A solar electric protective cover system based on stable cooperative lifting of multiple motors

Abstract

The invention discloses a solar electric protective cover system based on stable cooperative lifting of multiple motors, belonging to the technical field of motor control. The 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 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, so as to ensure that the solar electric protective cover maintains stability and the same horizontal lifting during the lifting process, thereby improving the safety of the lifting of the protective cover.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and particularly to a solar electric protective cover system based on stable cooperative 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, and can also be used to provide sunshade and rain protection activity places for people, such as open-air swimming pools, etc. Some protective covers have a lifting function, and multiple lifting columns are arranged at the bottom of the protective cover for cooperative lifting, and each lifting column is configured 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 each motor to operate stably and cooperatively so that the protective cover can be lifted stably and maintain the same level has become an urgent problem to be solved. Summary of the Invention

[0003] In order to solve the technical problems existing in the prior art, the present invention provides a solar electric protective cover system based on stable cooperative 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 thus control the lifting of the protective cover. The lifting monitoring system includes:

[0004] A motor speed monitoring module, a lifting height detection module and a motor speed regulation module;

[0005] The motor speed monitoring module is used to monitor the real-time speed of each motor;

[0006] The lifting height detection module is used to detect the real-time lifting height of each lifting device;

[0007] The motor speed regulation module is used to adjust the speed of each motor according to the real-time speed of each motor and the real-time lifting height of each lifting device.

[0008] Further, the protective cover includes: a foamed inner support heat-insulating cover plate and a solar panel device located on the upper surface of the foamed inner support heat-insulating cover plate; the thickness range of the foamed inner support heat-insulating cover plate is 50 mm to 100 mm; the foamed inner support heat-insulating cover plate is provided with a sealing strip, a lighting system and a leakage and drainage device; the lighting system includes an ambient light and a lighting lamp; the lighting lamp is arranged on the lower surface of the foamed inner support heat-insulating cover plate, and the ambient light is located on the surrounding sides of the foamed inner support heat-insulating cover plate; the leakage and drainage device is arranged at the four corners of the foamed inner support heat-insulating cover plate; the sealing strip is arranged on the lower surface of the foamed inner support heat-insulating cover plate; the solar panel device supplies energy for the lifting system and the lighting system.

[0009] Further, the edge of the foamed inner support heat preservation cover plate is provided with a concave groove; the protective cover further includes a connecting frame profile, one side of the connecting frame profile is provided with a concave groove, and the other side is provided with a mountain-shaped groove; the connecting frame profile is inlaid with the edge of the foamed inner support heat preservation cover plate through the mountain-shaped groove and surrounds the edge of the foamed inner support heat preservation cover plate; the atmosphere lamp is arranged in the concave groove of the connecting frame profile around the edge of the foamed inner support heat preservation cover plate.

[0010] Further, 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;

[0011] The phase current signal acquisition module is used to acquire the real-time phase current signal of the motor; once the difference in the sudden change of the phase current is detected, the lifting system issues a corresponding instruction to perform the reverse operation of the motor, and the solar electric protective cover system stops rising or falling;

[0012] The line voltage signal acquisition module is used to acquire the real-time line voltage signal of the motor;

[0013] 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.

[0014] Further, the determination of the real-time first speed of the corresponding motor according to the real-time phase current signal is specifically as follows:

[0015] Use a first filtering circuit for filtering to remove the noise of the real-time phase current signal;

[0016] Use a first zero-crossing comparison circuit to compare the real-time phase current signal processed by the first filtering circuit, and convert the real-time phase current signal into a corresponding current frequency pulse signal;

[0017] Calculate the real-time first speed of the corresponding motor through the current frequency pulse signal.

[0018] Further, the determination of the real-time second speed of the corresponding motor according to the real-time line voltage signal is specifically as follows:

[0019] Use a second filtering circuit for filtering to remove the noise of the real-time line voltage signal;

[0020] Use a second zero-crossing comparison circuit to compare the real-time line voltage signal processed by the second filtering circuit, and convert the real-time line voltage signal into a corresponding voltage frequency pulse signal;

[0021] Calculate the real-time second rotation speed of the corresponding motor based on the voltage-frequency pulse signal.

