Lifting device control method and system

Abstract

The application provides a kind of hoisting equipment control method and system, belong to drive control technical field, method includes: according to the pulse signal of drive motor determines the running speed of drive motor;According to the running speed and the set speed of drive motor, determine the set current of drive motor;According to the set current and the phase current of drive motor, adjust PWM signal;Wherein, the PWM signal is used to adjust the speed and current of drive motor.The application adopts the control mode of double closed loop of speed and current, determines motor set current according to the running speed and motor set speed, determines PWM drive instruction according to the phase current and motor set current, the application considers the running speed and current of drive motor simultaneously, ensures that when external force factor causes unable drive motor to continue to move, will not be damaged because of jam and locked rotor.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of driving control, in particular to a lifting equipment control method and system. BACKGROUND

[0002] Tower crane and tower are both high facilities, often need to set lifting equipment to realize vertical transport of personnel or goods in its height range. The existing lifting equipment is driven by a drive motor according to a set speed. If an external force factor causes it to stop moving, the drive motor current will usually be increased, which will cause damage to the drive motor and the drive. SUMMARY

[0003] The present application provides a lifting equipment control method and system to solve the defect that if an external force factor causes it to stop moving, the drive motor current will usually be increased, which will cause damage to the drive motor and the drive.

[0004] The present application provides a lifting equipment control method, comprising:

[0005] determining the running speed of the drive motor according to the pulse signal of the drive motor;

[0006] determining the set current of the drive motor according to the running speed and the set speed of the drive motor;

[0007] adjusting the PWM signal according to the set current and the phase current of the drive motor;

[0008] The PWM signal is used to adjust the speed and current of the drive motor.

[0009] The present application provides a lifting equipment control method, further comprising:

[0010] If it is determined that the phase current is always greater than the maximum current value of the drive motor preset in the preset time, the PWM signal is stopped from being output, the drive motor is put into standby state, and an alarm is issued.

[0011] The present application provides a lifting equipment control method, before determining the running speed of the drive motor according to the pulse signal of the drive motor, further comprising:

[0012] acquiring the limit switch signal corresponding to the limit sensor and the running control signal corresponding to the running switch of the drive motor;

[0013] logically combining the limit switch signal and the running control signal, selecting a control strategy according to the result of logical combination, and driving the drive motor to perform corresponding actions;

[0014] The control strategy comprises controlling the driving motor to operate according to a motor operation trajectory curve, and the motor operation trajectory curve is determined based on a motor acceleration / deceleration time, the motor set speed and a tower climbing distance.

[0015] According to the lifting device control method provided by the application, the limit switch signal comprises a first limit switch signal for indicating upper limit switch information and a second limit switch signal for indicating lower limit switch information.

[0016] According to the lifting device control method provided by the application, the method further comprises:

[0017] If the second limit switch signal is received, the pulse signal and the operating speed of the driving motor are adjusted to control the driving motor to be braked.

[0018] According to the lifting device control method provided by the application, the method further comprises:

[0019] Power supply information is obtained, and the driving motor is driven to perform an action according to the power supply information and a preset motor control strategy.

[0020] According to the lifting device control method provided by the application, the method further comprises:

[0021] The pulse signal is updated according to the rotating direction of the driving motor, the height at which the driving motor drives the lifting device to operate is determined based on the updated pulse signal, and the height is output.

[0022] According to the lifting device control method provided by the application, the method further comprises:

[0023] The bus voltage and the driving current of the driving motor are obtained, and a first driving power is determined.

[0024] The second driving power is determined according to the phase current and the duty cycle of the PWM signal.

[0025] The efficiency of the driving motor is determined according to the first driving power and the second driving power, and the efficiency is output.

[0026] According to the lifting device control method provided by the application, the method further comprises:

[0027] Temperature information is obtained, and if the temperature information is greater than a set temperature, the speed of the driving motor is reduced.

[0028] According to the lifting device control method provided by the application, the method further comprises:

[0029] The electrical energy generated by the driving motor in the process of driving the lifting device to descend is obtained, and the electrical energy is charged to a storage battery.

[0030] The application further provides a lifting equipment control system, comprising a controller and a driver.

[0031] The controller is used for determining the running speed of the driving motor according to the pulse signal of the driving motor, determining the set current of the driving motor according to the running speed and the set speed of the driving motor, and adjusting the PWM signal according to the set current and the phase current of the driving motor.

[0032] The driver is used for adjusting the speed and current of the driving motor according to the PWM signal.

[0033] The application further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the lifting equipment control method according to any one of the above when executing the program.

