A method and system for synchronously controlling dual electric push rods

Abstract

The present invention discloses a dual electric push rod synchronous control method and system, and relates to the field of motor control technology. When it comes to working mode switching, a new drive control signal is generated by combining the working mode after switching, the current detection data corresponding to the working mode to be switched, and the position information of the dual electric push rod. Due to the switching of the working mode, the corresponding driving mode may change; and the real current of the dual electric push rod can reflect the operating condition of the dual electric push rod, and the position of the dual electric push rod can reflect the driving condition of the dual electric push rod. Therefore, when it comes to working mode switching, considering various factors to determine the drive control signal, the synchronous control of the dual electric push rod in different working modes can be achieved, and the operating stability of the dual electric push rod can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and in particular to a method and system for synchronously controlling dual electric push rods. Background Art

[0002] With the development of motor technology, the application of electric push rods has also developed. Electric push rods, also known as linear drives, are a new type of linear actuator mainly composed of motor push rods and control devices. They can be considered as an extension of the structure of rotary motors.

[0003] An electric push rod is an electric drive device that converts the rotational motion of a motor into the linear reciprocating motion of a push rod. It can be used as an executive machine in a variety of simple or complex process flows to achieve remote control, centralized control or automatic control.

[0004] At present, in the application scenarios of electric linear actuators, there is usually a demand for the application of dual electric linear actuators. Summary of the invention

[0005] The object of the present invention is to provide a method and system for synchronous control of dual electric push rods, which can realize synchronous control of dual electric push rods in different working modes and improve the operating stability of the dual electric push rods.

[0006] To achieve the above-mentioned objectives, in first aspect, an embodiment of the present invention provides a method for synchronously controlling dual electric push rods, comprising: determining a first drive control signal and a second drive control signal according to a first working mode; drive-controlling the first electric push rod according to the first drive control signal, and drive-controlling the second electric push rod according to the second drive control signal; in response to receiving a mode switching instruction, determining a third drive control signal and a fourth drive control signal according to the second working mode, current detection data, the position of the first electric push rod and the position of the second electric push rod, the current detection data comprising: the real current data of the first electric push rod and the real current data of the second electric push rod in the first working mode; drive-controlling the first electric push rod according to the third drive control signal, and drive-controlling the second electric push rod according to the fourth drive control signal.

[0007] In a possible implementation, the first working mode is an initial working mode determined according to a mode selection instruction, and determining the first drive control signal and the second drive control signal according to the first working mode includes: obtaining a preset drive control signal corresponding to the first working mode, the preset drive control signal corresponding to the first working mode including a preset drive control signal corresponding to the first electric push rod and a preset drive control signal corresponding to the second electric push rod; determining the first drive control signal according to the preset drive control signal corresponding to the first electric push rod, and determining the second drive control signal according to the preset drive control signal corresponding to the second electric push rod.

[0008] In a possible implementation, the first working mode is an initial working mode determined according to a mode selection instruction, and determining the first drive control signal and the second drive control signal according to the first working mode includes: obtaining preset drive information corresponding to the first working mode, the preset drive information corresponding to the first working mode includes: first preset drive information corresponding to the first electric push rod and second preset drive information corresponding to the second electric push rod, the first preset drive information and the second preset drive information both include: a starting position, an end position and a push rod movement speed; generating the first drive control signal according to the first preset drive information, and generating the second drive control signal according to the second preset drive information.

[0009] In a possible implementation, the determining of the third drive control signal and the fourth drive control signal according to the second working mode, the current detection data, the position of the first electric push rod and the position of the second electric push rod includes: determining an initial third drive control signal and an initial fourth drive control signal according to the second working mode; determining first predicted voltage data of the first electric push rod in the second working mode according to the real current data of the first electric push rod, and determining second predicted voltage data of the second electric push rod in the second working mode according to the real current data of the second electric push rod; determining predicted voltage synchronization data according to the position of the first electric push rod and the position of the second electric push rod; determining a final third drive control signal and a final fourth drive control signal according to the first predicted voltage data, the second predicted voltage data, the predicted voltage synchronization data, the initial third drive control signal and the initial fourth drive control signal.

[0010] In a possible implementation, the determining the first predicted voltage data of the first electric push rod in the second working mode according to the real current data of the first electric push rod includes: obtaining a pre-constructed current-voltage prediction model, the current-voltage prediction model is used to characterize the correspondence between the real current of the electric push rod in the working mode before switching and the predicted voltage of the electric push rod in the working mode after switching, the current-voltage prediction model is constructed according to historical working mode switching records, the historical working mode switching records include multiple switching data, each switching data includes the real current of the electric push rod in the working mode before switching and the real voltage of the electric push rod in the working mode after switching; determining the first predicted voltage data of the first electric push rod in the second working mode according to the pre-constructed current-voltage prediction model and the real current data of the first electric push rod; correspondingly, determining the second predicted voltage data of the second electric push rod in the second working mode according to the real current data of the second electric push rod includes: determining the second predicted voltage data of the second electric push rod in the second working mode according to the pre-constructed current-voltage prediction model and the real current data of the second electric push rod.

[0011] In a possible implementation, the predicted voltage synchronization data is determined based on the position of the first electric push rod and the position of the second electric push rod, including: determining a first distance based on the position of the first electric push rod and a preset limit position, and determining a second distance based on the position of the second electric push rod and the preset limit position; if the first distance is equal to the second distance, determining the predicted voltage synchronization data to be 0; if the first distance is not equal to the second distance, determining the predicted voltage synchronization data based on the difference between the first distance and the second distance.

