A method for power steering conversion output of a finite angle torque motor

Abstract

This invention discloses a power steering conversion output method for a finite angle torque motor, relating to the field of automatic control technology. The method includes: receiving a control command for power steering conversion of the finite angle torque motor; acquiring the weight of the hoisted object and inputting the voltage and current values ​​of the finite angle torque motor; and controlling the pulse frequency of the PWM wave control signal of the finite angle torque motor based on the weight of the hoisted object and the input voltage and current values, so as to achieve stable power steering conversion. This invention can control the pulse frequency of the PWM wave control signal of the finite angle torque motor based on the weight of the hoisted object and the input voltage and current values, enabling the finite angle torque motor to intelligently, automatically, stably, and reliably perform power steering conversion.

Description

Technical Field

[0001] This invention belongs to the field of automatic control technology, and in particular relates to a method for power steering output conversion of a finite angle torque motor. Background Technology

[0002] A finite-angle torque motor is a servo motor that can directly drive a load to move quickly and position accurately within a certain angle range. It is mainly used in high-precision control systems within a limited angle range. Operating within a given operating voltage and a limited angle range, it features a compact structure, high efficiency, and long lifespan. When lifting objects, finite-angle torque motors require control of power steering. However, if an abrupt stop followed by immediate steering is used during lifting, it can accelerate the aging and breakage of the lifting rope, potentially causing damage to the object or injury to people. Currently, power steering is still manually controlled to avoid damage or injury, which is not intelligent enough and cannot automatically control power steering effectively. Summary of the Invention

[0003] In view of this, embodiments of the present invention provide a power steering conversion output method for a finite torque motor, which addresses the problem that existing finite torque motor power steering conversion methods are not intelligent enough and cannot automatically and effectively control power steering conversion. The present invention can control the pulse frequency of the PWM wave control signal of the finite torque motor according to the weight of the hoisted object and the input voltage and current values, enabling the finite torque motor to intelligently, automatically, stably, and reliably perform power steering conversion.

[0004] This invention provides a method for power steering conversion output of a finite angle torque motor, comprising:

[0005] Receive control commands for power steering changes of finite angle torque motors;

[0006] Obtain the weight of the hoisted item and input the voltage and current values ​​of the finite angle torque motor;

[0007] Based on the weight of the hoisted item and the input voltage and current values ​​of the finite angle torque motor, the pulse frequency of the PWM wave control signal of the finite angle torque motor is controlled to enable it to perform stable power steering conversion.

[0008] In an optional embodiment, receiving the control command for power steering change of the finite angle torque motor includes:

[0009] It receives control commands from users via a human-machine interface to change the power steering of a finite angle torque motor.

[0010] In an optional embodiment, controlling the pulse frequency of the PWM wave control signal of the finite angle torque motor based on the weight of the hoisted object and the input voltage and current values ​​of the finite angle torque motor includes:

[0011] Determine the moving speed of the hoisted item;

[0012] Based on the weight and moving speed of the hoisted item, determine the pulse frequency transmission efficiency value of the PWM wave control signal of the finite angle torque motor;

[0013] The target pulse frequency of the PWM wave control signal is determined based on the moving speed of the hoisted item and the pulse frequency transmission efficiency value of the PWM wave control signal.

[0014] The pulse frequency of the PWM wave control signal controlling the finite angle torque motor is the target pulse frequency.

[0015] In an optional embodiment, determining the moving speed of the hoisted item includes:

[0016] Acquire motion images of the hoisted item;

[0017] The motion image is converted to grayscale.

[0018] The location of hoisted items in grayscale motion images is identified using image recognition technology.

[0019] The moving speed of the hoisted object is determined based on the position of the hoisted object identified in multiple consecutive motion images and the acquisition time of the motion images.

[0020] In an optional embodiment, determining the moving speed of the hoisted item includes:

[0021] The moving speed of the hoisted item is determined based on the weight of the item being hoisted and the input voltage and current values ​​of the finite angle torque motor.