[0022] Further, the real-time lifting height of each lifting device is detected as follows:

[0023] Install an infrared ranging device on the fixed part of each lifting device, and the installation positions of the infrared ranging devices are on the same horizontal plane; the distance from the corresponding infrared ranging device to the bottom plane of the protective cover obtained by measuring the infrared light emitted vertically from the infrared ranging device to the bottom plane of the protective cover is used as the real-time lifting height of the corresponding lifting device.

[0024] Further, the motor speed adjustment module adjusts the speeds of the motors according to the real-time speeds of the motors and the real-time lifting heights of the lifting devices, specifically as follows:

[0025] If the real-time speeds of the motors are different and the real-time lifting heights of the lifting devices are the same:

[0026] Adjust the speeds of the motors to the same speed through the deviation coupling control strategy;

[0027] If the real-time lifting heights of the lifting devices are different:

[0028] Determine the target lifting device and the first lifting device, and regard the lifting devices other than the target lifting device and the first lifting device as the second lifting devices. When each lifting device is in the ascending state, the target lifting device is the lifting device with the maximum real-time lifting height, and the first lifting device is the lifting device with the minimum real-time lifting height. When each lifting device is in the descending state, the target lifting device is the lifting device with the minimum real-time lifting height, and the first lifting device is the lifting device with the maximum real-time lifting height;

[0029] Adjust the speed of the motor of the first lifting device to the maximum motor speed, and calculate the motor adjustment speed of the motors of the second lifting devices according to the maximum motor speed of the motor of the first lifting device;

[0030] Adjust the speeds of the motors of the second lifting devices to the corresponding motor adjustment speeds until the real-time lifting heights of all the lifting devices are the same, and then adjust the speeds of the motors of all the lifting devices to the same speed through the deviation coupling control strategy.

[0031] Further, the calculation of the motor adjustment speed of the motors of the second lifting devices according to the maximum motor speed of the motor of the first lifting device is specifically as follows:

[0032]

[0033]

[0034] Among them, The motor adjustment speed of the motor representing the nth second lifting device Represents 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. Represents the real-time rotation speed of the motor of the target lifting device, and t represents the time taken to make the real-time lifting heights of all lifting devices the same. Represents the difference between the real-time lifting height of the first lifting device and the real-time lifting height of the target lifting device. Represents the maximum motor speed of the motor of the first lifting device.

[0035] The present invention also provides a control method for a solar electric protective cover based on stable collaborative lifting of multiple motors, including the following steps:

[0036] Monitor the real-time rotation speeds of each motor;

[0037] Detect the real-time lifting heights of each lifting device;

[0038] According to the real-time rotation speeds of each motor and the real-time lifting heights of each lifting device, adjust the rotation speeds of each motor. Specifically:

[0039] If the real-time rotation speeds of each motor are different and the real-time lifting heights of each lifting device are the same:

[0040] Adjust the rotation speeds of each motor to the same rotation speed through a deviation coupling control strategy;

[0041] If the real-time lifting heights of each lifting device are different:

[0042] Determine the target lifting device and the first lifting device, and use the lifting devices other than the target lifting device and the first lifting device as the second lifting devices. When each lifting device is in the ascending state, the target lifting device is the lifting device with the maximum real-time lifting height, and the first lifting device is the lifting device with the minimum real-time lifting height. When each lifting device is in the descending state, the target lifting device is the lifting device with the minimum real-time lifting height, and the first lifting device is the lifting device with the maximum real-time lifting height;

[0043] Adjust the rotation speed of the motor of the first lifting device to the maximum motor speed, and calculate the motor adjustment speed of the motor of each second lifting device according to the maximum motor speed of the motor of the first lifting device;

[0044] Adjust the rotation speeds of the motors of each second lifting device to the corresponding motor adjustment speeds until the real-time lifting heights of all lifting devices are the same, and then adjust the rotation speeds of the motors of each lifting device to the same rotation speed through a deviation coupling control strategy.

