Motor control motion device re-power motion reset method and system

Abstract

The application relates to the technical field of motor control, in particular to a motor control motion equipment power-on motion reset method and system. When the motion equipment is powered on, a B controller module for collecting motor encoder data detects whether an A controller module for controlling a motion equipment motor is normally powered; if the power supply is normal, A and B perform information interaction, when A and B are both in a normal working state, A resets the motion starting position of the motion equipment motor in a fast reset mode, otherwise, according to the current state of A and B, A selectively resets in a slow reset mode or a stable slow reset mode; if the power supply is not normal, the B controller module continues to collect and save the position signal from the motor encoder; thus, the system is built, the motion equipment is kept in a fast reset mode for a long time, and the reset efficiency is improved; meanwhile, the reset system is in an abnormal working state, a slow reset mode or a stable slow reset mode is used to maintain the reset function of the motion equipment, and the reset stability is improved.

Description

Technical Field

[0001] This invention relates to the field of motor control technology, and in particular to a method and system for resetting the motion of a motor-controlled motion device upon power-on. Background Technology

[0002] In stage lighting, commercial lighting, and home lighting, to achieve better lighting effects and a stronger atmosphere, it is often necessary to modify lighting equipment by adding mechanical structures and electrical control systems. This allows the lighting equipment or light source emitting components to move along a preset trajectory according to the design purpose, thereby changing the direction of light emission and achieving the predicted lighting effect. For example, moving head lights typically use stepper motors or DC motors to drive their lamp heads to move along the X and Y axes. Because most moving equipment currently uses motor control, when the moving equipment is powered off or after a power outage due to a malfunction and then powered on again, it is necessary to find the starting position before the power outage and reset the movement so that the moving equipment can continue its movement state before the power outage.

[0003] Currently, the motion reset method for motion equipment usually uses Hall elements or limit switches to detect the starting position before power failure for motion reset; however, using Hall elements or limit switches to detect the starting position requires cyclically detecting the motion trajectory to find the starting position. When the starting position is at the end of the motion trajectory, finding the starting position takes a long time, resulting in very low reset efficiency and a significant reduction in the sensitivity of the motion equipment. Summary of the Invention

[0004] To address the aforementioned shortcomings, the present invention aims to propose a method and system for resetting the motion of a motor-controlled motion device upon power-on, enabling the motion device to remain in a fast reset mode for an extended period, thereby improving reset efficiency; simultaneously, it also considers abnormal operating conditions of the reset system by using a slow reset mode or a stable slow reset mode to maintain the reset function of the motion device, thus improving reset stability.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] A method for resetting the motion of a motor-controlled motion device upon power-on includes the following steps:

[0007] S1: When the motion equipment is powered on again, the B controller module, which is used to collect motor encoder data, checks whether the A controller module, which is used to control the motor of the motion equipment, is powered normally; if yes, proceed to step S3; otherwise, proceed to step S2.

[0008] S2: The B controller module continues to acquire and save position signals from the motor encoder;

[0009] S3: Controller module A and controller module B exchange information; when both controller module A and controller module B are in normal working condition, controller module A uses fast reset mode to reset the starting position of the motion device motor; otherwise, depending on the real-time status of controller module A and controller module B, controller module A selectively uses slow reset mode or stable slow reset mode to reset the starting position of the motion device motor.

[0010] Furthermore, step S3 includes the following sub-steps:

[0011] S31: After successful communication between controller module A and controller module B, execute sub-step S32; otherwise, controller module A uses slow reset mode to reset the starting position of the motion device motor.

[0012] S32: Controller module A queries controller module B to see if it has ever been powered off; if so, execute sub-step S33; otherwise, controller module A uses fast reset mode to reset the starting position of the motion device motor.

[0013] S33:A controller module uses stable slow reset mode to reset the starting position of the motion device motor.

[0014] Furthermore, in sub-step S31, the slow reset mode is as follows: Controller A uses a sensor to detect the starting position of the motion device motor and performs a reset.

[0015] Furthermore, in sub-step S32, the fast reset mode is as follows: Controller A obtains the current position signal from Controller B and resets the starting position of the motion device motor.

[0016] Furthermore, in sub-step S33, the stable slow reset mode is as follows: the A controller module uses a sensor to detect the starting position of the motion device motor and resets it. At the same time, the A controller module uses the step-out correction function of the corresponding motor encoder through the B controller module.