[0022] In an optional embodiment, the power steering conversion output method of the finite angle torque motor includes: determining the moving speed of the hoisted item based on the weight of the hoisted item and the input voltage and current values ​​of the finite angle torque motor, including:

[0023] The moving speed of the hoisted item is determined according to the following first formula (1):

[0024]

[0025] Where V(t) represents the moving speed of the hoisted item at time t; t represents the current time; I(t) represents the current value input to the finite angle torque motor at time t; and U represents the voltage value input to the finite angle torque motor. Mg represents the power factor, with a value of 0.8; g represents the weight of the currently hoisted item; g represents the gravitational acceleration; and M represents the mass of the currently hoisted item.

[0026] In an optional embodiment, receiving the control command for power steering conversion of the finite angle torque motor further includes: acquiring the pulse frequency of the PWM wave control signal of the finite angle torque motor at the moment of receiving the control command and the current value of the input finite angle torque motor;

[0027] The step of determining the pulse frequency transmission efficiency value of the PWM wave control signal of the finite angle torque motor based on the weight and moving speed of the currently hoisted item includes:

[0028] The pulse frequency transmission efficiency value of the PWM wave control signal of the finite torque motor is calculated according to the following second formula (2):

[0029]

[0030] Where, Δμ f (t0) represents the pulse frequency transmission efficiency value of the PWM wave control signal of the finite angle torque motor at time t0; t0 represents the initial time of receiving the control command, t0≤t; f(t0) represents the pulse frequency of the PWM wave control signal of the finite angle torque motor at time t0; θ0 represents the angle value that a single cycle of the PWM wave can control the rotation of the finite angle torque motor; R represents the shaft radius of the finite angle torque motor; V(t0) represents the moving speed of the hoisted item at time t0 calculated using the first formula;

[0031] Determining the target pulse frequency of the PWM wave control signal based on the moving speed of the hoisted item and the pulse frequency transmission efficiency value of the PWM wave control signal includes:

[0032] The target pulse frequency of the PWM wave control signal is calculated according to the following third formula (3):

[0033]

[0034] Where f(t) represents the target pulse frequency of the PWM wave control signal at time t.

[0035] In an alternative embodiment, after determining the target pulse frequency of the PWM wave control signal, the method further includes:

[0036] Determine whether the target pulse frequency is equal to 0;

[0037] If the target pulse frequency is equal to 0, then after the pulse frequency of the PWM wave control signal controlling the finite angle torque motor is 0, the method further includes: controlling the finite angle torque motor to reverse, thereby completing the power steering change of the finite angle torque motor.

[0038] This invention provides a power steering conversion output method for a finite angle torque motor. After receiving a control command to convert the power steering of the finite angle torque motor, the method acquires the weight of the hoisted object and the voltage and current values ​​of the input finite angle torque motor. Based on the weight of the hoisted object and the input voltage and current values, the method controls the pulse frequency of the PWM wave control signal of the finite angle torque motor, so that the finite angle torque motor can intelligently, automatically, stably, and reliably convert power steering. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 A flowchart of a power steering conversion output method for a finite angle torque motor provided in an embodiment of the present invention. Detailed Implementation

[0041] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0042] It should be understood that the described embodiments are merely some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0043] Figure 1 A flowchart illustrating a power steering output conversion method for a finite-angle torque motor, provided as an embodiment of the present invention. (See also...) Figure 1 The method includes the following steps S1-S3:

[0044] Step S1: Receive the control command for power steering change of the finite angle torque motor.

[0045] Step S2: Obtain the weight of the hoisted item and input the voltage and current values ​​of the finite angle torque motor.

[0046] Step S3: Based on the weight of the hoisted item and the input voltage and current values ​​of the finite angle torque motor, control the pulse frequency of the PWM wave control signal of the finite angle torque motor to enable it to perform stable power steering conversion.

