A control method, apparatus, device, and computer readable storage medium

Abstract

Embodiments of the present application disclose a control method, device, equipment and computer readable storage medium, wherein the method comprises: acquiring a first alternating current signal and a second alternating current signal, wherein the first alternating current signal is used for driving a first winding of a synchronous motor, and the second alternating current signal is used for driving a second winding of the synchronous motor; determining a phase difference value of the first alternating current signal and the second alternating current signal; and controlling a rotation direction of a rotating device based on the phase difference value.

Description

Technical Field

[0001] This application relates to the field of synchronous motor control technology, and includes, but is not limited to, a control method, device, equipment, and computer-readable storage medium. Background Technology

[0002] As people's living standards gradually improve, devices such as fans, heaters, and air circulators with oscillation functions are becoming more and more common. At present, most oscillation devices use stepper motors or synchronous motors. Since synchronous motors have stronger driving force and lower noise than stepper motors, they are becoming more and more popular.

[0003] At the same time, because the synchronous motor is driven to reverse by the resistance generated by the resistance generated by the oscillating mechanism in the equipment when it reaches the limit boundary position, the direction of rotation of the synchronous motor depends on the set limit boundary position. Therefore, it is impossible to achieve precise control of the rotation direction, which affects the performance of the equipment and reduces its stability. Summary of the Invention

[0004] In view of the above, embodiments of this application provide a control method, apparatus, device, and computer-readable storage medium.

[0005] The technical solution of this application embodiment is implemented as follows:

[0006] In a first aspect, embodiments of this application provide a control method, the method comprising:

[0007] Acquire a first AC signal and a second AC signal, wherein the first AC signal is used to drive the first winding of the synchronous motor; and the second AC signal is used to drive the second winding of the synchronous motor.

[0008] Determine the phase difference between the first AC signal and the second AC signal;

[0009] The rotation direction of the rotating device is controlled based on the phase difference value.

[0010] Secondly, embodiments of this application provide a control device, the device comprising:

[0011] An acquisition module is used to acquire a first AC signal and a second AC signal, wherein the first AC signal is used to drive the first winding of the synchronous motor; and the second AC signal is used to drive the second winding of the synchronous motor.

[0012] The determining module is used to determine the phase difference between the first AC signal and the second AC signal;

[0013] The control module is used to control the rotation direction of the rotating device based on the phase difference value.

[0014] Thirdly, embodiments of this application provide a control device, the device comprising at least:

[0015] Processor; and

[0016] Memory for storing computer programs that can run on the processor;

[0017] The computer program, when executed by the processor, implements the steps of the above control method.

[0018] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions configured to perform the steps of the above-described control method.

[0019] This application provides a control method, apparatus, device, and computer-readable storage medium. First, a first AC signal for driving the first winding of a synchronous motor and a second AC signal for driving the second winding of the synchronous motor are acquired. Then, the phase difference between these two AC signals is determined. Finally, the rotation direction of a rotating device is controlled based on this phase difference. Thus, by determining the phase difference between the two AC signals to control the rotation direction, precise control of the rotation direction is achieved. Based on this, the rotation direction of the rotating device can be controlled at a specified position according to actual needs through the phase difference, so that the rotation direction does not depend on the position of the limit boundary. Simultaneously, stalling is avoided, thereby extending the service life of the synchronous motor and improving its performance and stability. Attached Figure Description

[0020] In the accompanying drawings (which are not necessarily drawn to scale), similar reference numerals may describe similar parts in different views. The drawings illustrate, by way of example and not limitation, the various embodiments discussed herein.

[0021] Figure 1 This is a schematic diagram illustrating an implementation flow of the control method provided in an embodiment of this application;

[0022] Figure 2 A schematic diagram of an oscillating fan provided in an embodiment of this application;

[0023] Figure 3 A schematic diagram simulating the rotation of the rotating device provided in the embodiment of this application between a first reference position and a second reference position;

[0024] Figure 4 A waveform display diagram of the first AC signal and the second AC signal provided in an embodiment of this application;

[0025] Figure 5 A schematic diagram of another oscillating fan provided in an embodiment of this application;

[0026] Figure 6 Another waveform display diagram of the first AC signal and the second AC signal provided in the embodiments of this application;

[0027] Figure 7 A schematic diagram illustrating another implementation flow of the control method provided in the embodiments of this application;

[0028] Figure 8 A schematic diagram illustrating another implementation of the control method provided in this application embodiment;

[0029] Figure 9 This is a schematic diagram illustrating another implementation flow of the control method provided in the embodiments of this application;

[0030] Figure 10 This is a schematic diagram of the composition of the control device provided in the embodiments of this application;

[0031] Figure 11 This is a schematic diagram of the composition structure of the control device provided in the embodiments of this application. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. The described embodiments should not be regarded as limitations on this application. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0033] In the following description, references are made to “some embodiments,” which describe a subset of all possible embodiments. However, it is understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0034] In the following description, the terms "first, second, third" are used merely to distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first, second, third" may be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0035] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0036] Before providing a further detailed description of the embodiments of this application, the nouns and terms involved in the embodiments of this application will be explained, and the nouns and terms involved in the embodiments of this application shall be interpreted as follows.