[0045] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0046] The present invention monitors the real-time rotation speed of each motor through a motor rotation speed monitoring module, and detects the real-time lifting height of each lifting device through a lifting height detection module. Finally, the motor rotation speed adjustment module adjusts 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, ensuring that the solar electric protective cover maintains stability and a horizontal lift during the lifting process, thereby improving the safety of the protective cover lift;

[0047] The present invention determines the real-time first rotation speed of the corresponding motor according to the real-time phase current signal of the motor, determines the real-time second rotation speed of the corresponding motor according to the real-time line voltage signal of the motor, and finally obtains the actual rotation speed of the corresponding motor according to the real-time first rotation speed and the real-time second rotation speed. Taking the average value of the two rotation speed measurement values as the final result can offset the random error in a single measurement method to a certain extent, making the final rotation speed calculation result more stable and reliable;

[0048] When the real-time rotation speeds of the motors are different and the real-time lifting heights of the lifting devices are the same, the present invention adjusts the rotation speeds of the motors to the same rotation speed through a deviation coupling control strategy. In the scenario of multi-motor collaborative work, ensuring that the rotation speeds of all motors are consistent is crucial for synchronous operation. The deviation coupling control strategy can effectively reduce the rotation speed difference between different motors, thereby improving the synchronism of the entire system, and further ensuring that the solar electric protective cover maintains stability and a horizontal lift during the lifting process, thereby improving the safety of the protective cover lift;

[0049] When the real-time lifting heights of the lifting devices are different, according to the formula it can be known that the time for the first lifting device to reach the same lifting height as the target lifting device at the maximum motor rotation speed is calculated. Since 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 for all lifting devices to reach the same lifting height. Finally, according to the maximum motor rotation speed of the motor of the first lifting device and this time, the motor adjustment rotation speeds of the motors of the second lifting devices are calculated. The rotation speeds of the motors of the second lifting devices are adjusted to the corresponding motor adjustment rotation speeds until the real-time lifting heights of all lifting devices are the same, and then the rotation speeds of the motors of the lifting devices are adjusted to the same rotation speed through a deviation coupling control strategy. It can quickly make the lifting heights of the lifting devices reach the same level when the real-time lifting heights of the lifting devices are different. After adjusting the rotation speeds of the motors to the same, it further ensures that the solar electric protective cover maintains stability and a horizontal lift during the lifting process, thereby improving the safety of the protective cover lift. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The accompanying drawings here are incorporated into the specification and form a part of this specification, showing embodiments consistent with the present invention and, together with the specification, are used to explain the principles of the present invention.

[0051] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings required for use in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0052] Figure 1 is a structural block diagram of a solar electric protective cover system based on stable collaborative lifting of multiple motors according to the present invention;

[0053] Figure 2 is a schematic structural diagram of a solar electric protective cover system in an embodiment of the present invention;

[0054] Figure 3 is a schematic structural diagram of a connector of a lifting device in an embodiment of the present invention;

[0055] Figure 4 is a structural diagram of a protective cover in an embodiment of the present invention;

[0056] Figure 5 is a structural diagram of the lower surface of a protective cover in an embodiment of the present invention;

[0057] Figure 6 is a schematic sectional view of the assembly of a foamed inner support heat-insulating cover plate and a connecting frame profile in an embodiment of the present invention;

[0058] Figure 7 is a structural diagram of the lower surface of a protective cover in another embodiment of the present invention;

[0059] Figure 8 is a structural block diagram of a lifting monitoring system of a solar electric protective cover system based on stable collaborative lifting of multiple motors according to the present invention;

[0060] Figure 9 is a structural block diagram of a motor speed monitoring module of a solar electric protective cover system based on stable collaborative lifting of multiple motors according to the present invention. Detailed implementation manners

[0061] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0062] 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 positional relationship and movement conditions between components in a certain specific posture (as shown in the accompanying drawings). If this specific posture changes, the directional indications will also change accordingly.