[0047] The beneficial effects of the above technical solution are as follows: after receiving the control command for power steering conversion of the finite angle torque motor, the weight of the hoisted item and the voltage and current values ​​of the input finite angle torque motor are collected, and the pulse frequency of the PWM wave control signal of the finite angle torque motor is controlled according to the weight of the hoisted item and the input voltage and current values, so that the finite angle torque motor can intelligently, automatically, stably and reliably perform power steering conversion.

[0048] As an optional embodiment, receiving the control command for power steering change of the finite angle torque motor includes:

[0049] It receives control commands from users via a human-machine interface to change the power steering of a finite angle torque motor.

[0050] The beneficial effects of the above technical solution are: users can input control commands for power steering changes of the finite angle torque motor in a visual human-computer interaction interface, and can also monitor the working status of the finite angle torque motor in real time, thus improving the user experience.

[0051] As an optional embodiment, step S3 may include the following steps S31-S34:

[0052] Step S31: Determine the moving speed of the hoisted item.

[0053] Step S32: Determine the pulse frequency transmission efficiency value of the PWM wave control signal of the finite angle torque motor based on the weight and moving speed of the hoisted item.

[0054] Step S33: Determine the target pulse frequency of the PWM wave control signal based on the moving speed of the hoisted item and the pulse frequency transmission efficiency value of the PWM wave control signal.

[0055] Step S34: Control the pulse frequency of the PWM wave control signal of the finite angle torque motor to the target pulse frequency.

[0056] The beneficial effects of the above technical solution are as follows: Based on the current moving speed of the hoisted item, the pulse frequency transmission efficiency value of the PWM wave control signal of the finite angle torque motor is determined. Then, based on the aforementioned moving speed and the pulse frequency transmission efficiency value of the PWM wave control signal, the target pulse frequency of the PWM wave control signal is determined. Finally, the pulse frequency of the PWM wave control signal of the finite angle torque motor is controlled to be the target pulse frequency. This enables the finite angle torque motor to stably perform power steering changes.

[0057] As an optional embodiment, step S31 includes:

[0058] Step S311: Acquire motion images of the hoisted item;

[0059] Step S312: Perform grayscale processing on the motion image;

[0060] Step S313: Identify the position of the hoisted item in the grayscale motion image using image recognition technology;

[0061] Step S314: Determine the moving speed of the hoisted object based on the position of the hoisted object identified in the multi-frame continuous motion images and the acquisition time of the motion images.

[0062] The beneficial effects of the above technical solution are: by using image recognition technology to determine the moving speed of the hoisted item, the actual hoisting speed of the item can be known, which facilitates subsequent control and analysis. At the same time, this method of obtaining the moving speed has the advantages of being simple to implement and having accurate values.

[0063] As an optional embodiment, step S31 includes: determining the moving speed of the hoisted item based on its weight and the input voltage and current values ​​of the finite angle torque motor. Preferably, the moving speed of the hoisted item is determined according to the following first formula (1):

[0064]

[0065] Where V(t) represents the moving speed of the hoisted item at time t; t represents the current time; I(t) represents the current value input to the finite angle torque motor at time t; and U represents the voltage value input to the finite angle torque motor. Mg represents the power factor, with a value of 0.8; g represents the weight of the currently hoisted item; g represents the gravitational acceleration; and M represents the mass of the currently hoisted item.

[0066] The beneficial effects of the above technical solution are as follows: by using the first formula, based on the weight of the currently hoisted item and the voltage and current values ​​input to the finite angle torque motor, the lifting speed of the currently hoisted item can be obtained, thereby knowing the actual hoisting speed of the item, which is convenient for subsequent control and analysis.

[0067] As an optional embodiment, receiving the control command for power steering conversion of the finite angle torque motor further includes: acquiring the pulse frequency of the PWM wave control signal of the finite angle torque motor at the time of receiving the control command and the current value input to the finite angle torque motor.