[0012] In a possible implementation, determining a final third drive control signal and a final fourth drive control signal based on the first predicted voltage data, the second predicted voltage data, the predicted voltage synchronization data, the initial third drive control signal and the initial fourth drive control signal includes: determining a voltage range corresponding to the drive control signal based on the first predicted voltage data, the second predicted voltage data and the predicted voltage synchronization data, the voltage range corresponding to the drive control signal including a voltage range corresponding to the third drive control signal and a voltage range corresponding to the fourth drive control signal; determining a final third drive control signal based on a voltage range corresponding to the initial third drive control signal and the third drive control signal, and determining a final fourth drive control signal based on a voltage range corresponding to the initial fourth drive control signal and the fourth drive control signal.

[0013] In a possible implementation, the dual electric push rod synchronous control method also includes: in response to receiving a parameter adjustment instruction, obtaining first real voltage data of the first electric push rod in the first working mode and second real voltage data of the second electric push rod in the first working mode, and the parameter adjustment instruction is used to adjust the target parameters; generating a new first drive control signal and a new second drive control signal according to the first drive control signal, the first real voltage data, the second drive control signal, the second real voltage data and the parameter adjustment instruction; drive controlling the first electric push rod according to the new first drive control signal, and drive controlling the second electric push rod according to the second drive control signal.

[0014] In a possible implementation, generating a new first drive control signal and a new second drive control signal according to the first drive control signal, the first real voltage data, the second drive control signal, the second real voltage data and the parameter adjustment instruction includes: acquiring a pre-constructed voltage-target parameter model, wherein the pre-constructed voltage-target parameter model is used to characterize the relationship between voltage and target parameter; determining voltage adjustment data according to the parameter adjustment instruction and the pre-constructed voltage-target parameter model; determining to adjust the first drive control signal and the second drive control signal according to the voltage adjustment data, the highest voltage corresponding to the first drive control signal and the highest voltage corresponding to the second drive control voltage signal; generating a new first drive control signal according to the voltage adjustment data and the first drive control signal, and generating a new second drive control signal according to the voltage adjustment data and the second drive control signal.

[0015] In a second aspect, an embodiment of the present invention provides a dual electric push rod synchronous control system, comprising: a first electric push rod, comprising a first push rod and a first drive motor; a second electric push rod, comprising a second push rod and a second drive motor; a controller, wherein the controller is respectively connected to the first drive motor and the second drive motor, and the controller is used to execute the dual electric push rod synchronous control method described in the first aspect.

[0016] Compared with the prior art, the technical solution of the embodiment of the present invention has the following technical effects:

[0017] According to the corresponding working mode, the driving control signals corresponding to the dual electric push rods can be determined; when it comes to working mode switching, the current detection data corresponding to the working mode after switching, the working mode to be switched, and the position information of the dual electric push rods are combined to generate a new driving control signal. Due to the switching of working modes, the corresponding driving mode may change; and the real current of the dual electric push rod can reflect the operating status of the dual electric push rod, and the position of the dual electric push rod can reflect the driving status of the dual electric push rod. Therefore, when it comes to working mode switching, considering various factors to determine the driving control signal can realize the synchronous control of the dual electric push rod in different working modes and improve the operating stability of the dual electric push rod. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a structural schematic diagram of a dual electric push rod synchronous control system according to an embodiment of the present invention;

[0019] Figure 2 is a structural schematic diagram of another dual electric push rod synchronous control system according to an embodiment of the present invention;

[0020] Figure 3 is a flow chart of a method for synchronously controlling dual electric push rods according to an embodiment of the present invention;

[0021] Figure 4 is a schematic structural diagram of a dual electric push rod synchronous control device according to an embodiment of the present invention;

[0022] Figure 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0023] The specific implementation modes of the present invention are described in detail below in conjunction with the accompanying drawings, but it should be understood that the protection scope of the present invention is not limited by the specific implementation modes.

[0024] Unless explicitly stated otherwise, throughout the specification and claims, the term “comprise” or variations such as “include” or “comprising”, etc., will be understood to include the stated elements or components but not to exclude other elements or components.

[0025] The technical solution provided by the embodiment of the present invention can be applied to application scenarios involving dual electric push rods. In these application scenarios, the dual electric push rods are used to achieve corresponding functions. For example, the motion drive units in industries such as household appliances, kitchen utensils, medical equipment, and automobiles can all involve dual electric push rods.

[0026] The dual electric push rods can be understood as two electric push rods, which can jointly realize corresponding motion drive; of course, the two electric push rods can also realize corresponding motion drive separately.

[0027] In some application scenarios, different working modes can be set for the application of dual electric linear actuators. In different working modes, the dual electric linear actuators can adopt different driving methods. For example, in some working modes, the dual electric linear actuators run completely synchronously; in other working modes, the dual electric linear actuators run asynchronously. Synchronous operation can be understood as: the speed and direction of rotation are the same; asynchronous operation can be understood as the drive parameters are partially the same, or completely different.

[0028] It should be understood that, in the embodiment of the present invention, the synchronous control of the dual electric push rods can be understood as simultaneous control of the dual electric push rods, rather than control of the synchronous operation of the dual electric push rods.