[0063] In addition, the descriptions involving "first", "second", etc. in the present invention are only for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions conflicts with each other or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0064] Embodiment 1

[0065] Please refer to Figure 1 As shown, a solar electric protective cover system based on stable cooperative lifting of multiple motors provided by the present invention 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 thereby control the lifting of the protective cover.

[0066] The lifting monitoring system is communicatively connected to the motors and the lifting devices.

[0067] The lifting device is divided into a fixed part, a moving part, and a connecting head. The fixed part is a support foot, and the moving part is connected and installed to the protective cover through a connecting portion.

[0068] In some embodiments, referring to Figure 2 and Figure 3 As shown, the lifting system of the solar electric protective cover system includes 4 lifting devices, and the protective cover is installed and fixed to the fixed slots on the connecting heads of each lifting device.

[0069] The connecting head is provided with a waterproof cover to prevent water from seeping into the lifting device.

[0070] In some embodiments, referring toFigure 4 and Figure 5 、 Figure 7 As shown in Figure 7 , the protective cover includes: a foamed inner support heat-insulating cover plate and a solar panel device located on the upper surface of the foamed inner support heat-insulating cover plate; the foamed inner support heat-insulating cover plate is provided with a sealing strip, a lighting system and a drain device; the drain device is arranged at the four corners of the foamed inner support heat-insulating cover plate; the sealing strip is arranged on the lower surface of the foamed inner support heat-insulating cover plate; the solar panel device supplies energy for the lifting system and the lighting system.

[0071] The foamed inner support heat-insulating cover plate is made of alloy material and can bear a weight of 400 kg or more; the thickness of the foamed inner support heat-insulating cover plate ranges from 50 mm to 100 mm. Through the design of the ultra-thin foamed inner support heat-insulating cover plate, it is convenient for installation and disassembly, and at the same time ensures worry-free transportation, further improving the quality of the protective cover system.

[0072] The lighting system includes a lighting lamp and an ambient light. The lighting lamp is arranged on the lower surface of the foamed inner support heat-insulating cover plate to provide lighting. For example, when used in an outdoor swimming pool, it can illuminate the swimming pool at night, facilitating swimming; the ambient light is located on the four side surfaces around the foamed inner support heat-insulating cover plate, and the color of the ambient light can be adjusted.

[0073] The number of the drain devices is four, which are respectively arranged at the four top corners of the foamed inner support heat-insulating cover plate. Each drain device is provided with a drain hole (not shown in the figure). Thus, the accumulated water can be effectively discharged, keeping the surface of the foamed inner support heat-insulating cover plate dry, and further improving the service life of the solar panel.

[0074] In some embodiments, as shown in Figure 6 As shown in Figure 6 , the edge of the foamed inner support heat-insulating cover plate is set as a concave groove to increase the rigidity strength of the foamed inner support heat-insulating cover plate; the protective cover further 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 heat-insulating cover plate through the mountain-shaped groove and surrounds the edge of the foamed inner support heat-insulating cover plate; the ambient light is arranged in the concave groove of the connecting frame profile around the edge of the foamed inner support heat-insulating cover plate.

[0075] In some embodiments, as shown in Figure 7 As shown in Figure 7 , the foamed inner support heat-insulating cover plate is further provided with a sealing strip, which is arranged on the lower surface of the foamed inner support heat-insulating cover plate. To improve the sealing, waterproof, heat-insulating and energy-saving effects of the protective cover on the equipment below it in the closed state, the sealing strip is circumferentially arranged on the edge of the lower surface of the foamed inner support heat-insulating cover plate, and can be a single-circle or multi-circle structure, which is not limited in the present invention. At the same time, the sealing strip adopts materials commonly used in the art with good sealing performance and suitable for outdoor use, such as TPV (thermoplastic vulcanizate), PVC (polyvinyl chloride), etc.

[0076] It should be noted that the structures of the lifting devices in the above embodiments can be combined with each other to form a new embodiment.