[0037] 1) Motor stall occurs when a motor continues to output torque even when its rotational speed is 0 rpm. This is usually caused by mechanical or human error. It is a phenomenon where the motor fails to start or stop rotating due to excessive motor load, mechanical failure of the driven component, damaged bearings, or rotor rubbing.

[0038] 2) A Hall sensor is a magnetic field sensor based on the Hall effect. The Hall effect is a type of magnetoelectric effect. Hall sensors have advantages such as sensitivity to magnetic fields, simple structure, small size, wide frequency response, large output voltage variation, and long service life. Therefore, they are widely used in measurement, automation, computer, and information technology fields.

[0039] 3) Synchronous motors are a type of commonly used AC motor. Synchronous motors are the heart of a power system. They are components that integrate rotation and stillness, electromagnetic changes and mechanical motion to convert electrical energy into mechanical energy. Their dynamic performance is extremely complex, and it has a significant impact on the dynamic performance of the entire power system.

[0040] 4) Windings refer to a set of turns that form the electrical circuit corresponding to a specific voltage value marked on the transformer. Different numbers of turns in each auxiliary winding result in different terminal voltages; therefore, multi-winding transformers can supply power to several electrical devices with different voltages. The excitation winding (also called the magnetizing winding) is a coil winding that generates a magnetic field. In motors and generators, there are generally series and shunt windings. In generators, the excitation winding can replace permanent magnets, generating a strong magnetic flux density that permanent magnets cannot produce, and it is easily adjustable, thus enabling high-power generation. The armature winding consists of a certain number of armature coils connected according to a certain pattern. It is the circuit part of a DC motor and also the part that induces electromotive force, generates electromagnetic torque, and performs electromechanical energy conversion. The coils are wound with insulated circular or rectangular cross-section wires, embedded in the armature core slots in two layers. The upper and lower layers, as well as the coils and the armature core, must be properly insulated and pressed together with slot wedges. In large motors, the ends of the armature windings are usually tightly bound to the winding support.

[0041] 5) A coil (winding element) is the basic unit that makes up a winding. A winding is simply a coil arranged and connected according to a certain pattern. Coils can be classified into multi-turn coils and single-turn coils.

[0042] 6) The stator is the stationary part of the motor. It consists of three parts: the stator core, the stator windings, and the frame. The main function of the stator is to generate a rotating magnetic field, while the main function of the rotor is to be cut by magnetic lines of force within this rotating magnetic field, thereby generating (output) current.

[0043] To address the problems existing in related technologies, this application provides a control method applied to a control device. The method provided in this embodiment can be implemented by a computer program, which, when executed, completes each step of the control method provided in this embodiment. In some embodiments, the computer program can control the processor in the device to execute. Figure 1 This is a schematic diagram illustrating an implementation flow of the control method provided in an embodiment of this application, such as... Figure 1 As shown, the method includes:

[0044] Step S101: Obtain the first AC signal and the second AC signal.

[0045] In this embodiment, the first AC signal is used to drive the first winding of the synchronous motor; the second AC signal is used to drive the second winding of the synchronous motor. The first AC signal can be a periodic signal, such as a sinusoidal AC signal, a cosine AC signal, etc.; and the first AC signal can be a voltage signal or a current signal. Similarly, the second AC signal can be a periodic signal, such as a sinusoidal AC signal, a cosine AC signal, etc.; and the second AC signal can be a voltage signal or a current signal. Here, the first and second AC signals are of the same type; for example, both the first and second AC signals are sinusoidal signals or both are cosine signals, and the period and amplitude of the first and second AC signals are the same, but there is a certain phase difference between the first and second AC signals.

[0046] In actual implementation, a synchronous motor includes a first winding and a second winding, and the two windings have the same winding direction. In addition, the two windings are of the same type, which can be either excitation windings or armature windings.

[0047] The first AC signal is connected to the first winding, providing a corresponding current or voltage to the first winding to drive it to move under the influence of the magnetic field around the first winding; similarly, the second AC signal is connected to the second winding, providing a corresponding current or voltage to the second winding to drive it to move under the influence of the magnetic field around the second winding.

[0048] Step S102: Determine the phase difference between the first AC signal and the second AC signal.

[0049] After executing step S101, the control device has acquired the first AC signal and the second AC signal. Furthermore, it has acquired the waveform, amplitude, phase and other elements of the two signals. Based on this, the microcontroller unit (MCU) in the control device can calculate the difference between the two phases to determine the phase difference between the first AC signal and the second AC signal.

