Electric screwdriver control method and device, drive controller and electric screwdriver

Abstract

The application relates to the technical field of electric screwdriver control, in particular to an electric screwdriver control method and device, a driving controller and an electric screwdriver. The method comprises the following steps: acquiring an initial voltage when the electric screwdriver is powered on; acquiring a working voltage of the electric screwdriver in real time; acquiring a floating voltage in real time according to the difference between the working voltage and the initial voltage; if the floating voltage meets a trigger condition, generating an enable signal and an electronic brake control signal in a preset mode; controlling the motor enable of the electric screwdriver according to the enable signal; starting the electronic brake according to the electronic brake control signal, stopping the torque output of the electric screwdriver; and reacquiring the current voltage of the electric screwdriver as the initial voltage. The application can accurately control the electric screwdriver to stop working in time, avoid motor loss and improve the user experience.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electric screwdriver control, in particular to an electric screwdriver control method, device, drive controller and electric screwdriver. BACKGROUND

[0002] The electric screwdriver, also known as electric driver or electric driver, is an electric tool used for tightening and loosening. The electric tool is equipped with a torque adjusting and limiting mechanism and is mainly used in assembly lines. It is one of the essential tools for most production enterprises. The electric screwdriver mainly drives the screwdriver bit to rotate through a micro motor to achieve the purpose of tightening the screw.

[0003] In the related art, the detection module detects the parameters of the related components of the electric screwdriver. When the related parameters reach the predetermined value, the torque output of the electric screwdriver is stopped.

[0004] In the practice process, the inventor found that at least the following problems exist in the prior art:

[0005] The time point of stopping the torque output of the electric screwdriver is not accurate. Early stopping will cause the screw to be unable to be tightened, and late stopping will cause the motor to rotate excessively, causing the motor to be damaged, and the user experience is poor. SUMMARY

[0006] To solve the above problems, the present application provides an electric screwdriver control method, device, drive controller and electric screwdriver, which can accurately control the shutdown of the electric screwdriver when the work is completed, avoid motor damage, and improve the user experience.

[0007] In a first aspect, the present application provides an electric screwdriver control method, which adopts the following technical solution:

[0008] An electric screwdriver control method, the method comprising:

[0009] Obtaining the initial voltage when the electric screwdriver is powered on;

[0010] Real-time acquisition of the working voltage of the electric screwdriver during work;

[0011] According to the difference between the working voltage and the initial voltage, the floating voltage is obtained in real time;

[0012] If the floating voltage meets the trigger condition, the enable signal and the electronic brake control signal are generated in a predetermined manner;

[0013] According to the enable signal, the motor of the electric screwdriver is enabled;

[0014] starting an electronic brake according to the electronic brake control signal to stop the torque output of the electric screwdriver;

[0015] reacquiring the current voltage of the electric screwdriver as an initial voltage.

[0016] By adopting the technical solution, the time point of generating the enable signal and the electronic brake control signal is determined according to the floating voltage value of the electric screwdriver during work, so as to realize timely stopping after the work of the electric screwdriver is completed; and the initial voltage is reacquired when the electric screwdriver is powered on and the single work is completed, so as to ensure the accuracy of the floating voltage value.

[0017] In some embodiments, if the floating voltage meets the triggering condition, the enable signal and the electronic brake control signal are generated in a preset manner, including:

[0018] immediately generating the enable signal and the electronic brake control signal when the floating voltage is greater than a preset threshold value;

[0019] or, generating the enable signal and the electronic brake control signal after a preset delay time when the floating voltage is greater than the preset threshold value;

[0020] or, immediately generating the enable signal and the electronic brake control signal when the floating voltage initially decreases.

[0021] By adopting the technical solution, the generation time point of the enable signal and the electronic brake control signal can be determined in various ways.

[0022] In some embodiments, the preset delay time is determined in a fixed time form or a dynamic adjustment form.

[0023] By adopting the technical solution, if the enable signal and the electronic brake control signal are generated in a delay manner, a fixed delay time can be used, or a dynamic delay time can be used.