[0017] Furthermore, sub-step S33 includes the following sub-steps:

[0018] S34: Controller module A checks whether a second power source exists to power controller module B after its own power failure; if so, it executes sub-step S35; otherwise, controller module A uses stable slow reset mode to reset the starting position of the motion device motor.

[0019] S35: Controller module A uses a stable slow reset mode to reset the starting position of the motion device motor while simultaneously restarting controller module B.

[0020] Furthermore, sub-step S35 includes the following sub-steps:

[0021] S36: The controller module uses a stable slow reset mode to reset the starting position of the motion device motor;

[0022] S37: Controller module A restarts controller module B, which collects and saves position signals from the motor encoder;

[0023] S38: Controller module A clears the power-off status flag of controller module B.

[0024] A power-on reset system for motor-controlled motion equipment, employing the aforementioned power-on reset method for motor-controlled motion equipment, includes a motor encoder, a first power supply, a second power supply, sensors, an A controller module, and a B controller module. The number of motor encoders and sensors is the same as the number of motors, with one motor encoder and one sensor corresponding to one motor.

[0025] The output terminal of the sensor is electrically connected to the position detection terminal of the A controller module; the control terminal of the motor is electrically connected to the control terminal of the A controller module; the output terminal of the motor encoder is electrically connected to the data terminal of the B controller module; the communication terminal of the A controller module is electrically connected to the communication terminal of the B controller module; the power supply terminal of the A controller module, the power supply terminal of the B controller module, and the power supply terminal of the second power supply are all electrically connected to the power supply terminal of the first power supply; the power supply terminal of the B controller module is electrically connected to the power supply terminal of the second power supply; and the power detection terminal of the A controller module is electrically connected to the detection terminal of the second power supply.

[0026] Furthermore, the second power source is a battery power source.

[0027] Furthermore, the B controller module employs a low-power control chip.

[0028] The technical solution provided by this invention can include the following beneficial effects: When the motion equipment is powered on again, the B controller module, which is used to collect motor encoder data, detects whether the A controller module (such as a module composed of an MCU and its peripheral circuits) used to control the motor of the motion equipment is powered normally; if the A controller module is powered normally, it proves that the motor has started to run normally. At this time, according to the working status of the A controller module and the B controller module (such as a module composed of an MCU and its peripheral circuits), the A controller module selects to execute the most suitable motor reset mode, with the fast reset mode being the main one; otherwise, it means that the motor cannot run normally, and the B controller module continues to collect and save the position signal from the motor encoder for fast reset after the motor runs normally; thus, by utilizing the cooperation between the A control module and the B control module, the motion equipment can be in the fast reset mode for a long time, and the starting position of the motion equipment motor can be quickly reset after power-on, improving the reset efficiency of the motion equipment. It also takes into account the response reset modes (i.e., slow reset mode and stable slow reset mode) of the A control module and the B control module in abnormal states, so that the motion equipment also has the reset function in this state, improving the stability of the motion equipment reset function. Attached Figure Description

[0029] Figure 1 This is a flowchart of a motor-controlled motion device re-energization motion reset method according to one embodiment of the present invention.

[0030] Figure 2 This is a schematic diagram of a motor-controlled motion device power-on motion reset system according to one embodiment of the present invention.

[0031] The components include: motor 1, motor encoder 2, first power supply 3, second power supply 4, sensor 5, controller module A, and controller module B. Detailed Implementation

[0032] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0033] In the description of embodiments of the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of embodiments of the present invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0034] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention according to the specific circumstances.

[0035] The following is combined Figures 1 to 2 This invention describes a method and system for resetting the motion of a motor-controlled motion device upon power-on, according to an embodiment of the present invention.

[0036] Example 1

[0037] A method for resetting the motion of a motor-controlled motion device upon power-on includes the following steps:

[0038] S1: When the motion equipment is powered on again, the B controller module, which is used to collect motor encoder data, checks whether the A controller module, which is used to control the motor of the motion equipment, is powered normally; if yes, proceed to step S3; otherwise, proceed to step S2.