[0050] Step S103: Based on the phase difference value, control the rotation direction of the rotating device.

[0051] Here, the rotating device can be the oscillating mechanism in an electric fan, heater, air circulator, etc. Taking a fan as an example, such as... Figure 2 As shown, the fan includes an oscillating mechanism 21, a support rod 22, and a base 23. The support rod 22 and the base 23 are fixed, while the oscillating mechanism 21 can rotate up and down. In other embodiments of this application, the oscillating mechanism can also rotate up and down and / or left and right. The embodiments of this application are merely illustrative and do not limit the rotation of the oscillating mechanism.

[0052] When implementing step S103, the MCU first determines the phase relationship between the first AC signal and the second AC signal through the phase difference, and then controls the rotation direction of the rotating device according to the phase relationship.

[0053] In the embodiments of this application, such as Figure 3 As shown, the synchronous motor can drive the rotating device to rotate back and forth between the first reference position and the second reference position, wherein the first reference position and the second reference position are the limit boundary positions of the rotation of the rotating device.

[0054] In some embodiments, when a phase difference value is determined to represent a preset value indicating that the phase of the first AC signal leads the phase of the second AC signal, the rotating device is controlled to rotate toward the first reference position; conversely, when a phase difference value is determined to represent a preset value indicating that the phase of the first AC signal leads the phase of the second AC signal, the rotating device is controlled to rotate toward the first reference position, that is, to rotate toward the second reference position. Here, the preset value can be 80 degrees, 90 degrees, 100 degrees, etc., and can be preset by the manufacturer before shipment or determined by user customization. Thus, the rotation direction of the rotating device is controlled by the phase difference value of the two AC signals, achieving precise control of the rotation direction.

[0055] This application provides a control method that first acquires a first AC signal for driving the first winding of a synchronous motor and a second AC signal for driving the second winding of the synchronous motor. Then, the phase difference between these two AC signals is determined. Finally, the rotation direction of the rotating device is controlled based on this phase difference. Thus, by determining the phase difference between the two AC signals to control the rotation direction, different rotation directions can be controlled using different phase differences, thereby achieving precise control of the rotation direction. Based on this, the rotation direction of the rotating device can be controlled at a specified position using the corresponding phase difference according to actual needs, so that the rotation direction does not depend on the position of the limit boundary. At the same time, it also avoids stalling, thereby extending the service life of the synchronous motor and improving its performance and stability.

[0056] In some embodiments, step S103 can be achieved through the following steps S11A or S11B:

[0057] Step S11A: When it is determined that the phase difference value represents a preset value in which the phase of the first AC signal leads the phase of the second AC signal, the rotating device is controlled to rotate toward the first reference position.

[0058] Here, the preset value can be 80 degrees, 90 degrees, 100 degrees, etc. Taking 90 degrees as an example, the phase of the first AC signal and the phase of the second AC signal are obtained, and by comparing these two phases, such as... Figure 4 As shown, when the phase of the first AC signal is determined to be 90 degrees ahead of the phase of the second AC signal, the rotating device is controlled to rotate toward the first reference position.

[0059] The first reference position can be set as the position of the rotating device when it coincides with the sensor, such as... Figure 5 As shown, taking a fan as an example, a fan typically contains a sensor 31, a sensing element 32, and a synchronous motor 33. The sensor 31 is fixedly mounted on a support rod, the sensing element 32 is mounted on the oscillation mechanism, and the synchronous motor 33 drives the oscillation mechanism to rotate. The sensing element 32 rotates along with the oscillation mechanism. Figure 5 If the sensor 31 and the sensing element 32 are in the same position, then the position of the swaying mechanism 21 is the first reference position.

[0060] Step S11B: When the phase difference value represents the preset value that indicates the phase of the second AC signal is ahead of the phase of the first AC signal, control the rotating device to rotate away from the first reference position.

[0061] Here, the preset value can be 80 degrees, 90 degrees, 100 degrees, etc. Taking 90 degrees as an example, the phase of the first AC signal and the phase of the second AC signal are obtained, and by comparing these two phases, such as... Figure 6 As shown, when it is determined that the phase of the second AC signal leads the phase of the first AC signal by 90 degrees, the rotating device is controlled to rotate away from the first reference position, that is, the rotating device is controlled to rotate towards the second reference position, so that the rotating device can achieve rotation in the opposite direction to step S11A.

[0062] When the phase of the first AC signal is determined to be ahead of the phase of the second AC signal by a preset value in step S11A, the rotating device is controlled to rotate toward the first reference position; and when the phase of the second AC signal is determined to be ahead of the phase of the first AC signal by a preset value in step S11B, the rotating device is controlled to rotate away from the first reference position, thereby achieving precise control of the rotation direction of the rotating device through the phase difference.

[0063] In some embodiments, before implementing step S101, such as Figure 7 As shown, the method further includes:

[0064] Step S701: Obtain the current position of the rotating device.