[0024] In some embodiments, the preset delay time is determined in a dynamic adjustment form, including:

[0025] acquiring historical working condition data and historical running data of the electric screwdriver;

[0026] acquiring corresponding historical difference times according to the historical running data; the historical difference time is the time difference when the floating voltage initially reaches the preset threshold value and reaches the peak value in the historical running process;

[0027] acquiring a historical difference average time corresponding to the historical difference times;

[0028] determine the current estimated difference time according to the current working condition data, the historical working condition data and the historical difference average time;

[0029] use the estimated difference time as the preset delay time.

[0030] By using the above technical solution, the actual data and the historical data can be compared to obtain the closest estimated difference time, so that the enable signal and the electronic brake control signal are generated when the floating voltage value of the electric screwdriver reaches or approaches the highest point during work, and the torque output of the electric screwdriver is stopped.

[0031] In some embodiments, the preset delay time is determined in a dynamic adjustment form, comprising:

[0032] obtain the historical working condition data and the historical running data of the electric screwdriver;

[0033] obtain a plurality of corresponding historical difference times and historical durations according to the historical running data; the historical difference time is the time difference between the time when the floating voltage reaches the preset threshold for the first time and the time when the floating voltage reaches the peak value during the historical running process; and the historical duration is the time difference between the time when the floating voltage reaches the peak value and the time when the floating voltage drops for the first time during the historical running process;

[0034] obtain a corresponding historical difference average time according to the plurality of historical difference times;

[0035] determine the current estimated difference time according to the current working condition data, the historical working condition data and the historical difference average time;

[0036] obtain a corresponding historical duration average time according to the plurality of historical durations;

[0037] determine the current estimated duration according to the current working condition data, the historical working condition data and the historical duration average time;

[0038] use the sum of the estimated difference time and the preset proportion of the estimated duration as the preset delay time.

[0039] By using the above technical solution, the actual data and the historical data can be compared to obtain the closest estimated difference time and the estimated duration, and the enable signal and the electronic brake control signal are generated at the middle time node of the high-level signal duration after the floating voltage value of the electric screwdriver reaches the highest point during work, and the torque output of the electric screwdriver is stopped.

[0040] In some embodiments, the starting of the electronic brake according to the electronic brake control signal specifically comprises: starting the electronic brake at a preset initial brake duty ratio, and the initial brake duty ratio of the electronic brake is 30-80%.

[0041] By adopting the technical scheme, the electronic brake is started according to the preset brake duty ratio, and the brake duty ratio can be adjusted as required.

[0042] In some embodiments, further comprising:

[0043] The floating voltage of the electric screwdriver after the electronic brake is started is acquired in real time, and when the floating voltage is 0, the electronic brake is stopped.

[0044] In the second aspect, the application provides an electric screwdriver control device, which adopts the technical scheme as follows:

[0045] An electric screwdriver control device comprises:

[0046] An initial voltage acquisition module is configured to acquire an initial voltage when the electric screwdriver is powered on.

[0047] A working voltage acquisition module is configured to acquire a working voltage of the electric screwdriver in real time.

[0048] A floating voltage acquisition module is configured to acquire a floating voltage in real time according to a difference between the working voltage and the initial voltage.

[0049] A control signal generation module is configured to generate an enable signal and an electronic brake control signal in a preset manner if the floating voltage meets a triggering condition.

[0050] A motor enable control module is configured to control motor enable of the electric screwdriver.

[0051] An electronic brake starting module is configured to start an electronic brake according to the electronic brake control signal and stop torque output of the electric screwdriver.

[0052] An initial voltage updating module is configured to reacquire a current voltage of the electric screwdriver as the initial voltage.

[0053] In the third aspect, the application provides a drive controller of an electric screwdriver, which adopts the technical scheme as follows:

[0054] A drive controller of an electric screwdriver, which applies the method of the technical scheme to drive control of the electric screwdriver.

[0055] In the fourth aspect, the application provides an electric screwdriver, which adopts the technical scheme as follows:

[0056] An electric screwdriver, which applies the method of the technical scheme to drive control of the electric screwdriver.

[0057] In summary, the application has at least one of the following beneficial technical effects:

[0058] 1. After the electric screwdriver has finished its work, it can be controlled to stop in a timely and accurate manner, avoiding motor wear and improving the user experience.

[0059] 2. When powering on the electric screwdriver and after each operation, the Hall voltage should be reset to zero to ensure the accuracy of the working voltage data during operation.