[0068] Step S32 includes: calculating the pulse frequency transmission efficiency value of the PWM wave control signal of the finite angle torque motor according to the following second formula (2):

[0069]

[0070] Where, Δμ f (t0) represents the pulse frequency transmission efficiency value of the PWM wave control signal of the finite torque motor at time t0; t0 represents the initial time of receiving the control command, t0≤t; f(t0) represents the pulse frequency of the PWM wave control signal of the finite torque motor at time t0; θ0 represents the angle value that a single cycle of the PWM wave can control the rotation of the finite torque motor; R represents the shaft radius of the finite torque motor; V(t0) represents the moving speed of the hoisted item at time t0 calculated using the first formula.

[0071] Step S33 includes: calculating the target pulse frequency of the PWM wave control signal according to the following third formula (3):

[0072]

[0073] Where f(t) represents the target pulse frequency of the PWM wave control signal at time t.

[0074] The beneficial effects of the above technical solution are as follows: By using the second formula (2) in step S32, the pulse frequency transmission efficiency value of the current PWM wave control signal of the finite angle torque motor is obtained according to the weight of the currently hoisted item and the lifting speed, and the actual control transmission efficiency of the PWM wave is known, so that the motor can be started and stopped accurately and reliably after receiving the control command for power steering conversion; Finally, by using the third formula (3) in step S33, the pulse frequency of the PWM wave control signal of the finite angle torque motor is controlled according to the pulse frequency transmission efficiency value of the PWM wave control signal of the finite angle torque motor and the moving speed, so that the finite angle torque motor can stably, automatically and reliably perform power steering conversion.

[0075] In an optional embodiment, after determining the target pulse frequency of the PWM wave control signal in step S33, the method further includes:

[0076] Step S35: Determine whether the target pulse frequency is equal to 0; if yes, proceed to step S36; otherwise, return to this step.

[0077] Step S36: After executing step S34 to make the pulse frequency of the PWM wave control signal of the finite angle torque motor 0, the finite angle torque motor is controlled to reverse, thereby completing the power steering change of the finite angle torque motor.

[0078] The beneficial effects of the above technical solution are as follows: after calculating that the target pulse frequency of the PWM wave control signal is 0 and controlling the finite angle torque motor to stop rotating smoothly according to the target pulse frequency, the finite angle torque motor is randomly started to reverse, thereby completing the smooth power steering change of the finite angle torque motor. This avoids the risk of accelerated aging and breakage of the hoisting rope caused by the method of sudden stop and random steering, which may result in damage to the object or injury to people.

[0079] As can be seen from the above embodiments, after receiving the control command for power steering conversion of the finite angle torque motor, the weight of the hoisted item and the voltage and current values ​​of the finite angle torque motor are acquired. The moving speed of the hoisted item is determined according to the first formula. Then, the pulse frequency transmission efficiency value of the PWM wave control signal of the finite angle torque motor is calculated according to the second formula. Finally, the target pulse frequency of the PWM wave control signal is calculated according to the third formula, and the pulse frequency of the PWM wave control signal of the finite angle torque motor is further controlled to the target pulse frequency. This enables the finite angle torque motor to intelligently, automatically, stably, and reliably perform power steering conversion.

[0080] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0081] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0082] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0083] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims and their equivalents, this invention also intends to include these modifications and variations. The above descriptions are merely specific embodiments of this invention, but the scope of protection of this invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this invention should be included within the scope of protection of this invention. Therefore, the scope of protection of this invention should be determined by the scope of the claims.

Claims

1. A power steering conversion output method of a limited rotation angle torque motor, characterized by, The method comprises the following steps: receiving a control instruction for power steering conversion of a limited rotation torque motor; acquiring the weight of a hoisted article and the voltage and current values input to the limited rotation torque motor; controlling the pulse frequency of a PWM wave control signal of the limited rotation torque motor according to the weight of the hoisted article and the voltage and current values input to the limited rotation torque motor, so that stable power steering conversion is performed; wherein the step of controlling the pulse frequency of the PWM wave control signal of the limited rotation torque motor according to the weight of the hoisted article and the voltage and current values input to the limited rotation torque motor comprises the following steps: determining the moving speed of the hoisted article; determining the pulse frequency transmission efficiency value of the PWM wave control signal of the limited rotation torque motor according to the weight and moving speed of the hoisted article; determining the target pulse frequency of the PWM wave control signal according to the moving speed of the hoisted article and the pulse frequency transmission efficiency value of the PWM wave control signal; controlling the pulse frequency of the PWM wave control signal of the limited rotation torque motor to be the target pulse frequency; wherein the step of determining the moving speed of the hoisted article comprises the following step: determining the moving speed of the hoisted article according to the weight of the hoisted article and the voltage and current values input to the limited rotation torque motor.

