the servo electric cylinder.

[0071] S203: Determine whether the servo electric cylinder has reached an overload state based on the extension and retraction speed of the servo electric cylinder. If yes, execute S204; otherwise, return to execute S201.

[0072] S204: Record the extension length and operating current value of the servo electric cylinder when it just reaches the overload state.

[0073] S205: Control the servo electric cylinder to move in the opposite direction.

[0074] S206: Control the power supply status of the servo electric cylinder according to the working current value during the reverse movement of the servo electric cylinder.

[0075] S207: Determine whether the power supply status of the servo electric cylinder is off; if yes, execute S208, otherwise execute S205.

[0076] S208: Based on the extension length of the servo electric cylinder when it just reaches the overload state, generate a corresponding fault code and send it to the maintenance personnel.

[0077] As an optional embodiment, step S206 may include the following steps S2061-S2063:

[0078] S2061: Calculate the power-off control value of the servo electric cylinder at the current moment during the reverse motion of the servo electric cylinder according to the second formula.

[0079] The second formula is:

[0080]

[0081] Where E(t) represents the power-off control value of the servo electric cylinder at the current moment during the reverse movement of the servo electric cylinder; t represents the current moment; t0 represents the moment when the servo electric cylinder just reaches the overload state; I(t0) represents the operating current value when the servo electric cylinder just reaches the overload state; P m U represents the maximum load power of the servo electric cylinder; U represents the fixed voltage value applied across the servo electric cylinder; I(t) represents the operating current value of the servo electric cylinder at the current moment.

[0082] In this embodiment, the power supply of the servo electric cylinder is controlled based on the current value of the servo electric cylinder monitored in real time when the servo electric cylinder performs reverse movement. Then, the power is cut off after the servo electric cylinder is out of the overload state to ensure that there is no stress compression, or the power is cut off in time to protect the safety of the device when the overload state fault is detected to increase.

[0083] S2062: Is the power-off control value of the servo electric cylinder at the current moment equal to the preset power supply control value? If yes, execute back to execute S205; otherwise, execute S2063.

[0084] In this embodiment, the preset power supply control value is 0. If E(t) = 1, the power supply to the servo electric cylinder is turned off; if E(t) = 0, the power supply to the servo electric cylinder is not turned off. This method is simple and helps improve system execution efficiency.

[0085] S2063: Power off the servo electric cylinder and set the power supply status of the servo electric cylinder to power off.

[0086] Step S208 includes: generating a fault code for the servo electric cylinder according to the third formula and sending it to the maintenance personnel.

[0087] The third formula is as follows:

[0088] B2=E(t).&{(t-t0)2< <len[(S M )2]+(S)2} (3)

[0089] In the third formula, B2 represents the binary form of the fault code for the servo electric cylinder; ()2 indicates converting the number within the parentheses to a binary number; S M The maximum extension length of the servo electric cylinder is indicated by len[]; len[] indicates the number of bits in the data within the parentheses; << indicates a left shift sign; .& indicates a bitwise AND operation between the unit value to the left of the sign and each bit in the binary data to the right to form a new binary data; S indicates the extension length of the servo electric cylinder when it just reaches the overload state.

[0090] In this embodiment, if every bit of data in B2 is 0, it indicates that the current fault report has not yet been fully generated, and the fault report is not sent yet; if not every bit of data in B2 is 0, it indicates that the current fault report has been fully generated, and the fault report is sent to the maintenance personnel. The fault report is generated based on the recorded maximum extension / retraction length of the servo electric cylinder. The report contains information about the length of the fault point and the duration of the equipment overload state, facilitating maintenance personnel in their repair work.

[0091] This invention provides an overload preprocessing method based on a servo electric cylinder. First, the operating current value of the servo electric cylinder used for lifting control of a platform is collected in real time. Then, the extension / retraction speed of the servo electric cylinder is controlled based on this operating current value. Next, the extension / retraction speed is used to determine if the servo electric cylinder has reached an overload state. If an overload state is determined, the servo electric cylinder is controlled to reverse its movement. Finally, a fault code is generated and sent to maintenance personnel. This invention features high execution efficiency and the ability to control the reverse movement of the servo electric cylinder when it is overloaded, effectively preventing damage to the servo electric cylinder, ensuring equipment safety, and generating a fault code for rapid subsequent maintenance of the servo electric cylinder, thus effectively improving maintenance efficiency.

[0092] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0093] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0094] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0095] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims and their equivalents, this invention also intends to include these modifications and variations. The above descriptions are merely specific embodiments of this invention, but the scope of protection of this invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this invention should be included within the scope of protection of this invention. Therefore, the scope of protection of this invention should be determined by the scope of the claims.