[0034] The application further provides a non-transitory computer readable storage medium, which stores a computer program, wherein the computer program is executable on a processor to implement the lifting equipment control method according to any one of the above.

[0035] The application further provides a computer program product, comprising a computer program, wherein the computer program is executable on a processor to implement the lifting equipment control method according to any one of the above.

[0036] The lifting equipment control method and system provided by the application adopt a speed and current double closed loop control mode, determine the motor set current according to the running speed and the motor set speed, and determine the PWM signal according to the phase current and the motor set current, which simultaneously considers the running speed and current of the driving motor, and ensures that the driving motor will not be damaged due to card stagnation and locked-rotor when external force factors cause the driving motor to be unable to continue moving. BRIEF DESCRIPTION OF DRAWINGS

[0037] In order to more clearly illustrate the technical solutions of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0038] Figure 1 is one of the flowcharts of the lifting equipment control method provided by the application;

[0039] Figure 2 is the second flowchart of the lifting equipment control method provided by the application;

[0040] Figure 3 is a schematic diagram of a motor operation trajectory curve provided by the present application;

[0041] Figure 4 is a third flowchart of a control method of a lifting device provided by the present application;

[0042] Figure 5 is a first principle block diagram of a control system of a lifting device provided by the present application;

[0043] Figure 6 is a second principle block diagram of a control system of a lifting device provided by the present application;

[0044] Figure 7 is a structural schematic diagram of an electronic device provided by the present application. DETAILED DESCRIPTION

[0045] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be clearly and completely described below with reference to the drawings in the present application. Obviously, the described embodiments are some, but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0046] In the description of the embodiments of the present application, it should be noted that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the embodiments of the present application. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0047] In the description of the embodiments of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0048] In the embodiments of the present application, unless specifically defined and limited otherwise, a first feature is "on", "under", "above", or "over" a second feature can mean that the first and second features are in direct contact, or the first and second features are in indirect contact with an intermediate medium. Moreover, the first feature "above", "over", and "on" the second feature can mean that the first feature is directly above or obliquely above the second feature, or only means that the first feature is higher in horizontal height than the second feature. The first feature "below", "under", and "underneath" the second feature can mean that the first feature is directly below or obliquely below the second feature, or only means that the first feature is lower in horizontal height than the second feature.

[0049] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples without contradiction.

[0050] Figure 1 is one of the flowcharts of the lifting device control method provided by the present application, as shown in Figure 1 The present application provides a lifting device control method, comprising:

[0051] S110, determining the running speed of the driving motor according to the pulse signal of the driving motor;

[0052] S120, determining the set current of the driving motor according to the running speed and the set speed of the driving motor;

[0053] S130, adjusting the PWM signal according to the set current of the driving motor and the phase current of the driving motor;

[0054] The PWM (Pulse Width Modulation) signal is used to adjust the speed and current of the driving motor. The speed and current of the driving motor can be adjusted by adjusting the duty cycle of the PWM signal. The greater the duty cycle of the PWM signal, the greater the speed and current of the driving motor.

[0055] Optionally, the driving motor in the application adopts a brushless direct current motor or any motor with a position sensor. Preferably, the brushless direct current motor is used, which has good speed regulation and control performance, and has a series of advantages such as high power density, high power factor, simple structure, high reliability, and high competitiveness in cost.

[0056] The driving motor is used to drive the lifting device to move vertically along the tower crane or the tower drum, wherein the lifting device includes a tower climbing machine, a tower drum elevator, a climbing-free device, etc. The tower crane or the tower drum is provided with an upper limit position and a lower limit position, the upper limit position is arranged near the top of the tower crane or the tower drum, and is used to determine the highest position to which the lifting device can rise, the lower limit position is arranged near the bottom of the tower crane or the tower drum, and is used to determine the lowest position to which the lifting device can fall, the driving motor drives the lifting device to move back and forth between the upper limit position and the lower limit position, and the mechanical distance between the upper limit position and the lower limit position is relatively long. Therefore, the application adopts a driver to control the brushless direct current motor, adopts a speed control mode, increases reliability, and reduces cost.

[0057] Optionally, in step S110, the running speed of the driving motor is determined according to a pulse signal of the driving motor, and the determining includes:

[0058] The pulse signal of the driving motor is obtained by using a Hall sensor, an encoder or an optical sensor inside the driving motor, wherein the pulse signal includes the number of pulses in a certain time period;

[0059] The number of pulses is substituted into a running speed calculation formula to obtain the running speed.

