Solar electric protective cover system based on multi-motor stable cooperative lifting

Abstract

The invention discloses a solar electric protective cover system based on multi-motor stable cooperative lifting, and belongs to the technical field of motor control. A motor rotating speed monitoring module is used for monitoring the real-time rotating speed of each motor, and a lifting height detection module is used for detecting the real-time lifting height of each lifting device; and the motor rotating speed adjusting module adjusts the rotating speed of each motor according to the real-time rotating speed of each motor and the real-time lifting height of each lifting device, so that the solar electric protective cover is ensured to maintain stable lifting and lifting at the same level in the lifting process, and the lifting safety of the protective cover is further improved.

Description

Technical Field

[0001] The invention relates to the technical field of motor control, and in particular to a solar electric protective cover system based on stable coordinated lifting of multiple motors. Background Art

[0002] Solar electric protective covers can be used to protect some equipment from damage when not in use or in bad weather. They can also be used to provide people with sun and rain protection venues, such as outdoor swimming pools. Some protective covers have lifting functions, which are achieved by setting multiple lifting columns at the bottom of the protective cover for coordinated lifting. Each lifting column is equipped with a motor to control the lifting of the lifting column. In order to ensure the safety of the protective cover during the lifting process and extend the service life of the protective cover, how to control the motors to operate stably and coordinately so that the protective cover can be stably and maintain the same level of lifting has become an urgent problem to be solved. Summary of the invention

[0003] The present invention is to solve the technical problems existing in the prior art. The present invention provides a solar electric protective cover system based on stable coordinated lifting of multiple motors. The system includes a protective cover and a lifting system; the lifting system includes multiple motors, multiple lifting devices and a lifting monitoring system. Each motor is used to control a lifting device to lift and then control the lifting of the protective cover. The lifting monitoring system includes: Motor speed monitoring module, lifting height detection module and motor speed adjustment module; The motor speed monitoring module is used to monitor the real-time speed of each motor; The lifting height detection module is used to detect the real-time lifting height of each lifting device; The motor speed regulating module is used to regulate the speed of each motor according to the real-time speed of each motor and the real-time lifting height of each lifting device.

[0004] Furthermore, the protective cover includes: a foamed inner support thermal insulation cover plate and a solar panel device located on the upper surface of the foamed inner support thermal insulation cover plate; the thickness of the foamed inner support thermal insulation cover plate ranges from 50mm to 100mm; the foamed inner support thermal insulation cover plate is provided with a sealing strip, a lighting system and a drainage device; the lighting system includes an atmosphere lamp and a lighting lamp; the lighting lamp is arranged on the lower surface of the foamed inner support thermal insulation cover plate, and the atmosphere lamp is located on the four sides of the foamed inner support thermal insulation cover plate; the drainage device is arranged at the four corners of the foamed inner support thermal insulation cover plate; the sealing strip is arranged on the lower surface of the foamed inner support thermal insulation cover plate; the solar panel device supplies energy for the lifting system and the lighting system.

[0005] Furthermore, the edge of the foamed inner support thermal insulation cover plate is set as a concave groove; the protective cover also includes a connecting frame profile, one side of the connecting frame profile is set as a concave groove, and the other side is set as a mountain-shaped groove; the connecting frame profile is inlaid with the edge of the foamed inner support thermal insulation cover plate through the mountain-shaped groove and surrounds the edge of the foamed inner support thermal insulation cover plate; the atmosphere light is arranged in the concave groove of the connecting frame profile around the edge of the foamed inner support thermal insulation cover plate.

[0006] Furthermore, the motor speed monitoring module includes: a phase current signal acquisition module, a line voltage signal acquisition module and a real-time speed acquisition module; The phase current signal acquisition module is used to acquire the real-time phase current signal of the motor; once the difference of the phase current mutation is detected, the lifting system issues a corresponding instruction to perform the motor reversal operation, and the solar electric protective cover system stops rising or falling; The line voltage signal acquisition module is used to acquire the real-time line voltage signal of the motor; The real-time speed acquisition module is used to determine the real-time first speed v1 of the corresponding motor according to the real-time phase current signal, and determine the real-time second speed v2 of the corresponding motor according to the real-time line voltage signal, and then obtain the real-time speed V of the corresponding motor according to the real-time first speed and the real-time second speed, V=(v1+v2) / 2.

[0007] Further, the determining of the real-time first speed of the corresponding motor according to the real-time phase current signal is specifically: Using a first filtering circuit to perform filtering processing to remove noise from the real-time phase current signal; Using a first zero-crossing comparison circuit to compare the real-time phase current signal processed by the first filtering circuit, and converting the real-time phase current signal into a corresponding current frequency pulse signal; The real-time first rotation speed of the corresponding motor is calculated through the current frequency pulse signal.

[0008] Further, the determining of the real-time second speed of the corresponding motor according to the real-time line voltage signal is specifically: Using a second filtering circuit to perform filtering processing to remove noise from the real-time line voltage signal; Using a second zero-crossing comparison circuit to compare the real-time line voltage signal processed by the second filtering circuit, and converting the real-time line voltage signal into a corresponding voltage frequency pulse signal; The real-time second speed of the corresponding motor is calculated through the voltage-frequency pulse signal.