2. The power steering conversion output method of the limited rotation angle torque motor as recited in claim 1, characterized by, The step of receiving a control instruction for power steering conversion of a limited rotation torque motor comprises the following step: receiving a control instruction for power steering conversion of a limited rotation torque motor input by a user through a human-computer interaction interface.

3. The power steering conversion output method of the limited rotation angle torque motor as recited in claim 1, wherein The step of determining the moving speed of the hoisted article comprises the following steps: collecting a motion image of the hoisted article; performing grayscale processing on the motion image; identifying the position of the hoisted article in the grayscale motion image through image recognition technology; determining the moving speed of the hoisted article according to the position of the hoisted article identified in a plurality of continuous motion images of the hoisted article and the collection time of the motion images.

4. The power steering conversion output method of the limited rotation angle torque motor as recited in claim 1, wherein The method comprises the following steps: The step of determining the moving speed of the hoisted article according to the weight of the hoisted article and the voltage and current values input to the limited rotation torque motor comprises the following step: determining the moving speed of the hoisted article according to the following first formula (1): （1） wherein, represents moving speed of the hoisted article; represents current time; represents inputting the current value of the limited rotation angle torque motor at the time; represents inputting the voltage value of the limited rotation angle torque motor; represents power factor, taking 0.8; represents the weight value of the current hoisted article; represents gravitational acceleration; represents the mass of the current hoisted article.

5. The power steering conversion output method of the limited rotation angle torque motor as recited in claim 4, wherein The step of receiving a control instruction for power steering conversion of a limited rotation torque motor further comprises the following step: acquiring the pulse frequency of the PWM wave control signal of the limited rotation torque motor and the current value input to the limited rotation torque motor at the moment when the control instruction is received; The step of determining the pulse frequency transmission efficiency value of the PWM wave control signal of the limited rotation torque motor according to the weight and moving speed of the hoisted article comprises the following step: （2） wherein, denotes the pulse frequency of the PWM wave control signal of the limited rotation angle torque motor at the time instant; denotes the initial time instant at which the control instruction is received, denotes the pulse frequency of the PWM wave control signal of the limited rotation angle torque motor at the time instant; denotes the angle value that the limited rotation angle torque motor can rotate in a single period of the PWM wave; denotes the radius of the rotation shaft of the limited rotation angle torque motor; denotes the calculated value of the first formula the moving speed of the hoisted article at the time instant;​ calculating the pulse frequency transmission efficiency value of the PWM wave control signal of the limited rotation torque motor according to the following second formula (2): The step of determining the target pulse frequency of the PWM wave control signal according to the moving speed of the hoisted article and the pulse frequency transmission efficiency value of the PWM wave control signal comprises the following step: calculating the target pulse frequency of the PWM wave control signal according to the following third formula (3): （3） wherein, represents a target pulse frequency of the PWM wave control signal.

6. The power steering conversion output method of the limited rotation angle torque motor as claimed in any one of claims 1, 3, 4, 5, characterized by, After the target pulse frequency of the PWM wave control signal is determined, the method further comprises: determining whether the target pulse frequency is equal to 0; if the target pulse frequency is equal to 0, after the pulse frequency of the PWM wave control signal of the limited rotation angle torque motor is controlled to be 0, the method further comprises: controlling the limited rotation angle torque motor to reverse, thereby completing the power steering conversion of the limited rotation angle torque motor.

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