[0060] 3. There are several ways to determine the generation time of the electronic brake control signal that stops the electric screwdriver. The generation time of the electronic brake control signal can be determined according to the actual situation. Attached Figure Description

[0061] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0062] Figure 1 A flowchart illustrating the electric screwdriver control method provided in an embodiment of this application;

[0063] Figure 2 This is a schematic diagram of the frame of the electric screwdriver control device provided in the embodiments of this application. Detailed Implementation

[0064] To make the inventive objectives, features, and advantages of this application more apparent and understandable, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0065] The following is in conjunction with the appendix Figure 1 and 2 This application will be described in further detail.

[0066] like Figure 1 As shown in the figure, this application discloses an electric screwdriver control method, which can implement the following steps:

[0067] 101. Obtain the initial voltage of the electric screwdriver when it is powered on.

[0068] When the electric screwdriver is powered on, the Hall voltage output by the Hall sensor is obtained, and the voltage at this time is taken as the initial voltage. Since the assembly of each screwdriver is not exactly the same, the initial voltage will be slightly different, and the initial voltage is generally about 2V, for example, 1.9V, 2V or 2.1V.

[0069] 102. Real-time acquisition of the working voltage of the electric screwdriver in operation.

[0070] When the electric screwdriver is in operation, the screwdriver head is subjected to resistance, the voltage increases, the Hall voltage output by the Hall sensor is obtained in real time as the working voltage.

[0071] 103. Real-time acquisition of the floating voltage according to the difference between the working voltage and the initial voltage.

[0072] The floating voltage is obtained by subtracting the initial voltage from the working voltage, which is equivalent to a voltage zero operation, i.e., the initial voltage of the electric screwdriver is zeroed, and only the floating voltage is used for judgment and subsequent processing operations.

[0073] The voltages obtained in the embodiment have all removed interference signals, and the output voltage signals are all stable values.

[0074] 104. If the floating voltage meets the triggering condition, the enable signal and the electronic brake control signal are generated in a preset manner.

[0075] In the embodiment of the application, if the floating voltage meets the triggering condition, the enable signal and the electronic brake control signal are generated in a preset manner, which can include the following manners:

[0076] When the floating voltage is greater than the preset threshold, the enable signal and the electronic brake control signal are immediately generated;

[0077] Or, when the floating voltage is greater than the preset threshold, the enable signal and the electronic brake control signal are generated after a preset delay time;

[0078] Or, when the floating voltage initially decreases, the enable signal and the electronic brake control signal are immediately generated.

[0079] In the embodiment of the application, the preset delay time is determined in a fixed time form or a dynamic adjustment form.

[0080] The fixed time form refers to setting the preset delay time as a fixed time, for example, the preset threshold can be set to 0.2V, and the preset delay time can be set to 10ms-20ms. When the floating voltage is greater than 0.2V, automatic triggering is performed, and the enable signal and the electronic brake control signal are generated after a delay of 10ms-20ms (10ms, 15ms, 20ms, etc.).

[0081] In an embodiment of the present application, the dynamic adjustment of the preset delay time can implement the following steps:

[0082] Obtaining historical working condition data and historical running data of the electric screwdriver;

[0083] According to the historical running data, obtaining corresponding historical difference times; the historical difference time is the time difference between the time when the floating voltage first reaches the preset threshold and the time when the floating voltage reaches the peak value in the historical running process;

[0084] According to the historical difference times, obtaining a historical difference average time;

[0085] According to the current working condition data, the historical working condition data and the historical difference average time, determining a current estimated difference time;

[0086] Taking the estimated difference time as the preset delay time.

[0087] In an embodiment of the present application, the peak value of the floating voltage can be about 0.5V. For example, under the same or similar working conditions, the obtained estimated difference time is 15ms, and when the floating voltage is greater than 0.2V, the delay time is 15ms to generate the enable signal and the electronic brake control signal.

[0088] In an embodiment of the present application, the method for obtaining the historical difference time is as follows:

[0089] Obtaining a first time point when the floating voltage first reaches the preset threshold;

[0090] Obtaining a second time point when the floating voltage reaches the peak value;

[0091] According to the time difference between the first time point and the second time point, obtaining the historical difference time.