[0060] The running speed calculation formula is as follows:

[0061]

[0062] Wherein, v is the running speed of the driving motor, M1 is the number of pulses obtained in a certain time, Z is the number of pulses generated by the driving motor in one rotation, T is a certain time period. C

[0063] Optionally, the application adopts a speed and current double closed loop control mode, and step S120 is a speed closed loop step, the speed PI adjustment is performed based on the running speed and the set speed of the driving motor, and the output of the speed closed loop is the input set value of the current closed loop.

[0064] Specifically, the set current of the driving motor is determined according to the running speed and the set speed of the driving motor, and the determining includes:

[0065] ​The running speed of the driving motor and the set speed of the driving motor are substituted into a speed PI regulation formula, and an output of the speed PI regulation formula is used as a set current of the driving motor, wherein the speed PI regulation formula is as follows:

[0066] PI1 = ∑(K 1p (E1(n)-E1(n-1))+K 1i E1(n))

[0067] wherein PI1 is the output of the speed PI regulation formula, K 1p is a proportional coefficient, K 1i is an integral coefficient, E1(n) is a speed integral difference, i.e., a difference between the set speed of the driving motor and the running speed of the driving motor, E1(n)-E1(n-1) is a speed proportional difference, n is a sampling period point, and n-1 is a sampling period point of the last time.

[0068] Step S130 is a current closed loop step, the input is the motor set current output by step S120, and the output is a PWM signal.

[0069] Specifically, the PWM signal is adjusted according to the set current of the driving motor and the phase current of the driving motor, including:

[0070] The set current of the driving motor and the phase current of the driving motor are substituted into a current PI regulation formula, and an output of the current PI regulation formula is used as a duty cycle of the PWM signal, wherein the output of the current PI regulation formula is not greater than 98%.

[0071] The formula of the current PI regulation is as follows:

[0072] PI2 = ∑(K 2p (E2(n)-E2(n-1))+K 2i E1(n))

[0073] wherein PI2 is the output of the current PI regulation formula, K 2p is a proportional coefficient, K 2i is an integral coefficient, E2(n) is a current integral difference, i.e., a difference between the set current of the driving motor and the phase current of the driving motor, E2(n)-E2(n-1) is a current proportional difference, n is a sampling period point, and n-1 is a sampling period point of the last time.

[0074] The PWM signal duty cycle is adjusted to the power tube of the driver according to the current PI regulation of the motor set current and the phase current of the driving motor, so that the speed and current of the motor can be controlled at the same time, and the driving motor can be controlled to drive the lifting equipment to rise, fall and perform a series of actions according to the adjusted speed and current.

[0075] If it is detected that the driving motor has excessive current, that is, the current of the driving motor reaches the set maximum driving motor current, the current of the driving motor is reduced to avoid damage to the driving motor due to unexpected situations, thereby playing a role in protecting the driving motor. If the current of the driving motor reaches the set maximum driving motor current and exceeds the pre-set time length, the driving motor is controlled to stop working and enter a standby state to avoid damage to the driving motor due to excessive current.

[0076] PI regulation is a linear control that forms a control deviation according to a given value and an actual output value, and forms a control amount by linear combination of the proportion and integral of the deviation to control the controlled object. PI regulation can react to the deviation of the system according to the proportion, and the proportional regulation immediately produces a regulating effect to reduce the deviation as soon as the system has a deviation.

[0077] It can be understood that the application adopts a speed and current double-loop control mode, determines the motor set current according to the running speed and the motor set speed, and determines the PWM signal according to the phase current and the motor set current. The application simultaneously considers the running speed and current of the driving motor to ensure that the driving motor will not be damaged due to jamming and locked-rotor when external force factors cause the driving motor to be unable to continue to move.

[0078] On the basis of the above-mentioned embodiments, as an optional embodiment, the application further comprises:

[0079] If it is determined that the phase current of the driving motor is always greater than the pre-set maximum driving motor current value within a pre-set time, the PWM signal is stopped from being output, the driving motor enters a standby state, and an alarm is issued.

[0080] Optionally, if the current value of the phase current of the driving motor reaches the pre-set maximum driving motor current value, the duty cycle of the PWM signal is reduced to reduce the current of the driving motor.

[0081] Optionally, if the current value of the phase current of the driving motor reaches the pre-set maximum driving motor current value and exceeds a certain time, the driving motor stops outputting the PWM signal, controls the brushless direct current motor to enter a standby state, and issues an alarm.

[0082] It can be understood that the application further improves the safety of the driving motor by pre-setting the maximum current value of the driving motor, and ensures that the motor and the driving motor will not be damaged due to unexpected situations.