[0077] The solar panel, as the power storage device of the present invention, supplies energy to the lifting system and the lighting system, provides green energy, and realizes the effects of energy conservation and environmental protection.

[0078] In this solution, manual lifting control can be performed through the lifting control button connected to the lifting system. In another embodiment, the solar electric protection cover system further includes an intelligent voice control system, and the intelligent voice control system is used to collect user voice commands and perform lifting control on the lifting system according to the user voice commands.

[0079] Refer to Figure 8 As shown, the lifting monitoring system specifically includes:

[0080] A motor speed monitoring module, a lifting height detection module, a motor speed adjustment module, and a central processing unit communicatively connected to the above modules.

[0081] The motor speed monitoring module is used to monitor the real-time speed of each motor;

[0082] The lifting height detection module is used to detect the real-time lifting height of each lifting device;

[0083] The motor speed adjustment module is used to adjust the speed of each motor according to the real-time speed of each motor and the real-time lifting height of each lifting device.

[0084] Refer to Figure 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.

[0085] The phase current signal acquisition module is used to acquire the real-time phase current signal of the motor; during the lifting process of the solar electric protection cover system, when encountering an obstacle, the real-time phase current of the motor will have a corresponding abnormal change, and the abnormal change is that the change amount of the phase current (i.e., the difference of the phase current) exceeds the normal threshold range. Once the difference of the phase current mutation is detected, the lifting system issues a corresponding command to perform the motor reverse operation, so that the solar electric protection cover system stops rising or falling, and realizes the function of stopping when encountering an obstacle of the solar electric protection cover system.

[0086] The real-time phase current signal is specifically the real-time current signal of any one of the three-phase electricity of the motor inverter of the motor.

[0087] The line voltage signal acquisition module is used to acquire the real-time line voltage signal of the motor;

[0088] The real-time line voltage signal is specifically the real-time voltage signal between any two of the three-phase electricity of the motor inverter of the motor.

[0089] The real-time rotation speed acquisition module is used to determine the real-time first rotation speed v1 of the corresponding motor according to the real-time phase current signal, and determine the real-time second rotation speed v2 of the corresponding motor according to the real-time line voltage signal, and then obtain the real-time rotation speed V of the corresponding motor according to the real-time first rotation speed and the real-time second rotation speed, V = (v1 + v2) / 2.

[0090] The determination of the real-time first rotation speed of the corresponding motor according to the real-time phase current signal is specifically as follows:

[0091] Use a first filter circuit for filtering to remove the noise of the real-time phase current signal;

[0092] Use a first zero-crossing comparison circuit to compare the real-time phase current signal processed by the first filter circuit, and convert the real-time phase current signal into a corresponding current frequency pulse signal;

[0093] Calculate the real-time first rotation speed of the corresponding motor through the current frequency pulse signal.

[0094] The determination of the real-time second rotation speed of the corresponding motor according to the real-time line voltage signal is specifically as follows:

[0095] Use a second filter circuit for filtering to remove the noise of the real-time line voltage signal;

[0096] Use a second zero-crossing comparison circuit to compare the real-time line voltage signal processed by the second filter circuit, and convert the real-time line voltage signal into a corresponding voltage frequency pulse signal;

[0097] Calculate the real-time second rotation speed of the corresponding motor through the voltage frequency pulse signal.

[0098] The calculation of the real-time first rotation speed of the corresponding motor through the current frequency pulse signal and the calculation of the real-time second rotation speed of the corresponding motor through the voltage frequency pulse signal are specifically to detect the frequency of the current frequency pulse signal and the frequency of the voltage frequency pulse signal by the processor, that is, the number of pulses per second, and this number can reflect the rotation speed of the motor, and then perform matching calculations according to the relationship between the corresponding frequency signal and the corresponding motor rotation speed to obtain the real-time first rotation speed and the real-time second rotation speed respectively. The relationship between the corresponding frequency signal and the corresponding motor rotation speed can be determined and obtained through experiments.