[0092] The method for obtaining the historical difference time is obtained in a single working process.

[0093] The historical working condition data and the historical running data can be historical data accumulated when the electric screwdriver is tested, or can be data accumulated after real-time use. For example, in the mode of generating the enable signal and the electronic brake control signal after the floating voltage first drops, the historical working condition data and the historical running data can be recorded and accumulated. When the data accumulation reaches a certain amount, the dynamic adjustment mode of the delay time is switched, and the estimation can be performed according to the above scheme.

[0094] In another embodiment of the present application, the dynamic adjustment of the preset delay time can implement the following steps:

[0095] Obtaining historical working condition data and historical running data of the electric screwdriver;

[0096] According to the historical operation data, a corresponding plurality of historical difference times and historical durations are obtained; the historical difference time is a time difference between when the floating voltage first reaches a preset threshold and when the floating voltage reaches a peak value in a historical operation process; the historical duration is a time difference between when the floating voltage reaches the peak value and when the floating voltage first drops in the historical operation process;

[0097] According to the plurality of historical difference times, a corresponding historical difference average time is obtained;

[0098] According to the current working condition data, the historical working condition data, and the historical difference average time, a current estimated difference time is determined;

[0099] According to the plurality of historical durations, a corresponding historical duration average time is obtained;

[0100] According to the current working condition data, the historical working condition data, and the historical duration average time, a current estimated duration is determined;

[0101] The sum of the estimated difference time and a preset proportion of the estimated duration is taken as a preset delay time.

[0102] In the embodiments of the present application, the peak value of the floating voltage can generally be about 0.5V, and the duration of the peak value can generally be about 50ms. For example, under the same or similar working conditions, the obtained estimated difference time is 15ms, the estimated duration is 50ms, and the preset proportion is set to 50%. When the floating voltage is greater than 0.2V, the delay is 15+(50 / 2)=40ms, that is, the enable signal and the electronic brake control signal are generated at the middle segment after the floating voltage reaches the peak value.

[0103] In the embodiments of the present application, the method for obtaining the historical difference time and the historical duration is as follows:

[0104] A first time point at which the floating voltage first reaches a preset threshold is obtained;

[0105] A second time point at which the floating voltage reaches a peak value is obtained;

[0106] A third time point at which the floating voltage first drops is obtained;

[0107] According to a time difference between the first time point and the second time point, a historical difference time is obtained;

[0108] According to a time difference between the second time point and the third time point, a historical duration is obtained;

[0109] The above method for obtaining the historical difference time and the historical duration is obtained in a single working process.

[0110] The accumulation of historical operating data and historical data is the same as the aforementioned scheme.

[0111] 105. Based on the enable signal, control the motor enable of the electric screwdriver;

[0112] The drive controller enables the motor in the electric screwdriver based on the enable signal. However, the motor still has inertial motion at this time, so it is necessary to stop the torque output of the electric screwdriver by means of electronic braking.

[0113] 106. Activate the electronic brake according to the electronic brake control signal to stop the torque output of the electric screwdriver.

[0114] In this embodiment of the application, the electronic brake is activated according to a preset initial braking duty cycle. The initial braking duty cycle of the electronic brake is 30-80%, and in general, the initial braking duty cycle can be set to 50%.

[0115] In this embodiment, the electronic braking is implemented by turning on all the upper (or lower) arms of the motor's driving MOSFET while turning off the lower (or upper) arms. This short-circuits all three phases of the motor's stator windings, causing the motor to instantly generate a large braking torque, achieving rapid braking. The braking duty cycle of the electronic brake refers to the time interval between each braking action. In this embodiment, the braking time can be 5ms, and the initial braking duty cycle is generally 50%. For example, if the braking time is set to 5ms and the running time to 5ms, the braking duty cycle is 50%.

[0116] After the electronic brake is activated, the real-time floating voltage of the electric screwdriver is obtained.

[0117] When the real-time floating voltage drops to 0, the electronic brake can be stopped.

[0118] In this embodiment of the application, the time for the floating voltage drop to reach 0 should be between 50 and 130 ms.