[0065] Here, a reference coordinate system can be established. The current position can be the coordinate position of the end of the rotating device, or it can be the position of the rotating device as a whole in the coordinate system. Here, the MCU can obtain the current position of the rotating device in real time.

[0066] Step S702: Determine whether the current position is at the first reference position.

[0067] If the current position is at the first reference position, proceed to step S703; otherwise, proceed to step S704.

[0068] Step S703: Adjust the first AC signal and the second AC signal so that the phase of the second AC signal leads the phase of the first AC signal by the preset value.

[0069] At this time, the rotating device is in the first reference position, indicating that the rotating device is currently in a limit boundary position. Under normal operation, the rotating device should start to rotate away from the first reference position. Then, the MCU will adjust the first AC signal and the second AC signal so that the phase of the second AC signal leads the phase of the first AC signal by the preset value, thereby realizing the rotating device rotating away from the first reference position, avoiding the phenomenon of the rotating device blocking at the limit boundary position, and realizing the control of the rotation direction of the rotating device.

[0070] In some embodiments, adjusting the first AC signal and the second AC signal can be achieved by resetting the phase of the first AC signal and the phase of the second AC signal. Taking a preset value of 90 degrees as an example, the initial phase of the second AC signal can be set to 90 degrees and the initial phase of the first AC signal can be set to 0 degrees, thereby making the phase of the second AC signal lead the phase of the first AC signal by 90 degrees and realizing the rotation of the rotating device away from the first reference position.

[0071] Step S704: Determine whether the current position is at the second reference position.

[0072] If the current position is at the second reference position, then proceed to step S705; otherwise, proceed to step S701. Of course, in some embodiments, step S704 may be executed first, followed by step S702. This application does not specifically limit the order of execution of these two steps.

[0073] Step S705: Adjust the first AC signal and the second AC signal so that the phase of the first AC signal leads the phase of the second AC signal by the preset value.

[0074] At this time, the rotating device is in the second reference position, indicating that the rotating device is currently in another limit boundary position. Under normal operation, the rotating device should start to rotate toward the first reference position (that is, away from the second reference position). Then, the MCU will adjust the first AC signal and the second AC signal so that the phase of the first AC signal leads the phase of the second AC signal by the preset value, thereby realizing the rotating device rotating toward the first reference position (that is, away from the second reference position), avoiding the phenomenon of the rotating device blocking at the limit boundary position, and realizing the control of the rotation direction of the rotating device.

[0075] In some embodiments, adjusting the first AC signal and the second AC signal can be achieved by resetting the phase of the first AC signal and the phase of the second AC signal. Taking a preset value of 90 degrees as an example, the initial phase of the first AC signal can be set to 90 degrees and the initial phase of the second AC signal can be set to 0 degrees, thereby making the phase of the first AC signal lead the phase of the second AC signal by 90 degrees, and realizing the rotation of the rotating device toward the first reference position.

[0076] Through the above steps S701 to S705, it is first determined whether the rotating device is currently at the limit boundary position. If it is at the limit boundary position, the first AC signal and the second AC signal are adjusted to make the rotating device rotate away from the current limit boundary position. This also enables the rotating device to control the rotation direction in a timely manner at the limit boundary position, thereby achieving precise control of the rotation direction of the rotating device.

[0077] In some embodiments, before implementing step S101, such as Figure 8 As shown, the method further includes:

[0078] Step S801: Determine the first target angle based on the rotation direction.

[0079] When the rotation direction is determined to be toward the first reference position, the first preset angle is determined as the first target angle; when the rotation direction is determined to be away from the first reference position, the second preset angle is determined as the first target angle, wherein the first preset angle is smaller than the second preset angle.

[0080] Here, assuming the current position of the rotating device can be obtained in real time, the rotation direction can be determined by measuring the distance between the current position and the first reference position. If this distance gradually decreases, the rotation direction is determined to be towards the first reference position. Then, a first preset angle is set as the first target angle. For example, the first preset angle can be 0 degrees, 2 degrees, etc. When the first preset angle is 0 degrees, it indicates that the synchronous motor can control the rotating device to rotate to the first reference position, meaning the closest position of the rotating device to the first reference position coincides with it. When the first preset angle is 2 degrees, it indicates that the synchronous motor can control the rotating device to rotate to a position where the angle between it and the first reference position is 2 degrees.

[0081] If the distance gradually increases, it can be determined that the rotation direction is away from the first reference position. Then, the second preset angle is set as the first target angle. The second preset angle can be the maximum rotation angle of the rotating device set at the factory, or it can be a user-defined angle. However, when setting a user-defined angle, the angle must be less than or equal to the maximum rotation angle of the rotating device. The second preset angle can be 60 degrees, 90 degrees, 180 degrees, etc. When the second preset angle is 60 degrees, it indicates that the synchronous motor can control the rotating device to rotate to a position 60 degrees away from the first reference position; and when the second preset angle is 90 degrees, it indicates that the synchronous motor can control the rotating device to rotate to a position 90 degrees away from the first reference position.