[0083] Figure 2 is a flowchart of the control method of the lifting device provided by the application, and Figure 2As shown in the above embodiment, as an optional embodiment, before determining the running speed of the driving motor according to the pulse signal of the driving motor, the method further comprises:

[0084] S210, acquiring a limit switch signal corresponding to a limit sensor and a running control signal corresponding to a running switch of the driving motor; the limit sensor comprises an upper limit sensor arranged at an upper limit position of the tower drum or the tower crane and a lower limit sensor arranged at a lower limit position of the tower drum or the tower crane, the upper limit sensor is used to determine whether the lifting device reaches the upper limit position, and the lower limit sensor is used to determine whether the lifting device reaches the lower limit position. The upper limit sensor and the lower limit sensor can be composed of infrared sensors or ultrasonic sensors.

[0085] The running switch of the driving motor is used to send a running control signal for controlling the driving motor to start running or stop running to the driver based on human-computer interaction, and if the driver receives the running control signal of the driving motor, the driving motor is controlled to run or stop running.

[0086] The limit sensor and the running switch of the driving motor are connected with the driver.

[0087] S220, logically combining the limit switch signal corresponding to the limit sensor and the running control signal corresponding to the running switch of the driving motor, and selecting a control strategy according to the result of logical combination to drive the driving motor to perform corresponding actions.

[0088] The control strategy comprises controlling the driving motor to run according to a motor running trajectory curve, and the motor running trajectory curve is determined based on motor acceleration and deceleration time, a set speed of the driving motor and a tower climbing distance.

[0089] The motor running trajectory curve comprises a driving motor acceleration running curve, a driving motor uniform speed running curve and a driving motor deceleration running curve. V0 is a pre-set set speed of the driving motor, S is a pre-set tower climbing distance, S1 is a tower climbing distance corresponding to the acceleration of the driving motor to v0, and S2 is a tower climbing distance corresponding to the deceleration of the driving motor from v0 to zero.

[0090] Figure 3 is a schematic diagram of the motor running trajectory curve provided by the application, as Figure 3 As shown in the above embodiment, as an optional embodiment, before determining the running speed of the driving motor according to the pulse signal of the driving motor, the method further comprises: The driving motor acceleration running curve has a slope of v0 / t1. t2-t3 is the deceleration time of the driving motor, corresponding to the driving motor deceleration running curve, and the slope of the driving motor deceleration running curve is v0 / (t2-t3). t1-t2 is the time for the driving motor to run at the motor set speed v0, and the calculation formula is (S-S1-S2) / v0.

[0091] Optionally, the limit switch signal and the running switch corresponding running control signal are logically combined, so as to determine whether the lifting device is at the upper limit position or the lower limit position of the tower crane or the tower drum and whether the driving motor is started or turned off.

[0092] If the lifting device is at the lower limit position of the tower crane or the tower drum and the driving motor receives the running control signal for starting the driving motor, the driving motor is controlled to rotate in the positive direction, and the lifting device is driven to move upward according to the motor running trajectory curve.

[0093] If the lifting device is at the upper limit position of the tower crane or the tower drum and the driving motor receives the running control signal for starting the driving motor, the driving motor is controlled to rotate in the reverse direction, and the lifting device is driven to move downward according to the motor running trajectory curve.

[0094] The speed of the driving motor controlled by the driving device is according to the motor running trajectory curve, so as to realize slow start and slow stop, increase flexibility and comfort.

[0095] Optionally, the limit switch signal includes a first limit switch signal for indicating upper limit switch information and a second limit switch signal for indicating lower limit switch information. The first limit switch signal is detected by the upper limit position sensor and is used to indicate whether the lifting device is at the upper limit position of the tower crane or the tower drum, and the second limit switch signal is detected by the lower limit position sensor and is used to indicate whether the lifting device is at the lower limit position of the tower crane or the tower drum.

[0096] Optionally, the running control signal can be a switch signal for controlling the driving motor to run in a switching mode, a digital control signal for controlling the driving motor to run in a wired or wireless (such as a remote controller) mode, and the driving motor drives the lifting device to run.

[0097] It can be understood that, according to the positions of the upper limit position of the tower crane or the tower drum and the lower limit position of the tower crane or the tower drum, according to the parameters of acceleration time, set speed, distance and the like, the motor running trajectory curve is calculated, and when starting and stopping, the driving device controls the driving motor to run at the corresponding speed of the motor running trajectory curve, so as to realize slow start and slow stop, increase flexibility and comfort.