[0099] The filter circuit is usually composed of components such as resistors and capacitors, and is used to smooth the signal and reduce interference. The zero-crossing comparator of the zero-crossing comparison circuit generates a change edge (such as a rising edge or a falling edge) when the signal crosses zero, which can convert the analog signal into a digital pulse signal in the form of a square wave. Each time the signal crosses zero, a pulse output is triggered, and the number of these pulses is related to the number of zero-crossings of the signal per unit time.

[0100] The lifting height detection module is specifically an infrared ranging device. The real-time lifting height of each lifting device is detected specifically as follows:

[0101] An infrared ranging device is set 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 the infrared ranging devices are on the same horizontal plane. The distance from the corresponding infrared ranging device to the bottom plane of the protective cover obtained by emitting infrared light vertically from the corresponding infrared ranging device to the bottom plane of the protective cover is used as the real-time lifting height of the corresponding lifting device.

[0102] The motor speed adjustment module 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, specifically as follows:

[0103] If the real-time speeds of the motors are different and the real-time lifting heights of the lifting devices are the same:

[0104] The speeds of the motors are adjusted to the same speed through the deviation coupling control strategy; the principle of adjusting the speeds of the motors to the same speed through the deviation coupling control strategy belongs to the prior art and will not be elaborated here;

[0105] If the real-time lifting heights of the lifting devices are different:

[0106] Determine the target lifting device and the first lifting device, and regard the lifting devices other than the target lifting device and the first lifting device as the second lifting devices. When each lifting device is in the rising state, the target lifting device is the lifting device with the maximum real-time lifting height, and the first lifting device is the lifting device with the minimum real-time lifting height. When each lifting device is in the falling state, the target lifting device is the lifting device with the minimum real-time lifting height, and the first lifting device is the lifting device with the maximum real-time lifting height;

[0107] Adjust the speed of the motor of the first lifting device to the maximum motor speed, and calculate the motor adjustment speeds of the motors of each second lifting device according to the maximum motor speed of the motor of the first lifting device;

[0108] Adjust the rotational speed of the motor of each second lifting device to the corresponding motor adjustment rotational speed until the real-time lifting heights of all lifting devices are the same, and then adjust the rotational speeds of the motors of all lifting devices to the same rotational speed through the deviation coupling control strategy.

[0109] The motor adjustment rotational speed of the motor of each second lifting device is calculated according to the maximum motor rotational speed of the motor of the first lifting device. Specifically:

[0110]

[0111]

[0112] Wherein, represents the motor adjustment rotational speed of the motor of the nth second lifting device, represents 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, represents the real-time rotational speed of the motor of the target lifting device, t represents the time taken to make the real-time lifting heights of all lifting devices the same, represents the difference between the real-time lifting height of the first lifting device and the real-time lifting height of the target lifting device, represents the maximum motor rotational speed of the motor of the first lifting device.

[0113] In some embodiments, the first filter 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.

[0114] 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 terminal of the comparator. One end of the fourth resistor is grounded, and the other end is connected to the negative input terminal of the comparator. A fifth resistor is connected in series at the output terminal of the comparator. One end of the third resistor 3 is connected between the fourth resistor and the negative input terminal of the comparator, and the other end is connected between the output terminal 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 terminal 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 terminal of the first comparator and the fifth resistor; One end of the third capacitor is grounded, and the other

[0115] end is connected to the output terminal of the fifth resistor.

[0116] The second filter circuit includes the same number of resistors, capacitors, and comparators as the first filter circuit, and the connection method is the same as that of the first filter circuit.

[0117] Embodiment 2

[0118] The present invention also provides a control method for a solar electric protective cover based on stable cooperative lifting of multiple motors, which is applied to the above-mentioned solar electric protective cover system based on stable cooperative lifting of multiple motors, and specifically includes the following steps:

[0119] S1. Monitor the real-time rotational speeds of each motor;

[0120] S2. Detect the real-time lifting heights of each lifting device;

[0121] S3. Adjust the rotational speeds of each motor according to the real-time rotational speeds of each motor and the real-time lifting heights of each lifting device.