[0082] Step S802: Obtain the current running angle and the current running angular velocity.

[0083] The current operating angle refers to the angle between the current position of the rotating device and the first reference position. The current position of the rotating device can be obtained by a sensor on the rotating device. Furthermore, the current operating angle can be obtained based on the current position and the first reference position.

[0084] The current operating angular velocity refers to the angle that the rotating device moves per unit time. It can characterize the rotation speed of the rotating device. The current operating angular velocity can be obtained directly through a speed sensor, or it can be obtained based on the operating time and operating angle.

[0085] Step S803: Determine the direction holding time based on the first target angle, the current running angle, and the current running angular velocity.

[0086] Here, the phase difference value remains unchanged during the duration of the direction maintenance. In actual implementation, step S803 can be achieved through the following steps S21 and S22:

[0087] Step S21: Determine the angle difference based on the first target angle and the current operating angle.

[0088] Here, when the first target angle is greater than the current operating angle, the difference between the first target angle and the current operating angle can be determined as the angle difference; when the first target angle is less than the current operating angle, the difference between the current operating angle and the first target angle can be determined as the angle difference. That is, in this embodiment, the angle difference is a positive number.

[0089] Step S22: Determine the duration of the direction maintenance based on the angle difference and the current operating angular velocity.

[0090] Here, the angle difference can be used as the dividend, the current operating angular velocity as the divisor, and the quotient of the angle difference and the current operating angular velocity can be used as the duration of the direction of these two AC signals.

[0091] Step S804: Start the timer and obtain the timer duration.

[0092] While performing step S803, step S804 is also performed, that is, the timing is started while the direction holding time is determined.

[0093] Step S805: Determine whether the timing duration has reached the direction holding duration.

[0094] If the timing duration reaches the direction holding duration, it means that the rotation direction needs to be adjusted, and step S806 is executed; if the timing duration does not reach the direction holding duration, it means that the rotation direction does not need to be adjusted, and the rotation can continue in the original direction, and step S802 is executed.

[0095] Step S806: When the timing duration reaches the direction holding duration, determine the current phase difference between the first AC signal and the second AC signal.

[0096] Step S807: Determine whether the current phase difference value indicates that the phase of the first AC signal is ahead of the preset phase value of the second AC signal.

[0097] If the current phase indicates that the phase of the first AC signal is ahead of the preset phase of the second AC signal, it means that the rotation direction is towards the first reference position. Then, the rotation direction is changed to face away from the first reference position, and step S808 is executed. If the current phase does not indicate that the phase of the first AC signal is ahead of the preset phase of the second AC signal, it is necessary to continue to determine whether the current phase difference indicates that the phase of the second AC signal is ahead of the preset phase of the first AC signal. Then, step S809 is executed.

[0098] Step S808: When it is determined that the current phase difference value represents a preset value in which the phase of the first AC signal leads the phase of the second AC signal, the first AC signal and the second AC signal are adjusted so that the phase of the adjusted second AC signal leads the phase of the adjusted first AC signal by the preset value.

[0099] Step S809: Determine whether the current phase difference value indicates that the phase of the second AC signal is ahead of the preset phase value of the first AC signal.

[0100] If the current phase indicates that the phase of the second AC signal is ahead of the preset phase value of the first AC signal, it means that the rotation direction is away from the first reference position. Then, the rotation direction is controlled to change to face the first reference position, and step S810 is executed. If the current phase also does not indicate that the phase of the second AC signal is ahead of the preset phase value of the first AC signal, then the current running angle and the current running angular velocity are obtained, and step S802 is executed.

[0101] Step S810: When it is determined that the current phase difference value represents a preset value in which the phase of the second AC signal is ahead of the phase of the first AC signal, the first AC signal and the second AC signal are adjusted so that the phase of the adjusted first AC signal is ahead of the preset value in which the phase of the adjusted second AC signal is ahead of the preset value.

[0102] Through the above steps S801 to S810, a first target angle can be determined based on the rotation direction. Then, the direction holding time of the rotation direction is determined based on the first target angle, the current running angle, and the current running angular velocity, and a timer is started simultaneously. The rotation direction remains unchanged until the timer reaches the direction holding time. When the timer reaches the direction holding time, the first AC signal and the second AC signal are adjusted. If the phase of the current first AC signal leads the phase preset value of the second AC signal, then the phase of the adjusted second AC signal leads the phase preset value of the adjusted first AC signal. If the phase of the current second AC signal leads the phase preset value of the first AC signal, then the phase of the adjusted first AC signal leads the phase preset value of the adjusted second AC signal. This controls the rotation direction to change to the opposite direction to the current direction, thereby achieving precise control of the rotation direction of the rotating device through the timer.