[0098] On the basis of the above embodiment, as an optional embodiment, the application further includes:

[0099] If the second limit switch signal is received, the pulse signal and the running speed of the driving motor are adjusted, and the driving motor is controlled to be braked.

[0100] Optionally, when the driving motor controls the lifting device to move to the lower limit position, the pulse signal is cleared, and the running speed of the motor is zero.

[0101] Optionally, the driver integrates the brake logic and the motor control logic. At the slow start moment, the driver first gives the driving motor a certain torque to keep the lifting device from falling, and after the torque is stable, the brake is released, the driver enters the adjustment state, and the driving motor performs the forward rotation or reverse rotation action. Similarly, at the slow stop moment, the driver first controls the driving motor speed to zero, and then enables the brake to make the lifting device fixed at the original position.

[0102] It can be understood that the application determines the driving motor and the lifting device to be fixed at the set position by controlling the driving motor brake, improves the stability of the lifting device, and avoids the lifting device damaging the upper limit or the lower limit.

[0103] On the basis of the above embodiment, as an optional embodiment, it further comprises:

[0104] The power supply information is acquired, and the action of the driving motor is determined according to the power supply information and a preset motor control strategy.

[0105] Optionally, the driver can be powered by a low-voltage storage battery to ensure normal operation of the driver.

[0106] Optionally, the working state of the storage battery is collected through RS485 communication, and the preset motor control strategy specifically means that if the storage battery capacity is greater than or equal to 15%, the driving motor can drive the lifting device to rise and fall; if the storage battery capacity is greater than 10% and less than 15%, the driving motor can only drive the lifting device to fall, but cannot rise; if the storage battery capacity is less than 10%, the driving motor stops running, and the lifting device cannot move. At the same time, if the storage battery has an alarm information, the driver cannot act.

[0107] It can be understood that the application determines the action of the driving motor according to the power supply information, avoids the lack of electric energy in the working process of the driver, causes the driving motor to be unable to work, and thus improves the working safety of the lifting device.

[0108] On the basis of the above embodiment, as an optional embodiment, it further comprises:

[0109] The pulse signal is updated according to the rotation direction of the driving motor, the height of the driving motor driving the lifting device to run is determined based on the updated pulse signal, and the height is output.

[0110] Optionally, after leaving the upper limit position of the tower crane or the tower drum and the lower limit position of the tower crane or the tower drum, the driver controls the driving motor to rotate in the set direction, and the driving motor pulse signal is detected through the Hall sensor or the photoelectric sensor or the encoder, so that the controller can calculate and remember the current position and calculate the driving motor running distance. Specifically, the position calculation method is to multiply the pulse signal by a coefficient to convert the running height, and the running height is used by the user. Specifically, the number of pulses of the driving motor is multiplied by 0.006 to obtain the tower climbing height. For example, the motor rotates 3000 times, and the corresponding rising distance is 18 meters.

[0111] Optionally, the rule for updating the pulse signal is that after the lifting device contacts the lower limit position, the pulse number corresponding to the pulse signal is cleared, and then the pulse signal is processed. If the driving motor rotates forward, the pulse signal performs the addition action, and if the driving motor reverses, the pulse signal performs the subtraction action.

[0112] It can be understood that the height of the lifting device can be determined by the number of pulses, which facilitates the user to control the lifting device.

[0113] Figure 4 is a third flowchart of the lifting device control method provided by the application, as shown in Figure 4 Based on the above embodiment, as an optional embodiment, it further includes:

[0114] S410, the bus voltage and the driving current of the driving motor are obtained, and the first driving power is determined;

[0115] S420, the second driving power is determined according to the phase current of the driving motor and the duty cycle of the PWM signal;

[0116] S430, the efficiency of the driving motor is determined according to the first driving power and the second driving power, and the efficiency is output.

[0117] Optionally, in step S410, the bus voltage of the driving motor is detected by a voltage transformer, and the driving current of the driving motor is detected by a current transformer. The bus voltage of the driving motor and the driving current of the driving motor are multiplied to calculate the first driving power.

[0118] In step S420, the phase current is detected by a current sensor in the driving motor, and the second driving power is calculated by multiplying the PWM duty cycle, the bus voltage and the phase current.

[0119] In step S430, the efficiency of the driving motor is obtained by dividing the second driving power by the first driving power.

[0120] It can be understood that the application calculates the efficiency of the driving motor in real time, facilitates subsequent adjustment of the speed and efficiency of the driving motor according to the efficiency of the driving motor, and improves the reliability of the lifting equipment control method.