[0029] In the related art, when it comes to the control of dual electric linear actuators, the control signal of one electric linear actuator may be generated based on the control signal of the other electric linear actuator. This method considers too one-sided factors and may not guarantee the operation stability of the dual electric linear actuators. For example, when it comes to switching the working mode, it is impossible to make the operation of the dual electric linear actuators match the working mode.

[0030] Based on this, an embodiment of the present invention provides a technical solution, which takes into account various factors when switching working modes to determine the drive control signal, thereby realizing synchronous control of the dual electric push rods in different working modes and improving the operating stability of the dual electric push rods.

[0031] Figure 1 is a schematic structural diagram of a dual electric push rod synchronous control system according to an embodiment of the present invention. Figure 1 As shown, the system includes: a first electric push rod, a second electric push rod and a controller, and the controller is used to control the first electric push rod and the second electric push rod.

[0032] Wherein, the controller is connected to the first electric push rod and the second electric push rod respectively.

[0033] Figure 2 is a schematic structural diagram of a dual electric push rod synchronous control system according to an embodiment of the present invention. Figure 2 As shown, the first electric push rod includes a first push rod and a first drive motor; the second electric push rod includes a second push rod and a second drive motor.

[0034] based on Figure 2In the structure shown, the controller is connected to the first drive motor and the second drive motor respectively. It can be understood that the movement of the push rod is realized based on the movement of the drive motor. Therefore, the control of the drive motor is the control of the push rod.

[0035] In addition, the specific structure of the push rod and the drive motor, that is, the specific structure of the electric push rod, can refer to the mature technology in the field and is not limited here; for example, for precise control, it can also include an encoder, a potentiometer, a sensor unit and a feedback device, etc. In addition, regarding the type of the drive motor, etc., there can be different implementation methods in different application scenarios.

[0036] In the embodiment of the present invention, the device to which the dual electric push rod is applied may include a plurality of working modes, and different dual electric push rod driving modes may be adopted in different working modes.

[0037] For example, in a lifting device, lifting can be achieved by two electric push rods. In one working mode, the two electric push rods are completely synchronized, so that the heights of the lifting planes corresponding to the two electric push rods are consistent; accordingly, the drive control signals of the two electric push rods can be the same. In another working mode, the two electric push rods are not synchronized, so that the heights of the lifting planes corresponding to the two electric push rods may be inconsistent, or the lifting speeds may be inconsistent; accordingly, the output voltages of the drive control signals of the two electric push rods may be different, thereby making the movement speeds of the two electric push rods different.

[0038] Figure 3 is a flow chart of a method for synchronously controlling dual electric push rods according to an embodiment of the present invention. Figure 3 As shown, the method includes:

[0039] Step 301: Determine a first driving control signal and a second driving control signal according to a first working mode.

[0040] Step 302: drive and control the first electric push rod according to the first drive control signal, and drive and control the second electric push rod according to the second drive control signal.

[0041] Step 303, in response to receiving the mode switching instruction, determining a third drive control signal and a fourth drive control signal according to the second working mode, the current detection data, the position of the first electric push rod and the position of the second electric push rod. The current detection data includes: in the first working mode, the real current data of the first electric push rod and the real current data of the second electric push rod.

[0042] Step 304: drive and control the first electric push rod according to the third drive control signal, and drive and control the second electric push rod according to the fourth drive control signal.

[0043] In step 301 , the first working mode may be the current working mode, which is used to characterize the current operation mode of the dual electric push rod.

[0044] In some embodiments, based on the device to which the dual electric push rod is applied, the user can select the working mode. For example, a working mode selection button is configured on the device, and the corresponding working mode can be selected by operating the corresponding button. Alternatively, the device can be connected via Bluetooth, and the working mode selection operation can be initiated via Bluetooth.

[0045] As an optional implementation, the first working mode is an initial working mode determined according to the mode selection instruction. The triggering method of the mode selection instruction refers to the above embodiment.

[0046] In this embodiment, the initial working mode can be understood as the working mode selected by the user after the device is started, and of course, it can also be the working mode adopted by default after the device is started. In other words, from the start of the device to the first working mode, there is no switching of the working mode involved.

[0047] Therefore, for the working mode not involving mode switching, in the embodiment of the present invention, two implementation methods can be used to determine the driving control signal.

[0048] As a first optional implementation, step 301 includes: obtaining a preset drive control signal corresponding to the first working mode, the preset drive control signal corresponding to the first working mode including a preset drive control signal corresponding to the first electric push rod and a preset drive control signal corresponding to the second electric push rod; determining the first drive control signal according to the preset drive control signal corresponding to the first electric push rod, and determining the second drive control signal according to the preset drive control signal corresponding to the second electric push rod.

[0049] In this embodiment, the first working mode is a preset working mode, and the preset working mode may correspond to a preset drive control signal. Based on the preset drive control signal, the drive control signals corresponding to the first electric push rod and the second electric push rod can be directly determined. That is, the preset drive control signal corresponding to the working mode is used as the current drive control signal.

[0050] For example, if the first working mode is that the first electric push rod and the second electric push rod run at the same speed and in the same direction, the first drive control signal and the second drive control signal can be completely the same. In addition, in combination with the type of motor, if it is an AC motor, a sine waveform can be used; if it is a DC motor, a square wave can be used.