[0009] Furthermore, the real-time lifting height of each lifting device is detected, specifically: An infrared ranging device is arranged on the fixed part of each lifting device, and the installation position of each infrared ranging device is located on the same horizontal plane; the corresponding infrared ranging device emits infrared light vertically to the bottom plane of the protective cover to measure the distance from the corresponding infrared ranging device to the bottom plane of the protective cover as the real-time lifting height of the corresponding lifting device.

[0010] Furthermore, the motor speed regulating module regulates the speed of each motor according to the real-time speed of each motor and the real-time lifting height of each lifting device, specifically: If the real-time speeds of the motors are different and the real-time lifting heights of the lifting devices are the same: The speed of each motor is adjusted to the same speed through the deviation coupling control strategy; If the real-time lifting heights of the lifting devices are different: Determine a target lifting device and a first lifting device, and use the lifting devices other than the target lifting device and the first lifting device as the second lifting device; when each lifting device is in an ascending state, the target lifting device is the lifting device with the largest real-time lifting height, and the first lifting device is the lifting device with the smallest real-time lifting height; when each lifting device is in a descending state, the target lifting device is the lifting device with the smallest real-time lifting height, and the first lifting device is the lifting device with the largest real-time lifting height; The rotation speed of the motor of the first lifting device is adjusted to the maximum rotation speed of the motor, and the motor adjustment rotation speed of the motors of the second lifting devices is calculated according to the maximum rotation speed of the motor of the first lifting device; After the rotational speed of the motor of each second lifting device is adjusted to the corresponding motor adjustment speed until the real-time lifting heights of all the lifting devices are the same, the rotational speed of the motor of each lifting device is adjusted to the same speed through the deviation coupling control strategy.

[0011] Furthermore, the motor adjustment speed of each motor of the second lifting device is calculated according to the maximum motor speed of the motor of the first lifting device, specifically: in, It represents the motor adjustment speed of the motor of the nth second lifting device, It is expressed as the difference between the real-time lifting height of the nth second lifting device and the real-time lifting height of the target lifting device. It represents the real-time speed of the motor of the target lifting device, and t represents the time required to make all lifting devices have the same real-time lifting height. It is expressed as the difference between the real-time lifting height of the first lifting device and the real-time lifting height of the target lifting device. It is represented as the maximum motor speed of the motor of the first lifting device.

[0012] The present invention also provides a control method for a solar electric protective cover based on stable coordinated lifting of multiple motors, comprising the following steps: Monitor the real-time speed of each motor; Detect the real-time lifting height of each lifting device; According to the real-time speed of each motor and the real-time lifting height of each lifting device, the speed of each motor is adjusted, specifically: If the real-time speeds of the motors are different and the real-time lifting heights of the lifting devices are the same: The speed of each motor is adjusted to the same speed through the deviation coupling control strategy; If the real-time lifting heights of the lifting devices are different: Determine a target lifting device and a first lifting device, and use the lifting devices other than the target lifting device and the first lifting device as the second lifting device; when each lifting device is in an ascending state, the target lifting device is the lifting device with the largest real-time lifting height, and the first lifting device is the lifting device with the smallest real-time lifting height; when each lifting device is in a descending state, the target lifting device is the lifting device with the smallest real-time lifting height, and the first lifting device is the lifting device with the largest real-time lifting height; The rotation speed of the motor of the first lifting device is adjusted to the maximum rotation speed of the motor, and the motor adjustment rotation speed of the motors of the second lifting devices is calculated according to the maximum rotation speed of the motor of the first lifting device; After the rotational speed of the motor of each second lifting device is adjusted to the corresponding motor adjustment speed until the real-time lifting heights of all the lifting devices are the same, the rotational speed of the motor of each lifting device is adjusted to the same speed through the deviation coupling control strategy.