[0121] On the basis of the above embodiment, as an optional embodiment, further comprising:

[0122] Obtaining temperature information, if the temperature information is greater than a set temperature, reducing the speed of the driving motor.

[0123] It can be understood that the application tests the temperature of the driver in real time, and if the temperature exceeds a limited temperature, the driver controls the driving motor to run at a reduced speed, so as to improve the safety of the driving motor.

[0124] On the basis of the above embodiment, as an optional embodiment, further comprising:

[0125] Obtaining the electric energy generated by the driving motor driving the lifting equipment in the descending process, and charging the electric energy to the storage battery.

[0126] Optionally, the lifting equipment is controlled to descend at a constant speed through the control strategy of the driving motor, the potential energy is converted into electric energy, and the electric energy is charged to the storage battery in the mode of reverse connection braking.

[0127] The reverse connection braking is a braking mode of the motor, which generates a reverse torque for braking the motor by reversing the phase sequence.

[0128] Optionally, the application converts the potential energy of the descending operation into electric energy in the mode of feedback braking, detects the position of the rotor of the driving motor according to the Hall sensor or the photoelectric sensor or the encoder, adjusts the power tube needed to be turned on in the driving circuit of the driving motor according to the position of the rotor, and converts the potential energy of the descending operation into electric energy.

[0129] It can be understood that the application charges the electric energy to the storage battery, prolongs the use time and operation mileage of the storage battery.

[0130] The lifting equipment control method of the application is exemplified below with one embodiment.

[0131] Step 1, after each power-on, the controller, the driver and the driving motor enter into a standby state. If the second limit switch signal is triggered, the pulse number of the driving motor is set to 0, the speed is set to 0, the brake is enabled, and the three lower bridges of the driver are short-circuited; wherein the driving circuit of the driving motor is an H-bridge driving circuit, including an upper bridge and a lower bridge, and because the driving motor has three phases, the driver has three H-bridge driving circuits.

[0132] Step 2, after completing step 1, the battery power information is inquired through RS485 communication, and the battery power is greater than or equal to 15%, the rising and falling action is executed; the battery power is greater than 10% and less than 15%, only falling and not rising; the battery power is less than 10%, and the motion cannot be performed. At the same time, if the battery has an alarm information, the driver cannot act.

[0133] Step 3, after executing step 2, the logic control is performed according to the limit switch signal and the input signal of the running control signal. The controller controls the enable, rising and falling signals of the driver through the relay, and the driver receives the signal and executes the control program of the motor, thereby driving the motor to rotate forward and reverse. The logic of executing forward rotation is that the enable and rising signals are 1, and the falling input is 0; the logic of executing reverse rotation is that the enable and falling input are 1, and the rising input is 0. The other states of the enable, rising and falling inputs are executed by the driver to stop the instruction.

[0134] The driving motor sends a pulse signal to the driver in real time during rotation, and the controller accumulates the pulse signal and clears at the lower limit position. If it is a forward pulse signal, the add action is executed, and if it is a reverse pulse signal, the subtract action is executed. The pulse signal corresponds to the number of motor rotations, which can be converted into the height of the up and down operation.

[0135] The lifting equipment control system provided by the application is described below, and the lifting equipment control system described below can be correspondingly referred to the lifting equipment control method described above.

[0136] Figure 5 is the principle diagram of the lifting equipment control system provided by the application, as Figure 5 The application also provides a lifting equipment control system, which comprises a controller 510 and a driver 520.

[0137] The controller 510 is used for determining the running speed of the driving motor according to the pulse signal of the driving motor, determining the set current of the driving motor according to the running speed and the set speed of the driving motor, and adjusting the PWM signal according to the set current of the driving motor and the phase current of the driving motor.

[0138] The driver 520 is used for adjusting the speed and current of the driving motor according to the PWM signal.

[0139] Figure 6 is the principle diagram of the lifting equipment control system provided by the application, as Figure 6As shown, the lifting device control system further comprises a battery, a controller, a driver, a brushless direct current motor, a speed reducer, a rack and pinion, various limit switches, control buttons, etc. The control system is powered by a low-voltage battery, and the switches are in cooperation with the driver. The controller collects operation control signals, and according to the logical combination of real-time switch conditions, different control strategies are adopted to control the driver and the brushless direct current motor to perform a series of actions such as rising, falling, and protection.

[0140] Optionally, the controller collects the working state of the battery through RS485 communication, and also determines the running state of the brushless direct current motor.

[0141] The lifting device control system has the following advantages:

[0142] (l) High dynamic response: fast dynamic response capability, strong overload capacity, to meet the requirements of frequent starting, acceleration and deceleration and other working conditions.