[0051] As a second optional implementation, step 301 includes: obtaining preset drive information corresponding to the first working mode, the preset drive information corresponding to the first working mode includes: first preset drive information corresponding to the first electric push rod and second preset drive information corresponding to the second electric push rod, the first preset drive information and the second preset drive information both include: a starting position, an end position and a push rod movement speed; generating a first drive control signal according to the first preset drive information, and generating a second drive control signal according to the second preset drive information.

[0052] In this implementation, the working mode does not directly preset the driving control signal, but presets the driving information. The corresponding driving control signal can be generated using the preset driving information.

[0053] The preset driving information may include: a starting position, an end position and a push rod movement speed. It is understood that the control period and output voltage of the driving control signal may be determined according to the starting position, the end position and the push rod movement speed.

[0054] For example, the distance that the push rod needs to move can be determined in combination with the starting position and the end position. For example, the distance that the push rod needs to move is the distance between the starting position and the end position.

[0055] In combination with the speed of the push rod, the time required for the push rod to move the distance can be determined. For example, the time required for the push rod to move the distance is the ratio of the distance to the speed.

[0056] A control cycle can be formulated based on the time required for the push rod to move the distance. For example, the time required for the push rod to move the distance is divided into two control cycles. The specific configuration can be combined with the response speed of the device. The faster the response speed, the more cycles can be divided based on the time required for the push rod to move the distance.

[0057] Furthermore, in combination with the push rod movement speed, the output voltage corresponding to the drive control signal can be determined. It can be understood that the push rod movement speed can be converted into the motor speed, and there is a corresponding relationship between the motor speed and the output voltage. Therefore, based on the push rod movement speed, the corresponding output voltage can be determined. Regarding the conversion relationship, reference can be made to the mature technology of push rod control in the field.

[0058] Therefore, the corresponding drive control signals can be generated by using the preset drive information corresponding to the dual electric push rods. Of course, when generating the drive control signals, some constraint rules of the drive control signals can also be combined. For example, the signal forms are different for AC motors and DC motors.

[0059] In addition, the preset driving information may also include a movement direction. According to the movement direction, the driving control signal may be configured to drive the driving motor of the dual electric push rod to rotate forward or reverse.

[0060] Further, in step 302, the first electric push rod is drive-controlled according to the first drive control signal, and the second electric push rod is drive-controlled according to the second drive control signal.

[0061] In some embodiments, the first drive control signal and the second drive control signal need to be output to the corresponding drive motor so that the drive motor drives the push rod to move linearly.

[0062] It can be understood that the control system may also include some basic components such as a power supply, a protective component and a limit component to achieve some corresponding functions, which are not limited in the embodiments of the present invention.

[0063] In step 303, a mode switching instruction is received, and the mode switching instruction is used to switch the first working mode to the second working mode. Accordingly, the driving mode of the dual electric push rods needs to be changed at this time.

[0064] Therefore, the third drive control signal and the fourth drive control signal are determined according to the second working mode, the current detection data, the position of the first electric push rod, and the position of the second electric push rod.

[0065] In some embodiments, the electric push rod may be equipped with a current sensor, which can detect the current value during the operation of the electric push rod. Therefore, the real current data of the first electric push rod and the real current data of the second electric push rod may be the current data detected by the corresponding current sensor.

[0066] Furthermore, in addition to configuring the current sensor, a position sensor may also be configured, and the position sensor may detect the position reached by the electric push rod, and the position may be the position where the farthest end of the electric push rod is located.

[0067] As an optional implementation, step 303 includes: determining an initial third drive control signal and an initial fourth drive control signal according to the second working mode; determining first predicted voltage data of the first electric push rod in the second working mode according to the real current data of the first electric push rod, and determining second predicted voltage data of the second electric push rod in the second working mode according to the real current data of the second electric push rod; determining predicted voltage synchronization data according to the position of the first electric push rod and the position of the second electric push rod; determining a final third drive control signal and a final fourth drive control signal according to the first predicted voltage data, the second predicted voltage data, the predicted voltage synchronization data, the initial third drive control signal and the initial fourth drive control signal.

[0068] In this embodiment, the second working mode is first used to determine the initial third driving control signal and the initial fourth driving control signal. The embodiment here can refer to the above-mentioned embodiment of determining the first driving control signal and the second driving control signal according to the first working mode.

[0069] It can be understood that the second working mode is a working mode involving mode switching. Although it corresponds to preset driving control signal related information, the driving control signal determined based on the related information may not meet the current actual situation.

[0070] Therefore, the voltage condition can also be predicted in combination with the actual current condition, and the drive control signal can be adjusted accordingly.

[0071] As an optional implementation, determining first predicted voltage data of the first electric push rod in the second working mode according to the real current data of the first electric push rod includes: obtaining a pre-constructed current-voltage prediction model, the current-voltage prediction model is used to characterize the correspondence between the real current of the electric push rod in the working mode before switching and the predicted voltage of the electric push rod in the working mode after switching, the current-voltage prediction model is constructed according to historical working mode switching records, the historical working mode switching records include multiple switching data, each switching data includes the real current of the electric push rod in the working mode before switching and the real voltage of the electric push rod in the working mode after switching; determining the first predicted voltage data of the first electric push rod in the second working mode according to the pre-constructed current-voltage prediction model and the real current data of the first electric push rod; correspondingly, determining the second predicted voltage data of the second electric push rod in the second working mode according to the real current data of the second electric push rod includes: determining the second predicted voltage data of the second electric push rod in the second working mode according to the pre-constructed current-voltage prediction model and the real current data of the second electric push rod.