[0013] Compared with the prior art, the present invention has the following beneficial effects: The present invention monitors the real-time speed of each motor through a motor speed monitoring module, detects the real-time lifting height of each lifting device through a lifting height detection module, and finally adjusts the speed of each motor according to the real-time speed of each motor and the real-time lifting height of each lifting device through a motor speed adjustment module, thereby ensuring that the solar electric protective cover maintains stability and the same level of lifting during the lifting process, thereby improving the safety of the protective cover lifting; The present invention determines the real-time first speed of the corresponding motor according to the real-time phase current signal of the motor, determines the real-time second speed of the corresponding motor according to the real-time line voltage signal of the motor, and finally obtains the actual speed of the corresponding motor according to the real-time first speed and the real-time second speed, and takes the average of the two speed measurement values ​​as the final result, which can offset the random error in a single measurement method to a certain extent, so that the final speed calculation result is more stable and reliable; The present invention adjusts the speeds of the motors to the same speed through a deviation coupling control strategy when the real-time speeds of the motors are different and the real-time lifting heights of the lifting devices are the same. In the scenario where multiple motors work together, it is crucial to ensure that the speeds of all motors are consistent for synchronous operation. The deviation coupling control strategy can effectively reduce the speed differences between different motors, thereby improving the synchronization of the entire system, thereby ensuring that the solar electric protective cover maintains stability and the same level of lifting during the lifting process, thereby improving the safety of the protective cover lifting. The present invention adopts the formula: if the real-time lifting heights of the lifting devices are different, It can be seen that the time for the first lifting device to reach the same lifting height as the target lifting device at the maximum speed of the motor is calculated. Because the difference between the real-time lifting height of the first lifting device and the real-time lifting height of the target lifting device is the largest, this time is the fastest time that can make all lifting devices at the same lifting height. Finally, the motor adjustment speed of the motor of each second lifting device is calculated according to the maximum speed of the motor of the first lifting device and this time. The speed of the motor of each second lifting device is adjusted to the corresponding motor adjustment speed until the real-time lifting height of all lifting devices is the same. The speed of the motor of each lifting device is adjusted to the same speed through the deviation coupling control strategy. When the real-time lifting height of each lifting device is different, the lifting height of each lifting device can be quickly made to the same level. When the speed of each motor is adjusted to the same, it is further ensured that the solar electric protective cover maintains stability and the same level of lifting during the lifting process, thereby improving the safety of the lifting of the protective cover. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention. In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0015] Figure 1It is a structural block diagram of a solar electric protective cover system based on stable coordinated lifting of multiple motors of the present invention; Figure 2 is a schematic structural diagram of a solar electric protective cover system in one embodiment of the present invention; Figure 3 is a schematic structural diagram of a connecting head of a lifting device in one embodiment of the present invention; Figure 4 is a structural diagram of a protective cover in one embodiment of the present invention; Figure 5 is a structural diagram of the lower surface of a protective cover in one embodiment of the present invention; Figure 6 It is a schematic cross-sectional view of the assembly of the foamed inner support thermal insulation cover plate and the connecting frame profile in one embodiment of the present invention; Figure 7 is a structural diagram of the lower surface of a protective cover in another embodiment of the present invention; Figure 8 It is a structural block diagram of a lifting monitoring system of a solar electric protective cover system based on multi-motor stable coordinated lifting of the present invention; Fig. 9 It is a structural block diagram of a motor speed monitoring module of a solar electric protective cover system based on multi-motor stable coordinated lifting of the present invention. DETAILED DESCRIPTION

[0016] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0017] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0018] In addition, the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0019] Embodiment 1 See also Figure 1 As shown, the present invention provides a solar electric protective cover system based on stable coordinated lifting of multiple motors, including: a protective cover and a lifting system, the lifting system includes multiple motors, multiple lifting devices and a lifting monitoring system, each motor is used to control a lifting device to lift and lower, and thus control the lifting of the protective cover.

[0020] The lifting monitoring system is communicatively connected with the motor and the lifting device.

[0021] The lifting device is divided into a fixed part, a moving part and a connecting head, the fixed part is a supporting foot, and the moving part is connected and installed with the protective cover through a connecting part.

[0022] In some embodiments, see Figure 2 and Figure 3 As shown, the lifting system of the solar electric protective cover system includes four lifting devices, and the protective cover is installed and fixed on the fixing grooves on the connecting heads of each lifting device.

[0023] The connector is provided with a waterproof cover to prevent water from seeping into the lifting device.

[0024] In some embodiments, see Figure 4 and Figure 5 , Figure 7 As shown, the protective cover includes: a foamed inner-supported thermal insulation cover plate and a solar panel device located on the upper surface of the foamed inner-supported thermal insulation cover plate; the foamed inner-supported thermal insulation cover plate is provided with a sealing strip, a lighting system and a drainage device; the drainage device is arranged at the four corners of the foamed inner-supported thermal insulation cover plate; the sealing strip is arranged on the lower surface of the foamed inner-supported thermal insulation cover plate; the solar panel device supplies energy for the lifting system and the lighting system.

[0025] The foamed inner support thermal insulation cover is made of alloy material and can bear a weight of 400 kg or more; the thickness of the foamed inner support thermal insulation cover ranges from 50 mm to 100 mm. The ultra-thin foamed inner support thermal insulation cover is designed to facilitate installation and disassembly, while ensuring worry-free transportation, further improving the quality of the protective cover system.

[0026] The lighting system includes a lighting lamp and an atmosphere lamp, wherein the lighting lamp is arranged on the lower surface of the foam inner support insulation cover plate to provide lighting. For example, when used in an open-air swimming pool, it can illuminate the swimming pool at night to facilitate swimming; the atmosphere lamp is located on the sides of the foam inner support insulation cover plate, and the light color of the atmosphere lamp can be adjusted.

[0027] There are four drainage devices, which are respectively arranged at the four top corners of the foam inner support insulation cover plate. Each drainage device is provided with a drainage hole (not shown in the figure), which can effectively drain the accumulated water and keep the surface of the foam inner support insulation cover plate dry, thereby improving the service life of the solar panel.