[0119] In one embodiment of this application, if the real-time floating voltage does not drop to 0 after a preset time period following the activation of the electronic brake, then the braking duty cycle of the electronic brake needs to be increased.

[0120] In another embodiment of the present application, after starting the electronic brake, a plurality of time nodes (2-10 time nodes) are set, and a floating voltage standard value of each time node is determined, which should show a linear downward trend at each time node. If the real-time floating voltage at each time node is greater than the floating voltage standard value set at the time node, the brake duty cycle of the electronic brake is increased to increase the braking effect, and the adjustment range of each increase is 5-10%. If the real-time floating voltage at each time node is less than the floating voltage standard value set at the time node, the brake duty cycle of the electronic brake is reduced to achieve linear deceleration.

[0121] 107、reacquire the current voltage of the electric screwdriver as the initial voltage.

[0122] After the electronic brake stops, the current voltage of the electric screwdriver needs to be reacquired as the initial voltage. Because the initial voltage of the electric screwdriver may change after each work is completed, and the floating voltage during work changes very small, in order to ensure the accuracy of the data during the next work, the initial voltage is reacquired after each work is completed.

[0123] As shown in Figure 2 The embodiment of the present application discloses an electric screwdriver control device, which comprises:

[0124] An initial voltage acquisition module 201 is configured to acquire the initial voltage when the electric screwdriver is powered on.

[0125] A working voltage acquisition module 202 is configured to acquire the working voltage of the electric screwdriver in real time.

[0126] A floating voltage acquisition module 203 is configured to acquire the floating voltage in real time according to the difference between the working voltage and the initial voltage.

[0127] A control signal generation module 204 is configured to generate an enable signal and an electronic brake control signal in a preset manner if the floating voltage meets a trigger condition.

[0128] A motor enable control module 205 is configured to control the motor enable of the electric screwdriver.

[0129] An electronic brake starting module 206 is configured to start the electronic brake according to the electronic brake control signal and stop the torque output of the electric screwdriver.

[0130] An initial voltage updating module 207 is configured to reacquire the current voltage of the electric screwdriver as the initial voltage.

[0131] The embodiment of the application discloses a drive controller of an electric screwdriver, and the drive controller is applied to the drive control of the electric screwdriver by adopting the method of the technical scheme.

[0132] The brushless motor controller controls the motor to work in the set direction, speed, angle and response time through the active work of the integrated circuit, so that the motor has a wider application range, higher output efficiency, smaller noise and other advantages. The motor controller is the command center for the normal operation of the brushless DC motor and the realization of various speed regulation and servo functions, and mainly completes the following functions: logically synthesizes various input signals to provide various control signals for the driving circuit; generates a PWM pulse width modulation signal to realize motor speed regulation; and realizes short circuit, overcurrent, undervoltage and other fault protection functions. The brushless motor controller can control the motor speed and protect the motor as necessary. The controller of the brushless motor is much more complex than that of the brushed motor.

[0133] The embodiment of the application discloses an electric screwdriver, and the electric screwdriver is applied to the drive control of the electric screwdriver by adopting the method of the technical scheme.

[0134] In the embodiment of the application, the electric screwdriver adopts a brushless motor, and the drive control of the electric screwdriver is performed in cooperation with the drive controller of the brushless motor.

[0135] It should be noted that in this paper, terms such as "including", "containing" or any other variants thereof are intended to cover non-exclusive containing, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or equipment. Without more limitations, the element defined by the statement "including a" does not exclude the presence of another identical element in the process, method, article or equipment including the element.

[0136] Although the embodiments of the application have been shown and described, the protection scope of the application is not limited thereto, and those skilled in the art can understand that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the application. Therefore, equivalent changes made according to the structure, shape, principle of the application should be covered within the protection scope of the application.