[0072] In this embodiment, a current-voltage prediction model is pre-constructed, and the model can predict the real voltage of the electric putter in the working mode after switching based on the real current of the electric putter in the working mode before switching.

[0073] In some embodiments, the prediction model may be a model based on machine learning. In other embodiments, the prediction model may be a mathematical model, such as a formula, a function, and a variation curve.

[0074] In some embodiments, historical operating mode switching records may be obtained, and the prediction model may be constructed using the switching records.

[0075] For example, the historical working mode switching record records multiple working mode switching records. Taking one working mode switching record as an example, it can include: the working mode before switching and the working mode after switching, the push rod current data corresponding to the working mode before switching, and the push rod voltage data corresponding to the working mode after switching.

[0076] Furthermore, historical operation mode switching records involving all operation modes are collected. For example, assuming that there are five operation modes in total, it is necessary to collect the current data or voltage data corresponding to the switching of the five operation modes.

[0077] Furthermore, based on the historical working mode switching records involving all working modes, these data can be used to train the random forest model to learn the correspondence between current data and voltage data under mode switching, so that the trained model can be used to predict the voltage data of the working mode after switching based on the current data of the working mode before switching.

[0078] Alternatively, these data may be used to generate a variation curve of current data and voltage data, and based on the current data of the working mode before switching and the variation curve, the voltage data of the working mode after switching may be predicted.

[0079] In some embodiments, the actual voltage of the electric linear actuator may be detected after the switched working mode continues for a period of time.

[0080] In some embodiments, the two electric linear actuators share a common prediction model; of course, different prediction models may also be configured for the two electric linear actuators.

[0081] In some embodiments, the corresponding predicted voltage data can be determined by using a pre-built current-voltage prediction model in combination with the actual current data of the current electric linear actuator.

[0082] In some embodiments, the first predicted voltage data and the second predicted voltage data are normal, and the voltage required to be reached by the corresponding electric push rod in the second working mode can be determined, for example: the maximum voltage required to be reached is the maximum voltage in the predicted voltage data. Therefore, using these two predicted voltages, it is possible to evaluate whether the initial drive control signal is reasonable.

[0083] However, since the movement of the electric push rods in the first working mode may cause a large difference in the positions of the two electric push rods, the predicted voltage for the synchronous position may also be determined in combination with the positions of the electric push rods.

[0084] Therefore, the predicted voltage synchronization data is determined according to the position of the first electric push rod and the position of the second electric push rod, including: determining the first distance according to the position of the first electric push rod and the preset limit position, and determining the second distance according to the position of the second electric push rod and the preset limit position; if the first distance is equal to the second distance, the predicted voltage synchronization data is determined to be 0; if the first distance is not equal to the second distance, the predicted voltage synchronization data is determined according to the difference between the first distance and the second distance.

[0085] In this embodiment, the preset limit position is the limit position that can be reached for the dual electric push rod configuration. The distance difference between the position of the first electric push rod and the position of the second electric push rod and the preset limit position, namely the first distance and the second distance, is determined respectively.

[0086] If the first distance is equal to the second distance, it means that there is no synchronization problem. If the first distance is not equal to the second distance, the predicted voltage synchronization data can be determined according to the difference between the first distance and the second distance.

[0087] In some embodiments, the predicted voltage synchronization data may be an output voltage required to make up for the difference between the first distance and the second distance.

[0088] In some embodiments, the historical motion data of the electric push rod may be recorded, and the historical motion data may include multiple distance values, which may vary from small to large. Accordingly, the historical drive control signal corresponding to the historical motion data of the electric push rod may also be recorded to determine the historical output voltage corresponding to the historical motion data. Thus, by analyzing the historical output voltage corresponding to the historical motion data, the corresponding relationship between the distance value and the output voltage may be determined.

[0089] Therefore, the predicted voltage synchronization data can be determined in combination with the current distance difference and the corresponding relationship between the output voltage and the distance value. It can be understood that the predicted voltage synchronization data may involve multiple output voltage values, and these multiple output voltage values ​​may have corresponding size change relationships.

[0090] Furthermore, determining the final third drive control signal and the final fourth drive control signal based on the first predicted voltage data, the second predicted voltage data, the predicted voltage synchronization data, the initial third drive control signal and the initial fourth drive control signal may include: determining the voltage range corresponding to the drive control signal based on the first predicted voltage data, the second predicted voltage data and the predicted voltage synchronization data, the voltage range corresponding to the drive control signal including the voltage range corresponding to the third drive control signal and the voltage range corresponding to the fourth drive control signal; determining the final third drive control signal based on the voltage range corresponding to the initial third drive control signal and the third drive control signal, and determining the final fourth drive control signal based on the voltage range corresponding to the initial fourth drive control signal and the fourth drive control signal.

[0091] In combination with the introduction of the above-mentioned embodiment, the first predicted voltage data, the second predicted voltage data and the predicted voltage synchronization data all involve corresponding output voltage values. Therefore, the minimum value of the voltage range corresponding to the third drive control signal may be 0, and the maximum value of the voltage range corresponding to the third drive control signal may be the sum of the first predicted voltage data and the predicted voltage synchronization data. The minimum value of the voltage range corresponding to the fourth drive control signal may be 0, and the maximum value of the voltage range corresponding to the fourth drive control signal may be the sum of the second predicted voltage data and the predicted voltage synchronization data.