[0143] (2) High torque output, wide speed regulation range: can output larger torque and power to meet the requirements of rapid starting and heavy load.

[0144] (3) High efficiency: high efficiency, high energy utilization rate, to reduce the energy consumption of the control system.

[0145] (4) Braking energy feedback: when braking or decelerating, the mechanical energy during the braking process can be converted into electrical energy and fed back to the battery, prolonging the endurance time.

[0146] (5) High reliability: can adapt to various harsh working environments, anti-vibration, high and low temperature resistance, low failure rate and convenient maintenance.

[0147] As an embodiment, the controller 510 is configured to stop outputting the PWM signal when it is determined that the phase current is always greater than the preset maximum current value of the drive motor within a preset time, so that the drive motor enters a standby state, and an alarm is issued.

[0148] As an embodiment, the controller 510 is configured to acquire a limit switch signal corresponding to a limit sensor and an operation control signal corresponding to an operation switch of the drive motor; perform logical combination on the limit switch signal and the operation control signal, and select a control strategy according to a result of the logical combination to drive the drive motor to perform a corresponding action, wherein the control strategy comprises controlling the drive motor to operate according to a motor operation trajectory curve, and the motor operation trajectory curve is determined based on a motor acceleration and deceleration time, a motor set speed and a tower climbing distance.

[0149] As an embodiment, the limit switch signal comprises a first limit switch signal for representing upper limit switch information and a second limit switch signal for representing lower limit switch information.

[0150] As an embodiment, the controller 510 is configured to adjust the pulse number and the running speed of the driving motor to control the driving motor to brake by the driver 520 if the second limit switch signal is received.

[0151] As an embodiment, the controller 510 is further configured to acquire power supply information, and drive the driving motor to perform an action according to the power supply information and a preset motor control strategy by the driver 520.

[0152] As an embodiment, the controller 510 is further configured to update the pulse signal according to the rotating direction of the driving motor, determine the height at which the driving motor drives the lifting device to run based on the updated pulse signal, and output the height.

[0153] As an embodiment, the controller 510 is further configured to acquire the bus voltage and the driving current of the driving motor to determine a first driving power, determine a second driving power according to the phase current and the duty cycle of the PWM signal, determine the efficiency of the driving motor according to the first driving power and the second driving power, and output the efficiency.

[0154] As an embodiment, the controller 510 is further configured to acquire temperature information, and reduce the speed of the driving motor if the temperature information is greater than a set temperature.

[0155] As an embodiment, the driver 520 is further configured to acquire the electric energy generated by the driving motor in the process of driving the lifting device to descend, and charge the electric energy to the storage battery.

[0156] Figure 7 An example of a schematic diagram of a physical structure of an electronic device is shown in Figure 7 The electronic device can include a processor 710, a communications interface 720, a memory 730, and a communications bus 740, wherein the processor 710, the communications interface 720, and the memory 730 can communicate with each other through the communications bus 740. The processor 710 can invoke a logical instruction in the memory 730 to execute a lifting device control method, which includes:

[0157] determining the running speed of the driving motor according to the pulse signal of the driving motor;

[0158] determining the set current of the driving motor according to the running speed and the set speed of the driving motor;

[0159] adjust the PWM signal according to the set current and the phase current of the drive motor;

[0160] The PWM signal is used to adjust the speed and current of the drive motor.

[0161] In addition, the logic instructions in the memory 730 described above can be implemented in the form of a software function unit and sold or used as an independent product, and can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0162] In another aspect, the present application also provides a computer program product, which comprises a computer program, the computer program can be stored on a non-transitory computer readable storage medium, and the computer program is executed by a processor, so that the computer can execute the hoisting equipment control method provided by the above-mentioned method, and the method comprises:

[0163] determining the running speed of the drive motor according to the pulse signal of the drive motor;

[0164] determining the set current of the drive motor according to the running speed and the set speed of the drive motor;

[0165] adjusting the PWM signal according to the set current and the phase current of the drive motor;

[0166] The PWM signal is used to adjust the speed and current of the drive motor.

[0167] In still another aspect, the present application also provides a non-transitory computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the hoisting equipment control method provided by the above-mentioned method, and the method comprises:

[0168] determining the running speed of the drive motor according to the pulse signal of the drive motor;

[0169] According to the running speed and the set speed of the driving motor, a set current of the driving motor is determined;

[0170] According to the set current and the phase current of the driving motor, a PWM signal is adjusted;

[0171] The PWM signal is used to adjust the speed and current of the driving motor.