[0039] S2: The B controller module continues to acquire and save position signals from the motor encoder;

[0040] S3: Controller module A and controller module B exchange information; when both controller module A and controller module B are in normal working condition, controller module A uses fast reset mode to reset the starting position of the motion device motor; otherwise, depending on the real-time status of controller module A and controller module B, controller module A selectively uses slow reset mode or stable slow reset mode to reset the starting position of the motion device motor.

[0041] In a preferred embodiment of the present invention, a method for resetting the motion of a motor-controlled motion device upon power-on is proposed, as follows: Figure 1As shown in Figures 2 and 3, when the motion equipment is powered on again, the B controller module, which collects motor encoder data, checks whether the A controller module (such as a module composed of an MCU and its peripheral circuits) that controls the motion equipment motor is powered normally. If the A controller module is powered normally, it proves that the motor 1 has started to run normally. At this time, according to the working status of the A controller module and the B controller module (such as a module composed of an MCU and its peripheral circuits), the A controller module selects to execute the most suitable motor reset mode, with the fast reset mode being the main one. Otherwise, it means that the motor 1 cannot run normally, and the B controller module continues to collect and save the position signal from the motor encoder for fast reset after the motor 1 runs normally. Thus, by utilizing the cooperation between the A control module and the B control module, the motion equipment can be in the fast reset mode for a long time, and the starting position of the motion equipment motor can be quickly reset after power-on, improving the reset efficiency of the motion equipment. It also takes into account the response reset modes (i.e., slow reset mode and stable slow reset mode) for the A control module and the B control module in abnormal states, so that the motion equipment also has the reset function in this state, improving the stability of the motion equipment reset function.

[0042] Furthermore, step S3 includes the following sub-steps:

[0043] S31: After successful communication between controller module A and controller module B, execute sub-step S32; otherwise, controller module A uses slow reset mode to reset the starting position of the motion device motor.

[0044] S32: Controller module A queries controller module B to see if it has ever been powered off; if so, execute sub-step S33; otherwise, controller module A uses fast reset mode to reset the starting position of the motion device motor.

[0045] S33:A controller module uses stable slow reset mode to reset the starting position of the motion device motor.

[0046] In this embodiment, the most crucial aspect of the reset function of the motion device, achieved through the cooperation of controller modules A and B, is the successful communication and information exchange between them. Therefore, the first step is to determine if communication is successful. If not, a slow reset mode must be used to ensure the motion device can be reset. After communication between controller modules A and B is established, it's necessary to check if controller module B, which is used to record position signals, has been powered off. If so, it means that controller module B has not recorded valid position signals, and it must be used as an auxiliary module for controller module A to achieve a stable slow reset mode. Most importantly, successful communication between controller modules A and B, and without power loss to controller module B, indicates normal information exchange between them. This allows controller module A to quickly reset motor 1 to its starting position, a reset mode maintained during normal operation of the motion device, thus improving its reset efficiency.

[0047] Furthermore, in sub-step S31, the slow reset mode is as follows: Controller A uses a sensor to detect the starting position of the motion device motor and performs a reset.

[0048] In this embodiment, the slow reset mode is a transitional reset mode without the participation of the B controller module. It is completed independently by the A controller module. Therefore, the A controller module usually uses a sensor (i.e., Hall element or limit switch, etc.) to detect the starting position of the motor 1 for reset.

[0049] Furthermore, in sub-step S32, the fast reset mode is as follows: Controller A obtains the current position signal from Controller B and resets the starting position of the motion device motor.

[0050] In this embodiment, the fast reset mode is a fast reset method implemented by the information interaction between the A controller module and the B controller module. It is mainly achieved by the A controller module obtaining the current position signal from the B controller module and resetting the starting position of the motion device motor.

[0051] Furthermore, in sub-step S33, the stable slow reset mode is as follows: Controller A uses a sensor to detect the starting position of the motion device motor and resets it. At the same time, Controller A uses the step-out correction function of the corresponding motor encoder through Controller B.

[0052] In this embodiment, in the stable slow reset mode, since the B controller module was once powered off, it cannot provide a valid position signal to the A controller module. The A controller module can only use the step-out correction function of the corresponding motor encoder 2 through the B controller module to correct step-out during the reset process while using the sensor to detect the starting position of the motion device motor for reset, thereby achieving the effect of stable slow reset and improving reset stability.