[0028] In some embodiments, see Figure 6 As shown, the edge of the foamed inner support thermal insulation cover plate is set as a concave groove to increase the rigidity strength of the foamed inner support thermal insulation cover plate; the protective cover also includes a connecting frame profile, one side of the connecting frame profile is set as a concave groove, and the other side is set as a mountain-shaped groove; the connecting frame profile is inlaid with the edge of the foamed inner support thermal insulation cover plate through the mountain-shaped groove and surrounds the edge of the foamed inner support thermal insulation cover plate; the atmosphere light is arranged in the concave groove of the connecting frame profile around the edge of the foamed inner support thermal insulation cover plate.

[0029] In some embodiments, see Figure 7 As shown, the foam inner support heat preservation cover is also provided with a sealing strip, which is arranged on the lower surface of the foam inner support heat preservation cover. In order to improve the sealing, waterproofing, heat preservation and energy saving effects of the equipment under the protective cover when it is closed, the sealing strip is arranged circumferentially on the edge of the lower surface of the foam inner support heat preservation cover, and can be a one-circle or multi-circle structure, which is not limited by the present invention. At the same time, the sealing strip adopts a material commonly used in the field with good sealing performance and suitable for outdoor use, such as TPV (thermoplastic vulcanized rubber), PVC (polyvinyl chloride), etc.

[0030] It should be noted that the structures of the lifting devices of the above embodiments can be combined with each other to form new embodiments.

[0031] The solar cell panel serves as the power storage device of the present invention, supplies energy to the lifting system and the lighting system, provides green energy, and achieves the effect of energy saving and environmental protection.

[0032] In this solution, manual lifting control can be performed through a lifting control button connected to the lifting system. In another embodiment, the solar electric protective cover system also includes an intelligent voice control system, which is used to collect user voice commands and perform lifting control on the lifting system according to the user voice commands.

[0033] See also Figure 8 As shown, the lifting monitoring system specifically includes: A motor speed monitoring module, a lifting height detection module and a motor speed adjustment module, and a central processing unit that communicates with the above modules.

[0034] The motor speed monitoring module is used to monitor the real-time speed of each motor; The lifting height detection module is used to detect the real-time lifting height of each lifting device; The motor speed regulating module is used to regulate the speed of each motor according to the real-time speed of each motor and the real-time lifting height of each lifting device.

[0035] See also Fig. 9 As shown, the motor speed monitoring module includes: a phase current signal acquisition module, a line voltage signal acquisition module and a real-time speed acquisition module.

[0036] The phase current signal acquisition module is used to obtain the real-time phase current signal of the motor. When the solar electric protective cover system encounters an obstacle during the lifting process, the real-time phase current of the motor will produce corresponding abnormal changes. The abnormal change is that the change in the phase current (that is, the difference in the phase current) exceeds the normal threshold range. Once the sudden change in the difference in the phase current is detected, the lifting system issues a corresponding instruction to reverse the motor, so that the solar electric protective cover system stops rising or falling, thereby realizing the stop function of the solar electric protective cover system when encountering an obstacle.

[0037] The real-time phase current signal is specifically a real-time current signal of any phase of the three-phase electricity of the motor inverter of the motor.

[0038] The line voltage signal acquisition module is used to acquire the real-time line voltage signal of the motor; The real-time line voltage signal is specifically a real-time voltage signal between any two phases of the three-phase electricity of the motor inverter of the motor.

[0039] The real-time speed acquisition module is used to determine the real-time first speed v1 of the corresponding motor according to the real-time phase current signal, and determine the real-time second speed v2 of the corresponding motor according to the real-time line voltage signal, and then obtain the real-time speed V of the corresponding motor according to the real-time first speed and the real-time second speed, V=(v1+v2) / 2.

[0040] The determining of the real-time first speed of the corresponding motor according to the real-time phase current signal is specifically: Using a first filtering circuit to perform filtering processing to remove noise from the real-time phase current signal; Using a first zero-crossing comparison circuit to compare the real-time phase current signal processed by the first filtering circuit, and converting the real-time phase current signal into a corresponding current frequency pulse signal; The real-time first rotation speed of the corresponding motor is calculated through the current frequency pulse signal.

[0041] The determining of the real-time second speed of the corresponding motor according to the real-time line voltage signal is specifically: Using a second filtering circuit to perform filtering processing to remove noise from the real-time line voltage signal; Using a second zero-crossing comparison circuit to compare the real-time line voltage signal processed by the second filtering circuit, and converting the real-time line voltage signal into a corresponding voltage frequency pulse signal; The real-time second speed of the corresponding motor is calculated through the voltage-frequency pulse signal.

[0042] The real-time first speed of the corresponding motor is calculated by the current frequency pulse signal, and the real-time second speed of the corresponding motor is calculated by the voltage frequency pulse signal. Specifically, the processor detects the frequency of the current frequency pulse signal and the frequency of the voltage frequency pulse signal, that is, the number of pulses per second, which can reflect the rotation speed of the motor. Then, the real-time first speed and the real-time second speed are obtained respectively by matching and calculating the relationship between the corresponding frequency signal and the corresponding motor speed. The relationship between the corresponding frequency signal and the corresponding motor speed can be determined and obtained through experiments.