[0103] Based on the foregoing embodiments, this application further provides a control method applied to a control device, referencing... Figure 4 The rotation direction of the synchronous motor is controlled by a first control program and a second control program. The first control program and the second control program are two independent programs. The first control program can control the generation of a first AC signal to drive the synchronous motor to rotate. Similarly, the second AC signal can control the generation of a second AC signal to drive the synchronous motor to rotate.

[0104] In practical implementation, when the first AC signal leads the second AC signal by a preset value, the synchronous motor can be controlled to rotate forward; conversely, when the second AC signal leads the first AC signal by a preset value, the synchronous motor can be controlled to rotate in reverse. Here, the forward and reverse rotation of the synchronous motor are relative. In this embodiment, it is assumed that the synchronous motor rotates forward when the rotating device is facing the Hall sensor, and in reverse when the rotating device is facing away from the Hall sensor. For example, when the preset value is 90 degrees, the synchronous motor exhibits better operational stability.

[0105] like Figure 9 As shown, the control method provided in this application embodiment can be implemented through the following steps S901 to S905:

[0106] Step S901: Obtain the first AC signal generated by the first control unit and the second AC signal generated by the second control unit.

[0107] Step S902: Determine whether the first AC signal leads the preset value of the second AC signal.

[0108] If the first AC signal leads the preset value of the second AC signal, it indicates that the two signals can control the synchronous motor to rotate forward, and step S903 is executed; if the first AC signal does not lead the preset value of the second AC signal, it is necessary to continue to determine whether the second AC signal leads the preset value of the first AC signal, and step S904 is executed.

[0109] Step S903: Control the synchronous motor to rotate forward.

[0110] Step S904: Determine whether the second AC signal leads the preset value of the first AC signal.

[0111] If the second AC signal is ahead of the preset value of the first AC signal, it indicates that the two signals can control the synchronous motor to reverse, and step S905 is executed; if the second AC signal is not ahead of the preset value of the first AC signal, the first control unit generates the first AC signal and the second control unit generates the second AC signal, and step S901 is executed.

[0112] Step S905: Control the synchronous motor to reverse.

[0113] In some embodiments, the operating angular velocity of the rotating device can be determined based on the maximum operating angle and the maximum required time, thereby controlling the operating angle of the rotating device by setting the operating time. The operating time is less than or equal to the maximum time, and correspondingly, the operating angle does not exceed the maximum angle. For example, refer to... Figure 3 Assuming the rotating device takes 18 seconds to move from the second reference position to the first reference position, and the operating angle is 90 degrees, then it can be determined that the time required to move 1 degree is 0.2 seconds, that is, the operating angular velocity is 0.2 rad / s. Based on this, the operating angle of the rotating device can be set. For example, the operating time can be set to 10 seconds, then the corresponding operating angle of the rotating device is 50 degrees. In this way, the operating angle of the rotating device can be controlled by setting the operating time.

[0114] Therefore, the control method provided in this application embodiment can, on the one hand, control the forward or reverse rotation of the synchronous motor by controlling the phase relationship between the first AC signal and the second AC signal; on the other hand, it can also control the operating angle of the rotating device by setting the running time, thereby enriching the function of the rotating device, realizing precise control of the synchronous motor, and improving the user experience. Furthermore, it avoids the problem of synchronous motor stalling, thus also improving the service life of the synchronous motor.

[0115] Based on the foregoing embodiments, this application provides a control device. The modules and units included in the device can be implemented by a processor in a computer device; of course, they can also be implemented by specific logic circuits. In the implementation process, the processor can be a central processing unit (CPU), a microprocessor (MPU), a digital signal processor (DSP), or a field programmable gate array (FPGA), etc.

[0116] This application embodiment further provides a control device, Figure 10 This is a schematic diagram of the composition of the control device provided in the embodiments of this application, such as... Figure 10 As shown, the control device 1000 includes:

[0117] The acquisition module 1001 is used to acquire a first AC signal and a second AC signal, wherein the first AC signal is used to drive the first winding of the synchronous motor; and the second AC signal is used to drive the second winding of the synchronous motor.

[0118] The determining module 1002 is used to determine the phase difference between the first AC signal and the second AC signal;

[0119] The control module 1003 is used to control the rotation direction of the rotating device based on the phase difference value.

[0120] In some embodiments, the control module 1003 includes:

[0121] A first control unit is configured to control the rotating device to rotate toward a first reference position when the phase difference value represents a preset value in which the phase of the first AC signal leads the phase of the second AC signal.

[0122] The second control unit is configured to control the rotating device to rotate away from the first reference position when the phase difference value represents a preset value indicating that the phase of the second AC signal leads the phase of the first AC signal.

[0123] In some embodiments, the acquisition module 1001 is further configured to acquire the current position of the rotating device. The control device 1000 further includes:

[0124] The first adjustment module is used to adjust the first AC signal and the second AC signal when the current position reaches the first reference position, so that the phase of the second AC signal leads the phase of the first AC signal by the preset value.