Claims

1. A control method for an electric screwdriver, characterized by, The method comprises: acquiring an initial voltage when the electric screwdriver is powered on; acquiring a working voltage of the electric screwdriver in real time; acquiring a floating voltage in real time according to the difference between the working voltage and the initial voltage; generating an enable signal and an electronic brake control signal in a preset manner if the floating voltage meets a triggering condition; controlling the motor of the electric screwdriver to be enabled according to the enable signal; starting the electronic brake according to the electronic brake control signal to stop the torque output of the electric screwdriver; re-acquiring the current voltage of the electric screwdriver as the initial voltage; the starting of the electronic brake according to the electronic brake control signal specifically comprises: starting the electronic brake according to the electronic brake control signal at a preset initial brake duty ratio; after starting the electronic brake, setting a plurality of time nodes, determining a floating voltage standard value at each time node, and the floating voltage standard value should show a linear downward trend at each time node; if the real-time floating voltage at each time node is greater than the floating voltage standard value set at the time node, increasing the brake duty ratio of the electronic brake to increase the braking effect; if the real-time floating voltage at each time node is less than the floating voltage standard value set at the time node, reducing the brake duty ratio of the electronic brake to achieve linear speed reduction.

2. The electric screwdriver control method according to claim 1, characterized by, if the floating voltage meets the triggering condition, generating an enable signal and an electronic brake control signal in a preset manner, comprising: immediately generating the enable signal and the electronic brake control signal when the floating voltage is greater than a preset threshold value; or, after a preset delay time, generating the enable signal and the electronic brake control signal when the floating voltage is greater than a preset threshold value; or, immediately generating the enable signal and the electronic brake control signal when the floating voltage initially decreases.

3. The electric screwdriver control method according to claim 2, characterized by: The preset delay time is determined in a fixed time form, or in a dynamic adjustment form.

4. The electric screwdriver control method according to claim 3, characterized by, The preset delay time is determined in a dynamic adjustment form, comprising: acquiring historical working condition data and historical running data of the electric screwdriver; acquiring a plurality of corresponding historical difference times according to the historical running data; the historical difference time is the time difference when the floating voltage initially reaches a preset threshold value and reaches a peak value in the historical running process; acquiring a corresponding historical difference average time according to the plurality of historical difference times; determining a current estimated difference time according to the current working condition data, the historical working condition data, and the historical difference average time; taking the estimated difference time as the preset delay time.

5. The electric screwdriver control method according to claim 3, characterized by, The preset delay time is determined in a dynamic adjustment form, comprising: acquiring historical working condition data and historical running data of the electric screwdriver; acquiring a plurality of corresponding historical difference times and historical duration times according to the historical running data; the historical difference time is the time difference when the floating voltage initially reaches a preset threshold value and reaches a peak value in the historical running process; the historical duration time is the time difference when the floating voltage reaches a peak value and initially decreases in the historical running process; acquiring a corresponding historical difference average time according to the plurality of historical difference times; determining a current estimated difference time according to the current working condition data, the historical working condition data, and the historical difference average time; According to the several historical duration, the corresponding historical duration average time is acquired; According to the current working condition data, the historical working condition data and the historical duration average time, the current estimated duration is determined; The estimated difference time and the sum of the preset proportion of the estimated duration are taken as the preset delay time.

6. The electric screwdriver control method according to claim 1, characterized by, The initial brake duty cycle of the electronic brake is 30-80%.

7. The electric screwdriver control method according to claim 1, characterized by, Also comprising: The floating voltage after the electronic brake of the electric screwdriver is started is acquired in real time, and when the floating voltage is 0, the electronic brake is stopped.

8. An electric screwdriver control device applying the method according to any one of claims 1 to 7, characterized in that, Comprising: An initial voltage acquisition module, configured to acquire an initial voltage when the electric screwdriver is powered on; A working voltage acquisition module, configured to acquire a working voltage of the electric screwdriver in real time; A floating voltage acquisition module, configured to acquire a floating voltage in real time according to a difference between the working voltage and the initial voltage; A control signal generation module, configured to generate an enable signal and an electronic brake control signal in a preset manner if the floating voltage meets a trigger condition; A motor enable control module, configured to control motor enable of the electric screwdriver; An electronic brake starting module, configured to start the electronic brake according to the electronic brake control signal and stop torque output of the electric screwdriver; An initial voltage updating module, configured to re-acquire a current voltage of the electric screwdriver as the initial voltage.

9. A drive controller for a power screwdriver, characterized by: The driving controller applies the method in any one of claims 1 to 7 to driving control of the electric screwdriver.

10. A power screwdriver characterized by: The electric screwdriver applies the method in any one of claims 1 to 7 to driving control of the electric screwdriver.

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