[0043] Filter circuits are usually composed of components such as resistors and capacitors to smooth signals and reduce interference. The zero-crossing comparator of the zero-crossing comparison circuit will generate a change edge (such as a rising edge or a falling edge) when the signal crosses the zero point, which can convert the analog signal into a digital pulse signal in the form of a square wave. Each time the signal crosses the zero point, a pulse output will be triggered, and the number of these pulses is related to the number of zero crossings of the signal per unit time.

[0044] The lifting height detection module is specifically an infrared distance measuring device, and the real-time lifting height of each lifting device is detected as follows: An infrared ranging device is arranged on the fixed part of each lifting device, that is, the height of the installation position of the infrared ranging device is fixed and does not change with the lifting height of the lifting device. The installation positions of each infrared ranging device are located on the same horizontal plane. The distance from the corresponding infrared ranging device to the bottom plane of the protective cover is measured by the corresponding infrared ranging device vertically emitting infrared light to the bottom plane of the protective cover as the real-time lifting height of the corresponding lifting device.

[0045] The motor speed regulating module regulates the speed of each motor according to the real-time speed of each motor and the real-time lifting height of each lifting device, specifically: If the real-time speeds of the motors are different and the real-time lifting heights of the lifting devices are the same: The rotation speeds of the motors are adjusted to the same rotation speed by using a deviation coupling control strategy; the principle of adjusting the rotation speeds of the motors to the same rotation speed by using a deviation coupling control strategy belongs to the prior art and will not be described in detail here; If the real-time lifting heights of the lifting devices are different: Determine a target lifting device and a first lifting device, and use the lifting devices other than the target lifting device and the first lifting device as the second lifting device; when each lifting device is in an ascending state, the target lifting device is the lifting device with the largest real-time lifting height, and the first lifting device is the lifting device with the smallest real-time lifting height; when each lifting device is in a descending state, the target lifting device is the lifting device with the smallest real-time lifting height, and the first lifting device is the lifting device with the largest real-time lifting height; The rotation speed of the motor of the first lifting device is adjusted to the maximum rotation speed of the motor, and the motor adjustment rotation speed of the motors of the second lifting devices is calculated according to the maximum rotation speed of the motor of the first lifting device; After the rotational speed of the motor of each second lifting device is adjusted to the corresponding motor adjustment speed until the real-time lifting heights of all the lifting devices are the same, the rotational speed of the motor of each lifting device is adjusted to the same speed through the deviation coupling control strategy.

[0046] The motor adjustment speed of each motor of the second lifting device is calculated according to the maximum motor speed of the motor of the first lifting device, specifically: in, It represents the motor adjustment speed of the motor of the nth second lifting device, It is expressed as the difference between the real-time lifting height of the nth second lifting device and the real-time lifting height of the target lifting device. It represents the real-time speed of the motor of the target lifting device, and t represents the time required to make all lifting devices have the same real-time lifting height. It is expressed as the difference between the real-time lifting height of the first lifting device and the real-time lifting height of the target lifting device. It is represented as the maximum motor speed of the motor of the first lifting device.

[0047] In some embodiments, the first filtering circuit includes a first resistor, a second resistor, a third resistor, a fourth resistor, a fifth resistor, a first capacitor, a second capacitor, a third capacitor, and a comparator.

[0048] One end of the first resistor receives the phase current signal, and the other end is connected in series with the second resistor and then connected to the positive input end of the comparator; one end of the fourth resistor is grounded, and the other end is connected to the negative input end of the comparator; a fifth resistor is connected in series to the output end of the comparator; one end of the third resistor 3 is connected between the fourth resistor and the negative input end of the comparator, and the other end is connected between the output end of the first comparator and the fifth resistor; one end of the first capacitor is grounded, and the other end is connected between the second resistor R2 and the positive input end of the first comparator; one end of the second capacitor is connected between the first resistor and the second resistor, and the other end is connected between the output end of the first comparator and the fifth resistor; one end of the third capacitor is grounded, and the other end is connected between the output end of the first comparator and the fifth resistor The end is connected to the output end of the fifth resistor.

[0049] The second filtering circuit includes the same number of resistors, capacitors and comparators as the first filtering circuit, and is connected in the same manner as the first filtering circuit.

[0050] Embodiment 2 The present invention also provides a solar electric protective cover control method based on multi-motor stable coordinated lifting, which is applied to the above-mentioned solar electric protective cover system based on multi-motor stable coordinated lifting, and specifically includes the following steps: S1, monitor the real-time speed of each motor; S2, detecting the real-time lifting height of each lifting device; S3. Adjust the rotation speed of each motor according to the real-time rotation speed of each motor and the real-time lifting height of each lifting device.

[0051] For step S1, the real-time speed of each motor is monitored, which specifically includes the following steps: Get the real-time phase current signal and real-time line voltage signal of the motor; Determine a real-time first speed of the corresponding motor according to the real-time phase current signal, and determine a real-time second speed of the corresponding motor according to the real-time line voltage signal; The real-time rotation speed V of the corresponding motor is obtained according to the real-time first rotation speed and the real-time second rotation speed, where V=(v1+v2) / 2.