[0092] Further, if the maximum output voltage corresponding to the initial third drive control signal is not within the voltage range, the maximum output voltage is adjusted to within the voltage range. If the maximum output voltage corresponding to the initial third drive control signal is within the voltage range, the maximum output voltage does not need to be adjusted.

[0093] And, if the maximum output voltage corresponding to the initial fourth drive control signal is not within the voltage range, the maximum output voltage is adjusted to within the voltage range. If the maximum output voltage corresponding to the initial fourth drive control signal is within the voltage range, the maximum output voltage does not need to be adjusted.

[0094] Through the above implementation, the drive control signals corresponding to the first electric push rod and the second electric push rod in the second working mode can be determined. Then, in step 304, the first electric push rod is driven and controlled according to the third drive control signal, and the second electric push rod is driven and controlled according to the fourth drive control signal. Then, the operation mode of the first electric push rod and the second electric push rod is switched from the first working mode to the second working mode accordingly.

[0095] In some embodiments, switching of operating modes may not be involved, but parameter adjustment in one operating mode may be involved.

[0096] Therefore, as an optional embodiment, the method also includes: in response to receiving a parameter adjustment instruction, obtaining first real voltage data of the first electric push rod in the first working mode and second real voltage data of the second electric push rod in the first working mode, the parameter adjustment instruction being used to adjust the target parameters; generating a new first drive control signal and a new second drive control signal according to the first drive control signal, the first real voltage data, the second drive control signal, the second real voltage data and the parameter adjustment instruction; drive controlling the first electric push rod according to the new first drive control signal, and drive controlling the second electric push rod according to the second drive control signal.

[0097] In some embodiments, the target parameter may be the movement speed of the electric linear actuator, the movement direction of the electric linear actuator, the movement frequency of the electric linear actuator, and the like.

[0098] In this embodiment, generating a new first drive control signal and a new second drive control signal according to the first drive control signal, the first real voltage data, the second drive control signal, the second real voltage data and the parameter adjustment instruction may include: obtaining a pre-constructed voltage-target parameter model, the pre-constructed voltage-target parameter model is used to characterize the relationship between the voltage and the target parameter; determining the voltage adjustment data according to the parameter adjustment instruction and the pre-constructed voltage-target parameter model; determining to adjust the first drive control signal and the second drive control signal according to the voltage adjustment data, the highest voltage corresponding to the first drive control signal and the highest voltage corresponding to the second drive control voltage signal; generating a new first drive control signal according to the voltage adjustment data and the first drive control signal, and generating a new second drive control signal according to the voltage adjustment data and the second drive control signal.

[0099] In some embodiments, the construction method of the voltage-target parameter model can refer to the construction method of the current-voltage model in the above embodiments.

[0100] In some embodiments, the parameter adjustment instruction may include a target adjustment value of the target parameter, and the voltage adjustment value may be determined based on the target adjustment value and a pre-built voltage-target parameter model.

[0101] In some embodiments, the highest voltage corresponding to the first driving control signal is the highest output voltage of the first driving control signal, and the highest voltage corresponding to the second driving control signal is the highest output voltage of the second driving control signal.

[0102] In some embodiments, if the voltage adjustment value satisfies the highest voltage corresponding to the first driving control signal and satisfies the highest voltage corresponding to the second driving control voltage signal, it is determined to adjust the first driving control signal and the second driving control signal.

[0103] The voltage adjustment value satisfies the maximum voltage, which can be understood as the sum of the voltage adjustment value and the current output voltage being less than or equal to the maximum voltage.

[0104] In some embodiments, if the voltage adjustment value only satisfies the maximum voltage corresponding to the first drive control signal or the maximum voltage corresponding to the second drive control voltage signal, it is judged whether the voltage adjustment value can be determined to satisfy the maximum voltage of the two drive control voltage signals. If so, it can be determined to adjust the first drive control signal and the second drive control signal; otherwise, it is determined not to adjust the first drive control signal and the second drive control signal, and a prompt message for characterizing an invalid parameter adjustment instruction is fed back.

[0105] Among them, the voltage adjustment value can be first reduced to half. If after being reduced to half, the sum of the voltage adjustment value and the current output voltage is less than or equal to the maximum voltage, then the voltage adjustment value that can satisfy the maximum voltage of the two drive control voltage signals is determined based on the voltage adjustment value.

[0106] In some embodiments, if the above situation does not apply, it can be determined that the first drive control signal and the second drive control signal are not adjusted. Correspondingly, in this case, prompt information for indicating an invalid parameter adjustment instruction can be fed back.

[0107] Further, on the basis of the need for adjustment, the value of the current output voltage is changed based on the voltage adjustment value, and the output voltage after the current time point is adjusted to an output voltage value matching the adjusted output voltage value.

[0108] For example, if the voltage adjustment value is a positive value, it means that the output voltage needs to be increased, and the moment corresponding to the increased output voltage can be located from the moment after the current moment, and then the moment corresponding to the increased output voltage is regarded as the new drive control moment, which is equivalent to moving the time point of the drive control signal forward as a whole. If the voltage adjustment value is a positive value, it means that the output voltage needs to be reduced, and the moment corresponding to the reduced output voltage can be located from the moment before the current moment, and then the moment corresponding to the reduced output voltage is regarded as the new drive control moment, which is equivalent to moving the time point of the drive control signal backward as a whole.