[0172] The device embodiments described above are only illustrative, wherein the units described as separate components can or can not be physically separated, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed to multiple network units. Part or all of the modules can be selected to achieve the purpose of the embodiment scheme according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0173] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be realized by means of software and the necessary general hardware platform, and of course, it can also be realized by hardware. Based on such understanding, the above technical solutions can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in each embodiment or some parts of the embodiments.

[0174] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to some technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for controlling a lifting device, characterized in that, include: The operating speed of the drive motor is determined based on the pulse signal of the drive motor; The set current of the drive motor is determined based on the operating speed and the set speed of the drive motor. Substitute the operating speed and set speed of the drive motor into the speed PI adjustment formula, and use the output of the speed PI adjustment formula as the set current of the drive motor. The speed PI adjustment formula is as follows: ； in, The output of the speed PI control formula, This is the proportionality coefficient. The integral coefficient is... This is the speed integral difference, which is the difference between the set speed of the drive motor and the operating speed of the drive motor. This is the speed ratio difference. For sampling period points, This is the point of the previous sampling period; Adjust the PWM signal according to the set current and the phase current of the drive motor; Substitute the set current and phase current of the drive motor into the current PI regulation formula, and use the output of the current PI regulation formula as the duty cycle of the PWM signal. The current PI regulation formula is as follows: ； in, The output of the current PI control formula, This is the proportionality coefficient. The integral coefficient is... This is the integral difference of the current, that is, the difference between the set current of the drive motor and the phase current of the drive motor. This is the proportional difference in current. For sampling period points, This is the point of the previous sampling period; The PWM signal is used to adjust the speed and current of the drive motor.

2. The lifting equipment control method according to claim 1, characterized in that, Also includes: If it is determined that the phase current is always greater than the preset maximum current value of the drive motor within a preset time, the output of the PWM signal will be stopped, the drive motor will enter standby mode, and an alarm will be issued.

3. The lifting equipment control method according to claim 1, characterized in that, Before determining the operating speed of the drive motor based on the pulse signal of the drive motor, the method further includes: Obtain the limit switch signal corresponding to the limit sensor and the operation control signal corresponding to the operation switch of the drive motor; The limit switch signal and the operation control signal are logically combined, and a control strategy is selected based on the result of the logical combination to drive the drive motor to perform the corresponding action; The control strategy includes controlling the operation of the drive motor according to the motor's running trajectory curve, which is determined based on the motor's acceleration and deceleration time, the motor's set speed, and the tower climbing distance.

4. The lifting equipment control method according to claim 3, characterized in that, The limit switch signals include a first limit switch signal for representing upper limit switch information and a second limit switch signal for representing lower limit switch information.

5. The lifting equipment control method according to claim 4, characterized in that, Also includes: If the second limit switch signal is received, the pulse signal and running speed of the drive motor are adjusted to control the drive motor to hold the brake.

6. The lifting equipment control method according to claim 5, characterized in that, Also includes: Obtain power information, and drive the drive motor to perform actions based on the power information and a preset motor control strategy.

7. The lifting equipment control method according to claim 5, characterized in that, Also includes: The pulse signal is updated according to the rotation direction of the drive motor. Based on the updated pulse signal, the height at which the drive motor drives the lifting device is determined, and the height is output.

8. The lifting equipment control method according to claim 1, characterized in that, Also includes: Obtain the bus voltage and drive current of the drive motor to determine the first drive power; The second drive power is determined based on the phase current and the duty cycle of the PWM signal; The efficiency of the drive motor is determined based on the first drive power and the second drive power, and the efficiency is output.

9. The lifting equipment control method according to claim 1, characterized in that, Also includes: The temperature information is acquired, and if the temperature information is greater than the set temperature, the speed of the drive motor is reduced.

10. The lifting equipment control method according to claim 1, characterized in that, Also includes: The electrical energy generated by the drive motor driving the lifting device during descent is obtained and used to charge the battery.

11. A control system for a lifting device, characterized in that, The system for implementing the lifting equipment control method according to any one of claims 1-10 includes a controller and a driver; The controller is used to determine the operating speed of the drive motor based on the pulse signal of the drive motor; Based on the operating speed and the set speed of the drive motor, determine the set current of the drive motor; based on the set current and the phase current of the drive motor, adjust the PWM signal; The driver is used to adjust the speed and current of the drive motor according to the PWM signal.

12. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the lifting device control method as described in any one of claims 1 to 10.

13. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the lifting equipment control method as described in any one of claims 1 to 10.

14. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the lifting equipment control method as described in any one of claims 1 to 10.

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