[0052] The determining of the real-time first speed of the corresponding motor according to the real-time phase current signal is specifically: Using a first filtering circuit to perform filtering processing to remove noise from the real-time phase current signal; Using a first zero-crossing comparison circuit to compare the real-time phase current signal processed by the first filtering circuit, and converting the real-time phase current signal into a corresponding current frequency pulse signal; The real-time first rotation speed of the corresponding motor is calculated through the current frequency pulse signal.

[0053] The determining of the real-time second speed of the corresponding motor according to the real-time line voltage signal is specifically: Using a second filtering circuit to perform filtering processing to remove noise from the real-time line voltage signal; Using a second zero-crossing comparison circuit to compare the real-time line voltage signal processed by the second filtering circuit, and converting the real-time line voltage signal into a corresponding voltage frequency pulse signal; The real-time second speed of the corresponding motor is calculated through the voltage-frequency pulse signal.

[0054] For step S2, the real-time lifting height of each lifting device is detected, specifically: An infrared ranging device is arranged on the fixed part of each lifting device, that is, the height of the installation position of the infrared ranging device is fixed and does not change with the lifting height of the lifting device. The installation positions of each infrared ranging device are located on the same horizontal plane. The distance from the corresponding infrared ranging device to the bottom plane of the protective cover is measured by the corresponding infrared ranging device vertically emitting infrared light to the bottom plane of the protective cover as the real-time lifting height of the corresponding lifting device.

[0055] For step S3, the speed of each motor is adjusted according to the real-time speed of each motor and the real-time lifting height of each lifting device, specifically: If the real-time speeds of the motors are different and the real-time lifting heights of the lifting devices are the same: The rotation speeds of the motors are adjusted to the same rotation speed by using a deviation coupling control strategy; the principle of adjusting the rotation speeds of the motors to the same rotation speed by using a deviation coupling control strategy belongs to the prior art and will not be described in detail here; If the real-time lifting heights of the lifting devices are different: Determine a target lifting device and a first lifting device, and use the lifting devices other than the target lifting device and the first lifting device as the second lifting device; when each lifting device is in an ascending state, the target lifting device is the lifting device with the largest real-time lifting height, and the first lifting device is the lifting device with the smallest real-time lifting height; when each lifting device is in a descending state, the target lifting device is the lifting device with the smallest real-time lifting height, and the first lifting device is the lifting device with the largest real-time lifting height; The rotation speed of the motor of the first lifting device is adjusted to the maximum rotation speed of the motor, and the motor adjustment rotation speed of the motors of the second lifting devices is calculated according to the maximum rotation speed of the motor of the first lifting device; After the rotational speed of the motor of each second lifting device is adjusted to the corresponding motor adjustment speed until the real-time lifting heights of all the lifting devices are the same, the rotational speed of the motor of each lifting device is adjusted to the same speed through the deviation coupling control strategy.

[0056] The motor adjustment speed of each motor of the second lifting device is calculated according to the maximum motor speed of the motor of the first lifting device, specifically: in, It represents the motor adjustment speed of the motor of the nth second lifting device, It is expressed as the difference between the real-time lifting height of the nth second lifting device and the real-time lifting height of the target lifting device. It represents the real-time speed of the motor of the target lifting device, and t represents the time required to make all lifting devices have the same real-time lifting height. It is expressed as the difference between the real-time lifting height of the first lifting device and the real-time lifting height of the target lifting device. It is represented as the maximum motor speed of the motor of the first lifting device.

[0057] Embodiment 3 The present invention also provides an electronic device, including: a processor, a sending device, an input device, an output device and a memory. The processor can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit, or one or more integrated circuits, and is used to execute relevant programs to implement the technical solution provided in the embodiment of the present application. The memory can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device or a random access memory (RAM), and is used to store computer program code. The computer program code includes computer instructions. When the processor executes the computer instructions, the electronic device executes a method as described in any of the above possible implementation methods.

[0058] Embodiment 4 The present invention also provides a computer-readable storage medium, in which a computer program is stored. The computer program includes program instructions. When the program instructions are executed by a processor of an electronic device, the processor executes a method as described in any possible implementation manner.