[0125] The second adjustment module is used to adjust the first AC signal and the second AC signal when the current position reaches the second reference position, so that the phase of the first AC signal leads the phase of the second AC signal by the preset value.

[0126] In some embodiments, the acquisition module 1001 is further configured to acquire the current operating angle and the current operating angular velocity. The determination module 1002 is further configured to determine a first target angle based on the rotation direction; and to determine a direction holding duration based on the first target angle, the current operating angle, and the current operating angular velocity, wherein the phase difference value remains unchanged during the direction holding duration.

[0127] In some embodiments, the determining module 1002 includes:

[0128] The first determining unit is used to determine the first preset angle as the first target angle when the rotation direction is toward the first reference position;

[0129] The second determining unit is used to determine the second preset angle as the first target angle when the rotation direction is opposite to the first reference position, wherein the first preset angle is smaller than the second preset angle.

[0130] In some embodiments, the determining module 1002 includes:

[0131] The third determining unit is used to determine the angle difference based on the first target angle and the current operating angle;

[0132] The fourth determining unit is used to determine the duration of the direction maintenance based on the angle difference and the current operating angular velocity.

[0133] In some embodiments, the determining module 1002 is further configured to determine the current phase difference between the first AC signal and the second AC signal when the timing duration reaches the direction holding duration. The control device 1000 further includes:

[0134] The startup module is used to start the timer and obtain the timer duration;

[0135] The third adjustment module is used to determine that when the current phase difference value represents a preset value in which the phase of the first AC signal leads the phase of the second AC signal, the first AC signal and the second AC signal are adjusted so that the phase of the adjusted second AC signal leads the phase of the adjusted first AC signal by the preset value.

[0136] The fourth adjustment module is used to determine that when the current phase difference value indicates that the phase of the second AC signal is ahead of the phase of the first AC signal by a preset value, the first AC signal and the second AC signal are adjusted so that the phase of the adjusted first AC signal is ahead of the phase of the adjusted second AC signal by the preset value.

[0137] It should be noted that, in the embodiments of this application, if the above-described control method is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiments of this application, or the part that contributes to the related technology, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), magnetic disks, or optical disks. Thus, the embodiments of this application are not limited to any specific hardware and software combination.

[0138] Accordingly, embodiments of this application provide a computer-readable storage medium storing a computer program thereon, characterized in that the computer program, when executed by a processor, implements the steps in the control method provided in the above embodiments.

[0139] This application provides a control device. Figure 11 This is a schematic diagram of the composition structure of the control device provided in the embodiments of this application, such as... Figure 11 As shown, the control device 1100 includes: a processor 1101, at least one communication bus 1102, a user interface 1103, at least one external communication interface 1104, and a memory 1105. The communication bus 1102 is configured to enable communication between these components. The user interface 1103 may include a display screen, and the external communication interface 1104 may include standard wired and wireless interfaces. The processor 1101 is configured to execute a program of a control method stored in the memory to implement the steps of the control method provided in the above embodiment.

[0140] The descriptions of the control device and storage medium embodiments above are similar to those of the method embodiments above, and have similar beneficial effects. For technical details not disclosed in the control device and storage medium embodiments of this application, please refer to the descriptions of the method embodiments of this application for understanding.

[0141] It should be noted that the descriptions of the storage medium and device embodiments above are similar to the descriptions of the method embodiments above, and have similar beneficial effects. For technical details not disclosed in the storage medium and device embodiments of this application, please refer to the descriptions of the method embodiments of this application for understanding.

[0142] It should be understood that the phrase "one embodiment" or "an embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of this application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. It should be understood that in the various embodiments of this application, the sequence numbers of the above-described processes do not imply a sequential order of execution; the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application. The sequence numbers of the above-described embodiments are merely descriptive and do not represent the superiority or inferiority of the embodiments.

[0143] 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 apparatus 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 apparatus. 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 apparatus that includes that element.

[0144] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple units or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or units can be electrical, mechanical, or other forms.

[0145] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units. They may be located in one place or distributed across multiple network units. Some or all of the units may be selected to achieve the purpose of this embodiment according to actual needs.

[0146] In addition, each functional unit in the various embodiments of this application can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0147] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as mobile storage devices, read-only memory (ROM), magnetic disks, or optical disks.

[0148] Alternatively, if the integrated units described above are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of this application, or the parts that contribute to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause an AC to execute all or part of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROMs, magnetic disks, or optical disks.