[0053] Furthermore, sub-step S33 includes the following sub-steps:

[0054] S34: Controller module A checks whether a second power source exists to power controller module B after its own power failure; if so, it executes sub-step S35; otherwise, controller module A uses stable slow reset mode to reset the starting position of the motion device motor.

[0055] S35: Controller module A uses a stable slow reset mode to reset the starting position of the motion device motor while simultaneously restarting controller module B.

[0056] In this embodiment, as Figure 2 As shown, the motion device is equipped with a first power supply 3 and a second power supply 4. The first power supply 3 is the main power supply of the motion device, while the second power supply 4 is the power supply that only supplies power to the B controller module after the first power supply 3 is de-energized. In sub-step S32, if the B controller module is known to have been de-energized, the A controller module needs to check whether the second power supply 4 exists after it is powered on. If it exists, it proves that the second power supply 4 can be charged by the first power supply 3 and re-energize the B controller module, so that the B controller module can continue to collect position signals after the power outage (i.e., the first power supply 3 is de-energized). If the second power supply 4 does not exist, it proves that after the motion device is de-energized, the A controller module and the B controller module will be de-energized at the same time, and it is meaningless for the B controller module to restart its acquisition. Therefore, the B controller module is not restarted when the second power supply 4 does not exist.

[0057] Furthermore, sub-step S35 includes the following sub-steps:

[0058] S36: The controller module uses a stable slow reset mode to reset the starting position of the motion device motor;

[0059] S37: Controller module A restarts controller module B, which collects and saves position signals from the motor encoder;

[0060] S38: Controller module A clears the power-off status flag of controller module B.

[0061] In this embodiment, when the second power supply 4 is present, the B controller module restarts and clears the power-off status flag to avoid errors in the sub-step S32 judgment.

[0062] Example 2

[0063] A power-on reset system for motor-controlled motion equipment, employing the aforementioned power-on reset method for motor-controlled motion equipment; comprising a motor encoder 2, a first power supply 3, a second power supply 4, a sensor 5, an A controller module, and a B controller module; the number of motor encoders 2 and sensors 5 is the same as the number of motors 1, with one motor encoder 2 and one sensor 5 corresponding to one motor 1;

[0064] The output terminal of sensor 5 is electrically connected to the position detection terminal of controller module A; the control terminal of motor 1 is electrically connected to the control terminal of controller module A; the output terminal of motor encoder 2 is electrically connected to the data terminal of controller module B; the communication terminal of controller module A is electrically connected to the communication terminal of controller module B; the power supply terminal of controller module A, the power supply terminal of controller module B, and the power supply terminal of second power supply 4 are all electrically connected to the power supply terminal of first power supply 3; the power supply terminal of controller module B and the power supply terminal of second power supply 4 are electrically connected; and the power detection terminal of controller module A and the detection terminal of second power supply 4 are electrically connected.

[0065] In this embodiment, a preferred embodiment of a motor-controlled motion equipment power-on reset system is also proposed, such as... Figure 2 As shown, the first power supply 3 supplies power to the A controller module (such as a module composed of an MCU and its peripheral circuits), the B controller module (such as a module composed of an MCU and its peripheral circuits), and the second power supply (powering off the first power supply 3 means powering off the motion device). The second power supply 4 supplies power to the B controller module and, when the second power supply 4 is present, feeds back an online signal to the A controller module. Then, the A controller module and the B controller module are used to reset multiple motors 1 of the motion device, with the sensor 5, motor 1, and motor encoder 2 as a group. The sensor 5 is used to feed back a slow reset position signal to the A controller module when the A controller module is in slow reset mode or stable slow reset mode. The B controller module is used to feed back a position signal to the A controller module when the A controller module is in fast reset mode, and is also used for information exchange on the step-out correction function between the A controller module and the motor encoder 2. The A controller module is used to select a mode based on the received information. Thus, the reset system can realize all the contents of the above-mentioned motor-controlled motion device power-on motion reset method.

[0066] Furthermore, the second power source 4 is a battery power source.

[0067] In this embodiment, the second power source 4 is an independent power source that supplies power after the motion device is powered off (i.e., the first power source 3 is powered off). It is preferably a battery power source, which is more convenient and does not require the introduction of a power cord. It can be independently integrated into the motion device, and the motion device can be moved to the next location and can still be quickly reset after being powered on again.

[0068] Furthermore, the B controller module uses a low-power control chip.