[0059] The beneficial effects of the present invention are: The present invention monitors the real-time speed of each motor through a motor speed monitoring module, detects the real-time lifting height of each lifting device through a lifting height detection module, and finally adjusts the speed of each motor according to the real-time speed of each motor and the real-time lifting height of each lifting device through a motor speed adjustment module, thereby ensuring that the solar electric protective cover maintains stability and the same level of lifting during the lifting process, thereby improving the safety of the protective cover lifting; The present invention determines the real-time first speed of the corresponding motor according to the real-time phase current signal of the motor, determines the real-time second speed of the corresponding motor according to the real-time line voltage signal of the motor, and finally obtains the actual speed of the corresponding motor according to the real-time first speed and the real-time second speed, and takes the average of the two speed measurement values ​​as the final result, which can offset the random error in a single measurement method to a certain extent, so that the final speed calculation result is more stable and reliable; The present invention adjusts the speeds of the motors to the same speed through a deviation coupling control strategy when the real-time speeds of the motors are different and the real-time lifting heights of the lifting devices are the same. In the scenario where multiple motors work together, it is crucial to ensure that the speeds of all motors are consistent for synchronous operation. The deviation coupling control strategy can effectively reduce the speed differences between different motors, thereby improving the synchronization of the entire system, thereby ensuring that the solar electric protective cover maintains stability and the same level of lifting during the lifting process, thereby improving the safety of the protective cover lifting. The present invention adopts the formula: if the real-time lifting heights of the lifting devices are different, It can be seen that the time for the first lifting device to reach the same lifting height as the target lifting device at the maximum speed of the motor is calculated. Because the difference between the real-time lifting height of the first lifting device and the real-time lifting height of the target lifting device is the largest, this time is the fastest time that can make all lifting devices at the same lifting height. Finally, the motor adjustment speed of the motor of each second lifting device is calculated according to the maximum speed of the motor of the first lifting device and this time. The speed of the motor of each second lifting device is adjusted to the corresponding motor adjustment speed until the real-time lifting height of all lifting devices is the same. The speed of the motor of each lifting device is adjusted to the same speed through the deviation coupling control strategy. When the real-time lifting height of each lifting device is different, the lifting height of each lifting device can be quickly made to the same level. When the speed of each motor is adjusted to the same, it is further ensured that the solar electric protective cover maintains stability and the same level of lifting during the lifting process, thereby improving the safety of the lifting of the protective cover.

[0060] In the description of the specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0061] In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit. If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including multiple instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method of each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (RandomAccess Memory, referred to as RAM), disk or optical disk and other media that can store programs.

[0062] The foregoing is merely a specific embodiment of the present invention, which enables those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A solar electric protective cover system based on stable coordinated lifting of multiple motors, characterized in that: The system includes a protective cover and a lifting system; the lifting system includes multiple motors, multiple lifting devices and a lifting monitoring system, each motor is used to control a lifting device to lift and lower, thereby controlling the lifting and lowering of the protective cover, and the lifting monitoring system includes: Motor speed monitoring module, lifting height detection module and motor speed adjustment module; The motor speed monitoring module is used to monitor the real-time speed of each motor; The lifting height detection module is used to detect the real-time lifting height of each lifting device; The motor speed regulating module is used to regulate the speed of each motor according to the real-time speed of each motor and the real-time lifting height of each lifting device.

2. The solar electric protective cover system based on multi-motor stable coordinated lifting according to claim 1 is characterized in that: The protective cover includes: a foamed inner support thermal insulation cover plate and a solar panel device located on the upper surface of the foamed inner support thermal insulation cover plate; the thickness of the foamed inner support thermal insulation cover plate ranges from 50 mm to 100 mm; the foamed inner support thermal insulation cover plate is provided with a sealing strip, a lighting system and a drainage device; the lighting system includes an atmosphere lamp and a lighting lamp; the lighting lamp is arranged on the lower surface of the foamed inner support thermal insulation cover plate, and the atmosphere lamp is located on the four sides of the foamed inner support thermal insulation cover plate; the drainage device is arranged at the four corners of the foamed inner support thermal insulation cover plate; the sealing strip is arranged on the lower surface of the foamed inner support thermal insulation cover plate; the solar panel device supplies energy for the lifting system and the lighting system.

3. The solar electric protective cover system based on multi-motor stable coordinated lifting according to claim 2 is characterized in that: The edge of the foamed inner support thermal insulation cover plate is set as a concave groove; the protective cover also includes a connecting frame profile, one side of the connecting frame profile is set as a concave groove, and the other side is set as a mountain-shaped groove; the connecting frame profile is inlaid with the edge of the foamed inner support thermal insulation cover plate through the mountain-shaped groove and surrounds the edge of the foamed inner support thermal insulation cover plate; the atmosphere light is arranged in the concave groove of the connecting frame profile around the edge of the foamed inner support thermal insulation cover plate.

4. The solar electric protective cover system based on stable coordinated lifting of multiple motors according to claim 1 is characterized in that: The motor speed monitoring module includes: a phase current signal acquisition module, a line voltage signal acquisition module and a real-time speed acquisition module; The phase current signal acquisition module is used to acquire the real-time phase current signal of the motor; once the difference of the phase current mutation is detected, the lifting system issues a corresponding instruction to perform the motor reversal operation, and the solar electric protective cover system stops rising or falling; The line voltage signal acquisition module is used to acquire the real-time line voltage signal of the motor; The real-time speed acquisition module is used to determine the real-time first speed v1 of the corresponding motor according to the real-time phase current signal, and determine the real-time second speed v2 of the corresponding motor according to the real-time line voltage signal, and then obtain the real-time speed V of the corresponding motor according to the real-time first speed and the real-time second speed, V=(v1+v2) / 2.