[0109] Through the introduction of the embodiments of the present invention, the driving control signals corresponding to the dual electric push rods can be determined according to the corresponding working modes; when it comes to the switching of working modes, the current detection data corresponding to the working mode after switching, the working mode to be switched, and the position information of the dual electric push rods are combined to generate a new driving control signal. Due to the switching of working modes, the corresponding driving mode may change; and the real current of the dual electric push rod can reflect the operating conditions of the dual electric push rod, and the position of the dual electric push rod can reflect the driving conditions of the dual electric push rod. Therefore, when it comes to the switching of working modes, considering various factors to determine the driving control signal can realize the synchronous control of the dual electric push rod in different working modes and improve the operating stability of the dual electric push rod.

[0110] Please refer to Figure 4 , is a schematic structural diagram of a dual electric push rod synchronous control device according to an embodiment of the present invention, the device comprising:

[0111] The determination module 401 is used to determine a first driving control signal and a second driving control signal according to a first working mode.

[0112] The driving module 402 is used to drive and control the first electric push rod according to the first driving control signal, and to drive and control the second electric push rod according to the second driving control signal.

[0113] The determination module 401 is also used to determine the third drive control signal and the fourth drive control signal in response to receiving a mode switching instruction, according to the second working mode, current detection data, the position of the first electric push rod and the position of the second electric push rod, and the current detection data includes: in the first working mode, the real current data of the first electric push rod and the real current data of the second electric push rod.

[0114] The driving module 402 is further configured to drive and control the first electric push rod according to the third driving control signal, and drive and control the second electric push rod according to the fourth driving control signal.

[0115] It can be understood that the device corresponds to the aforementioned method, so the implementation of the device refers to the aforementioned embodiment.

[0116] Please refer to Figure 5 An embodiment of the present invention further provides an electronic device, which can be used to implement the aforementioned technical solution.

[0117] The electronic device includes a processor 501 and a memory 502, and the processor 501 and the memory 502 are communicatively connected.

[0118] The processor 501 and the memory 502 are electrically connected directly or indirectly to realize data transmission or interaction. For example, these elements can be electrically connected through one or more communication buses or signal buses. The method steps executed by the aforementioned modules or interactive terminals respectively include at least one software function module that can be stored in the memory 502 in the form of software or firmware.

[0119] The processor 501 may be an integrated circuit chip with signal processing capability. The processor 501 may be a general-purpose processor, including a CPU (Central Processing Unit), an NP (Network Processor), etc.; it may also be a digital signal processor, an application-specific integrated circuit, a readily available programmable gate array or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component. It may implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of the present invention. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0120] The memory 502 can store various software programs and modules. The processor 501 executes various functional applications and data processing by running the software programs and modules stored in the memory 502, that is, implements various steps in the embodiment of the present invention.

[0121] The memory 502 may include, but is not limited to, RAM (Random Access Memory), ROM (Read Only Memory), PROM (Programmable Read-Only Memory), EPROM (Erasable Programmable Read-Only Memory), EEPROM (Electric Erasable Programmable Read-Only Memory), etc.

[0122] Understandably, Figure 5 The structure shown is for illustration only. The electronic device may also include Figure 5 More or fewer components as shown, or with Figure 5 Different configurations are shown.

[0123] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0124] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0125] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0126] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0127] The foregoing description of specific exemplary embodiments of the present invention is for the purpose of illustration and demonstration. These descriptions are not intended to limit the present invention to the precise form disclosed, and it is clear that many changes and variations can be made based on the above teachings. The purpose of selecting and describing the exemplary embodiments is to explain the specific principles of the present invention and its practical application, so that those skilled in the art can realize and utilize various different exemplary embodiments of the present invention and various different selections and changes. The scope of the present invention is intended to be limited by the claims and their equivalents.

Claims

1. A method for synchronously controlling dual electric push rods, characterized in that: include: According to the first working mode, determining a first driving control signal and a second driving control signal; The first electric push rod is driven and controlled according to the first drive control signal, and the second electric push rod is driven and controlled according to the second drive control signal; In response to receiving the mode switching instruction, determining a third drive control signal and a fourth drive control signal according to a second working mode, current detection data, a position of the first electric push rod, and a position of the second electric push rod, wherein the current detection data includes: in the first working mode, real current data of the first electric push rod and real current data of the second electric push rod; The first electric push rod is driven and controlled according to the third drive control signal, and the second electric push rod is driven and controlled according to the fourth drive control signal; The determining of the third drive control signal and the fourth drive control signal according to the second working mode, the current detection data, the position of the first electric push rod and the position of the second electric push rod comprises: According to the second working mode, determining an initial third driving control signal and an initial fourth driving control signal; Determining first predicted voltage data of the first electric push rod in the second working mode according to the real current data of the first electric push rod, and determining second predicted voltage data of the second electric push rod in the second working mode according to the real current data of the second electric push rod; Determining predicted voltage synchronization data according to the position of the first electric push rod and the position of the second electric push rod; Determining a final third drive control signal and a final fourth drive control signal according to the first predicted voltage data, the second predicted voltage data, the predicted voltage synchronization data, the initial third drive control signal and the initial fourth drive control signal; The determining, according to the real current data of the first electric linear actuator, the first predicted voltage data of the first electric linear actuator in the second working mode comprises: Obtaining a pre-constructed current-voltage prediction model, wherein the current-voltage prediction model is used to characterize the correspondence between the real current of the electric linear actuator in the working mode before switching and the predicted voltage of the electric linear actuator in the working mode after switching, wherein the current-voltage prediction model is constructed according to a historical working mode switching record, wherein the historical working mode switching record includes multiple switching data, wherein each switching data includes the real current of the electric linear actuator in the working mode before switching and the real voltage of the electric linear actuator in the working mode after switching; Determining first predicted voltage data of the first electric push rod in the second working mode according to the pre-constructed current-voltage prediction model and the real current data of the first electric push rod; Correspondingly, determining the second predicted voltage data of the second electric push rod in the second working mode according to the real current data of the second electric push rod includes: According to the pre-constructed current-voltage prediction model and the real current data of the second electric push rod, second predicted voltage data of the second electric push rod in the second working mode is determined.