[0069] In this embodiment, the B controller module is mainly used for data acquisition and signal transmission. Compared with the A controller module, it has a simpler function, less information, and does not require driving motor 1. It can meet the usage requirements by using a low-power control chip, and can extend the battery life while keeping the capacity of the second power supply 4 unchanged.

[0070] The other components and operation of the method and system for resetting the motion of a motor-controlled motion device after power-on according to an embodiment of the present invention are known to those skilled in the art and will not be described in detail here.

[0071] In the description of this specification, references to terms such as "embodiment," "example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0072] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A method for resetting the motion of a motor-controlled motion device upon power-on, characterized in that: Includes the following steps: S1: When the motion equipment is powered on again, the B controller module, which is used to collect motor encoder data, checks whether the A controller module, which is used to control the motor of the motion equipment, is powered normally; if yes, proceed to step S3; otherwise, proceed to step S2. S2: The B controller module continues to acquire and save position signals from the motor encoder; S3: Controller module A and controller module B exchange information; when both controller module A and controller module B are in normal working condition, controller module A uses fast reset mode to reset the starting position of the motion device motor; otherwise, depending on the real-time status of controller module A and controller module B, controller module A selectively uses slow reset mode or stable slow reset mode to reset the starting position of the motion device motor. Step S3 includes the following sub-steps: S31: After successful communication between controller module A and controller module B, execute sub-step S32; otherwise, controller module A uses slow reset mode to reset the starting position of the motion device motor. S32: Controller module A queries controller module B to see if it has ever been powered off; if so, execute sub-step S33; otherwise, controller module A uses fast reset mode to reset the starting position of the motion device motor. S33: The controller module uses a stable slow reset mode to reset the starting position of the motion device motor; In sub-step S31, the slow reset mode is: Controller A uses a sensor to detect the starting position of the motion device motor and then resets it. In sub-step S32, the fast reset mode is: the A controller module obtains the current position signal from the B controller module and resets the starting position of the motion device motor. In sub-step S33, the stable slow reset mode is as follows: Controller A uses a sensor to detect the starting position of the motion device motor and resets it. At the same time, Controller A uses the step-out correction function of the corresponding motor encoder through Controller B.

2. The method for resetting the motion of a motor-controlled motion device upon power-on according to claim 1, characterized in that: Sub-step S33 includes the following sub-steps: S34: Controller module A checks whether a second power source exists to power controller module B after its own power failure; if so, it executes sub-step S35; otherwise, controller module A uses stable slow reset mode to reset the starting position of the motion device motor. S35: Controller module A uses a stable slow reset mode to reset the starting position of the motion device motor while simultaneously restarting controller module B.

3. The method for resetting the motion of a motor-controlled motion device upon power-on according to claim 2, characterized in that: Sub-step S35 includes the following sub-steps: S36: The controller module uses a stable slow reset mode to reset the starting position of the motion device motor; S37: Controller module A restarts controller module B, which collects and saves position signals from the motor encoder; S38: Controller module A clears the power-off status flag of controller module B.

4. A power-on reset system for motor-controlled motion equipment, characterized in that: The method for resetting the motion of a motor-controlled motion device upon power-on, as described in any one of claims 1 to 3; It includes a motor encoder, a first power supply, a second power supply, a sensor, an A controller module, and a B controller module; the number of motor encoders and sensors is the same as the number of motors, with one motor encoder and one sensor corresponding to one motor; The output terminal of the sensor is electrically connected to the position detection terminal of the A controller module; the control terminal of the motor is electrically connected to the control terminal of the A controller module; the output terminal of the motor encoder is electrically connected to the data terminal of the B controller module; the communication terminal of the A controller module is electrically connected to the communication terminal of the B controller module; the power supply terminal of the A controller module, the power supply terminal of the B controller module, and the power supply terminal of the second power supply are all electrically connected to the power supply terminal of the first power supply; the power supply terminal of the B controller module is electrically connected to the power supply terminal of the second power supply; and the power detection terminal of the A controller module is electrically connected to the detection terminal of the second power supply.

5. A motor-controlled motion equipment power-on reset system according to claim 4, characterized in that: The second power source is a battery power source.

6. The power-on reset system for motor-controlled motion equipment according to claim 4, characterized in that: The B controller module uses a low-power control chip.

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