Claims

1. An overload preprocessing method based on a servo electric cylinder, characterized in that, include: Real-time acquisition of the operating current value of the servo electric cylinder used for lifting control of the lifting platform; The extension and retraction speed of the servo electric cylinder is controlled according to the operating current value of the servo electric cylinder; Determine whether the servo electric cylinder has reached an overload state based on the extension and retraction speed of the servo electric cylinder; If the servo electric cylinder reaches an overload state, the servo electric cylinder is controlled to move in the opposite direction. If the servo electric cylinder has not reached the overload state, then return to the step of real-time acquisition of the working current value of the servo electric cylinder used for lifting control of the lifting platform; The step of controlling the extension and retraction speed of the servo electric cylinder based on its operating current value includes: Based on the operating current value of the servo electric cylinder, the extension and retraction speed control value of the servo electric cylinder is determined according to the first formula; The servo electric cylinder is controlled to operate according to the extension and retraction speed control value of the servo electric cylinder; The first formula is ； in, This indicates the extension / retraction speed control value of the servo electric cylinder at the current moment; Indicates the current moment; This indicates the standard extension length of the servo electric cylinder after receiving an extension trigger pulse from the control board at the previous moment; This indicates the maximum frequency value of the extension trigger pulse; This indicates the maximum load power of the servo electric cylinder; This indicates the fixed voltage value applied across the servo electric cylinder; This indicates the operating current value of the servo electric cylinder in the standby state without load; This indicates the current operating current value of the servo electric cylinder at the current moment.

2. The overload preprocessing method based on a servo electric cylinder as described in claim 1, characterized in that, If the servo electric cylinder reaches an overload state, after controlling the servo electric cylinder to reverse its movement, the method further includes: The power supply status of the servo electric cylinder is controlled based on the operating current value during the reverse movement of the servo electric cylinder.

3. The overload preprocessing method based on a servo electric cylinder as described in claim 2, characterized in that, If the servo electric cylinder reaches an overload state, before controlling the servo electric cylinder to perform reverse movement, the following steps are also included: Record the extension length and operating current value of the servo electric cylinder when it just reaches the overload state; After controlling the power supply state of the servo electric cylinder based on the operating current value during the reverse movement of the servo electric cylinder, the method further includes: When the power supply is in a power-off state, a corresponding fault code is generated and sent to the maintenance personnel based on the extension length of the servo electric cylinder when it just reaches the overload state.

4. The overload preprocessing method based on a servo electric cylinder as described in claim 1, characterized in that, The step of determining whether the servo electric cylinder has reached an overload state based on the extension and retraction speed of the servo electric cylinder includes: Determine whether the extension / retraction speed control value of the servo electric cylinder at the current moment is greater than a preset speed threshold; If so, it is determined that the servo electric cylinder has not reached an overload state; otherwise, it is determined that the servo electric cylinder has reached an overload state.

5. The overload pretreatment method based on a servo electric cylinder as described in claim 4, characterized in that, The preset speed threshold is 0.

6. The overload preprocessing method based on a servo electric cylinder as described in claim 3, characterized in that, The step of controlling the power supply status of the servo electric cylinder based on the operating current value during the reverse movement of the servo electric cylinder includes: The power-off control value of the servo electric cylinder at the current moment during the reverse motion of the servo electric cylinder is calculated according to the second formula. Determine whether the current power-off control value of the servo electric cylinder is equal to the preset power supply control value; If the power-off control value of the servo electric cylinder at the current moment is equal to the preset power supply control value, then continue to execute the step of controlling the servo electric cylinder to move in the opposite direction. If the current power-off control value of the servo electric cylinder is not equal to the preset power-off control value, then the servo electric cylinder is powered off, and the power supply status of the servo electric cylinder is set to the power-off state. The second formula is: ； In the second formula, This indicates the power-off control value of the servo electric cylinder at the current moment during the reverse movement of the servo electric cylinder; Indicates the current moment; This indicates the moment when the servo electric cylinder just reaches the overload state; This indicates the operating current value when the servo electric cylinder just reaches the overload state; This indicates the maximum load power of the servo electric cylinder; This indicates the fixed voltage value applied across the servo electric cylinder; This indicates the current operating current value of the servo electric cylinder at the current moment; The step of generating a corresponding fault code and sending it to maintenance personnel based on the extension / retraction length of the servo electric cylinder when it just reaches the overload state includes: The fault code of the servo electric cylinder is generated according to the third formula and sent to the maintenance personnel; The third formula is as follows: ； In the third formula, The fault code in binary form represents the fault code of the servo electric cylinder; This indicates that the number inside the parentheses is converted to a binary number; This indicates the maximum extension / retraction length of the servo electric cylinder; This indicates the number of digits in the data within the parentheses; Indicates the left shift symbol; This indicates that a bitwise AND operation is performed between the unit value on the left of the symbol and each bit of the binary data on the right to form a new binary data. This indicates the extension length of the servo electric cylinder when it just reaches the overload state.

7. The overload preprocessing method based on a servo electric cylinder as described in claim 6, characterized in that, The preset power supply control value is 0.

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