[0149] The above description is merely an embodiment of this application, but the scope of protection of this application 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 application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control method, characterized in that, The method includes: A first control program is acquired to control the generation of a first AC signal that drives the synchronous motor to rotate, and a second control program is acquired to control the generation of a second AC signal that drives the synchronous motor to rotate. The first control program and the second control program are two independent programs. The first AC signal is used to drive the first winding of the synchronous motor, and the second AC signal is used to drive the second winding of the synchronous motor. Determine the phase difference between the first AC signal and the second AC signal; When the phase difference value is determined to represent a preset value indicating that the phase of the first AC signal leads the phase of the second AC signal, the rotating device is controlled to rotate toward the first reference position. When the phase difference value is determined to represent the preset value that indicates the phase of the second AC signal is ahead of the phase of the first AC signal, the rotating device is controlled to rotate away from the first reference position. Wherein, the first reference position is the position of the rotating device when the rotating device and the sensor coincide, the sensor is fixedly installed on the support rod, the sensing element is installed on the head-shaking mechanism, and the sensing element can rotate with the rotation of the head-shaking mechanism; Before acquiring the first AC signal that the first control program controls to generate the rotation of the synchronous motor, and acquiring the second AC signal that the second control program controls to generate the rotation of the synchronous motor, the method further includes: Obtain the current position of the rotating device; When the current position is determined to have reached the first reference position, the first AC signal and the second AC signal are adjusted so that the phase of the second AC signal leads the phase of the first AC signal by the preset value. When the current position is determined to have reached the second reference position, the first AC signal and the second AC signal are adjusted so that the phase of the first AC signal leads the phase of the second AC signal by the preset value.

2. The method according to claim 1, characterized in that, The method further includes: Determine the first target angle based on the direction of rotation; Get the current running angle and current running angular velocity; Based on the first target angle, the current operating angle, and the current operating angular velocity, the direction holding time is determined, and the phase difference value remains unchanged during the direction holding time.

3. The method according to claim 2, characterized in that, Determining the first target angle based on the rotation direction includes: When the rotation direction is determined to be toward the first reference position, the first preset angle is determined as the first target angle; When the rotation direction is determined to be opposite to the first reference position, the second preset angle is determined as the first target angle, and the first preset angle is smaller than the second preset angle.

4. The method according to claim 2, characterized in that, Determining the directional holding duration based on the first target angle, the current operating angle, and the current operating angular velocity includes: Determine the angle difference based on the first target angle and the current operating angle; The duration of maintaining the direction is determined based on the angle difference and the current operating angular velocity.

5. The method according to claim 2, characterized in that, The method further includes: Start the timer and obtain the timer duration; When the timing duration reaches the direction holding duration, the current phase difference between the first AC signal and the second AC signal is determined; When the current phase difference value is determined to represent a preset value in which the phase of the first AC signal leads the phase of the second AC signal, the first AC signal and the second AC signal are adjusted so that the phase of the adjusted second AC signal leads the phase of the adjusted first AC signal by the preset value. When the current phase difference value indicates that the phase of the second AC signal is ahead of the phase of the first AC signal by a preset value, the first AC signal and the second AC signal are adjusted so that the phase of the adjusted first AC signal is ahead of the phase of the adjusted second AC signal by the preset value.

6. A control device, characterized in that, The device includes: The acquisition module is used to acquire a first AC signal that is controlled by a first control program to drive the synchronous motor to rotate, and to acquire a second AC signal that is controlled by a second control program to drive the synchronous motor to rotate. The first control program and the second control program are two independent programs. The first AC signal is used to drive the first winding of the synchronous motor, and the second AC signal is used to drive the second winding of the synchronous motor. The determining module is used to determine the phase difference between the first AC signal and the second AC signal; The control module is configured to control the rotating device to rotate toward a first reference position when the phase difference value indicates that the phase of the first AC signal leads the phase of the second AC signal by a preset value; and to control the rotating device to rotate away from the first reference position when the phase difference value indicates that the phase of the second AC signal leads the phase of the first AC signal by the preset value. The first reference position is the position of the rotating device when it coincides with the sensor. The sensor is fixedly mounted on a support rod, and the sensing element is mounted on a head-shaking mechanism. The sensing element can rotate with the head-shaking mechanism. The acquisition module is further configured to acquire the current position of the rotating device before acquiring the first AC signal that the first control program controls to generate the first AC signal that drives the synchronous motor to rotate, and acquiring the second AC signal that the second control program controls to generate the second AC signal that drives the synchronous motor to rotate; The first adjustment module is used to adjust the first AC signal and the second AC signal when the current position reaches the first reference position, so that the phase of the second AC signal leads the phase of the first AC signal by the preset value. The second adjustment module is used to adjust the first AC signal and the second AC signal when the current position reaches the second reference position, so that the phase of the first AC signal leads the phase of the second AC signal by the preset value.

7. A control device, characterized in that, The device includes: Processor; and Memory for storing computer programs that can run on the processor; When the computer program is executed by the processor, it implements the steps of the control method according to any one of claims 1 to 5.

8. A computer-readable storage medium storing computer-executable instructions configured to perform the steps of the control method according to any one of claims 1 to 5.

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