2. A dual electric push rod synchronous control method according to claim 1, characterized in that: The first working mode is an initial working mode determined according to the mode selection instruction, and the first driving control signal and the second driving control signal are determined according to the first working mode, including: Acquire a preset drive control signal corresponding to the first working mode, where the preset drive control signal corresponding to the first working mode includes a preset drive control signal corresponding to the first electric push rod and a preset drive control signal corresponding to the second electric push rod; The first drive control signal is determined according to a preset drive control signal corresponding to the first electric push rod, and the second drive control signal is determined according to a preset drive control signal corresponding to the second electric push rod.

3. A dual electric push rod synchronous control method according to claim 1, characterized in that: The first working mode is an initial working mode determined according to the mode selection instruction, and the first driving control signal and the second driving control signal are determined according to the first working mode, including: Acquire preset drive information corresponding to the first working mode, wherein the preset drive information corresponding to the first working mode includes: first preset drive information corresponding to the first electric push rod and second preset drive information corresponding to the second electric push rod, wherein the first preset drive information and the second preset drive information both include: a starting position, an end position, and a push rod movement speed; The first driving control signal is generated according to the first preset driving information, and the second driving control signal is generated according to the second preset driving information.

4. A dual electric push rod synchronous control method according to claim 1, characterized in that: The step of determining predicted voltage synchronization data according to the position of the first electric push rod and the position of the second electric push rod comprises: Determining a first distance according to the position of the first electric push rod and a preset limit position, and determining a second distance according to the position of the second electric push rod and the preset limit position; If the first distance is equal to the second distance, determining that the predicted voltage synchronization data is 0; If the first distance is not equal to the second distance, the predicted voltage synchronization data is determined according to a difference between the first distance and the second distance.

5. A dual electric push rod synchronous control method according to claim 1, characterized in that: The determining of a final third driving control signal and a final fourth driving control signal according to the first predicted voltage data, the second predicted voltage data, the predicted voltage synchronization data, the initial third driving control signal and the initial fourth driving control signal comprises: determining a voltage range corresponding to a drive control signal according to the first predicted voltage data, the second predicted voltage data and the predicted voltage synchronization data, wherein the voltage range corresponding to the drive control signal includes a voltage range corresponding to the third drive control signal and a voltage range corresponding to the fourth drive control signal; The final third drive control signal is determined according to the voltage range corresponding to the initial third drive control signal and the third drive control signal, and the final fourth drive control signal is determined according to the voltage range corresponding to the initial fourth drive control signal and the fourth drive control signal.

6. A method for synchronously controlling dual electric push rods according to claim 1, characterized in that: The dual electric push rod synchronous control method also includes: In response to receiving a parameter adjustment instruction, acquiring first real voltage data of the first electric push rod in the first working mode and second real voltage data of the second electric push rod in the first working mode, wherein the parameter adjustment instruction is used to adjust the target parameter; generating a new first drive control signal and a new second drive control signal according to the first drive control signal, the first real voltage data, the second drive control signal, the second real voltage data and the parameter adjustment instruction; The first electric push rod is driven and controlled according to the new first drive control signal, and the second electric push rod is driven and controlled according to the second drive control signal.

7. A method for synchronously controlling dual electric push rods according to claim 6, characterized in that: The generating a new first drive control signal and a new second drive control signal according to the first drive control signal, the first real voltage data, the second drive control signal, the second real voltage data and the parameter adjustment instruction comprises: Acquire a pre-built voltage-target parameter model, where the pre-built voltage-target parameter model is used to characterize the relationship between voltage and target parameter; Determining voltage adjustment data according to the parameter adjustment instruction and the pre-built voltage-target parameter model; Determining to adjust the first drive control signal and the second drive control signal according to the voltage adjustment data, the highest voltage corresponding to the first drive control signal, and the highest voltage corresponding to the second drive control voltage signal; A new first driving control signal is generated according to the voltage adjustment data and the first driving control signal, and a new second driving control signal is generated according to the voltage adjustment data and the second driving control signal.

8. A dual electric push rod synchronous control system, characterized in that: include: A first electric push rod, comprising a first push rod and a first driving motor; A second electric push rod, comprising a second push rod and a second driving motor; A controller, wherein the controller is connected to the first drive motor and the second drive motor respectively, and the controller is used to execute the dual electric push rod synchronous control method according to any one of claims 1 to 7.

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