5. The solar electric protective cover system based on multi-motor stable coordinated lifting according to claim 4 is characterized in that: The determining of the real-time first speed of the corresponding motor according to the real-time phase current signal is specifically: Using a first filtering circuit to perform filtering processing to remove noise from the real-time phase current signal; Using a first zero-crossing comparison circuit to compare the real-time phase current signal processed by the first filtering circuit, and converting the real-time phase current signal into a corresponding current frequency pulse signal; The real-time first rotation speed of the corresponding motor is calculated through the current frequency pulse signal.

6. The solar electric protective cover system based on stable coordinated lifting of multiple motors according to claim 4 is characterized in that: The determining of the real-time second speed of the corresponding motor according to the real-time line voltage signal is specifically: Using a second filtering circuit to perform filtering processing to remove noise from the real-time line voltage signal; Using a second zero-crossing comparison circuit to compare the real-time line voltage signal processed by the second filtering circuit, and converting the real-time line voltage signal into a corresponding voltage frequency pulse signal; The real-time second speed of the corresponding motor is calculated through the voltage-frequency pulse signal.

7. The solar electric protective cover system based on stable coordinated lifting of multiple motors according to claim 1 is characterized in that: The detection of the real-time lifting height of each lifting device is specifically as follows: An infrared ranging device is arranged on the fixed part of each lifting device, and the installation position of each infrared ranging device is located on the same horizontal plane; the corresponding infrared ranging device emits infrared light vertically to the bottom plane of the protective cover to measure the distance from the corresponding infrared ranging device to the bottom plane of the protective cover as the real-time lifting height of the corresponding lifting device.

8. The solar electric protective cover system based on stable coordinated lifting of multiple motors according to claim 1 is characterized in that: The motor speed regulating module regulates the speed of each motor according to the real-time speed of each motor and the real-time lifting height of each lifting device, specifically: If the real-time speeds of the motors are different and the real-time lifting heights of the lifting devices are the same: The speed of each motor is adjusted to the same speed through the deviation coupling control strategy; If the real-time lifting heights of the lifting devices are different: Determine a target lifting device and a first lifting device, and use the lifting devices other than the target lifting device and the first lifting device as the second lifting device; when each lifting device is in an ascending state, the target lifting device is the lifting device with the largest real-time lifting height, and the first lifting device is the lifting device with the smallest real-time lifting height; when each lifting device is in a descending state, the target lifting device is the lifting device with the smallest real-time lifting height, and the first lifting device is the lifting device with the largest real-time lifting height; The rotation speed of the motor of the first lifting device is adjusted to the maximum rotation speed of the motor, and the motor adjustment rotation speed of the motors of the second lifting devices is calculated according to the maximum rotation speed of the motor of the first lifting device; After the rotational speed of the motor of each second lifting device is adjusted to the corresponding motor adjustment speed until the real-time lifting heights of all the lifting devices are the same, the rotational speed of the motor of each lifting device is adjusted to the same speed through the deviation coupling control strategy.

9. The solar electric protective cover system based on stable coordinated lifting of multiple motors according to claim 8 is characterized in that: The motor adjustment speed of each motor of the second lifting device is calculated according to the maximum motor speed of the motor of the first lifting device, specifically: in, It represents the motor adjustment speed of the motor of the nth second lifting device, It is expressed as the difference between the real-time lifting height of the nth second lifting device and the real-time lifting height of the target lifting device. It represents the real-time speed of the motor of the target lifting device, and t represents the time required to make all lifting devices have the same real-time lifting height. It is expressed as the difference between the real-time lifting height of the first lifting device and the real-time lifting height of the target lifting device. It is represented as the maximum motor speed of the motor of the first lifting device.

10. A control method for a solar electric protective cover based on stable coordinated lifting of multiple motors, applied to the solar electric protective cover system based on stable coordinated lifting of multiple motors as claimed in any one of claims 1 to 8, characterized in that: The following steps are involved: Monitor the real-time speed of each motor; Detect the real-time lifting height of each lifting device; According to the real-time speed of each motor and the real-time lifting height of each lifting device, the speed of each motor is adjusted, specifically: If the real-time speeds of the motors are different and the real-time lifting heights of the lifting devices are the same: The speed of each motor is adjusted to the same speed through the deviation coupling control strategy; If the real-time lifting heights of the lifting devices are different: Determine a target lifting device and a first lifting device, and use the lifting devices other than the target lifting device and the first lifting device as the second lifting device; when each lifting device is in an ascending state, the target lifting device is the lifting device with the largest real-time lifting height, and the first lifting device is the lifting device with the smallest real-time lifting height; when each lifting device is in a descending state, the target lifting device is the lifting device with the smallest real-time lifting height, and the first lifting device is the lifting device with the largest real-time lifting height; The rotation speed of the motor of the first lifting device is adjusted to the maximum rotation speed of the motor, and the motor adjustment rotation speed of the motors of the second lifting devices is calculated according to the maximum rotation speed of the motor of the first lifting device; After the rotational speed of the motor of each second lifting device is adjusted to the corresponding motor adjustment speed until the real-time lifting heights of all the lifting devices are the same, the rotational speed of the motor of each lifting device is adjusted to the same speed through the deviation coupling control strategy.

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