[0122] For step S1, monitoring the real-time rotational speeds of each motor specifically includes the following steps:

[0123] Obtain the real-time phase current signal and real-time line voltage signal of the motor;

[0124] Determine the real-time first rotational speed of the corresponding motor according to the real-time phase current signal, and determine the real-time second rotational speed of the corresponding motor according to the real-time line voltage signal;

[0125] Obtain the real-time rotational speed V of the corresponding motor according to the real-time first rotational speed and real-time second rotational speed, V = (v1 + v2) / 2.

[0126] The determination of the real-time first rotational speed of the corresponding motor according to the real-time phase current signal is specifically as follows:

[0127] Use a first filtering circuit for filtering to remove the noise of the real-time phase current signal;

[0128] Use a first zero-crossing comparison circuit to compare the real-time phase current signal processed by the first filtering circuit, and convert the real-time phase current signal into a corresponding current frequency pulse signal;

[0129] Calculate the real-time first rotational speed of the corresponding motor through the current frequency pulse signal.

[0130] The determination of the real-time second rotational speed of the corresponding motor according to the real-time line voltage signal is specifically as follows:

[0131] Use a second filtering circuit for filtering to remove the noise of the real-time line voltage signal;

[0132] Use a second zero-crossing comparison circuit to compare the real-time line voltage signal processed by the second filtering circuit, and convert the real-time line voltage signal into a corresponding voltage frequency pulse signal;

[0133] Calculate the real-time second rotational speed of the corresponding motor through the voltage frequency pulse signal.

[0134] For step S2, detect the real-time lifting height of each lifting device, specifically:

[0135] Install an infrared ranging device 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 the infrared ranging devices are on the same horizontal plane. The distance from the corresponding infrared ranging device to the bottom plane of the protective cover obtained by emitting infrared light vertically from the corresponding infrared ranging device to the bottom plane of the protective cover is used as the real-time lifting height of the corresponding lifting device.

[0136] For step S3, adjust 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:

[0137] If the real-time speeds of the motors are different and the real-time lifting heights of the lifting devices are the same:

[0138] Adjust the speeds of the motors to the same speed through the deviation coupling control strategy; the principle of adjusting the speeds of the motors to the same speed through the deviation coupling control strategy belongs to the prior art and will not be elaborated here;

[0139] If the real-time lifting heights of the lifting devices are different:

[0140] Determine the target lifting device and the first lifting device, and regard the lifting devices other than the target lifting device and the first lifting device as the second lifting devices. When each lifting device is in the ascending state, the target lifting device is the lifting device with the maximum real-time lifting height, and the first lifting device is the lifting device with the minimum real-time lifting height. When each lifting device is in the descending state, the target lifting device is the lifting device with the minimum real-time lifting height, and the first lifting device is the lifting device with the maximum real-time lifting height;

[0141] Adjust the speed of the motor of the first lifting device to the maximum motor speed, and calculate the motor adjustment speeds of the motors of each second lifting device according to the maximum motor speed of the motor of the first lifting device;

[0142] Adjust the speeds of the motors of each second lifting device to the corresponding motor adjustment speeds until the real-time lifting heights of all the lifting devices are the same, and then adjust the speeds of the motors of each lifting device to the same speed through the deviation coupling control strategy.

[0143] The calculation of the motor adjustment speeds of the motors of each second lifting device according to the maximum motor speed of the motor of the first lifting device is specifically:

[0144]

[0145]

[0146] Among them, represents the motor regulation speed of the motor of the nth second lifting device, represents 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, represents the real-time speed of the motor of the target lifting device, and t represents the time taken to make the real-time lifting heights of all lifting devices the same, represents the difference between the real-time lifting height of the first lifting device and the real-time lifting height of the target lifting device, represents the maximum motor speed of the motor of the first lifting device.

[0147] Embodiment III

[0148] 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 in ways such as a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit, or one or more integrated circuits, etc., and is used to execute relevant programs to implement the technical solutions provided by the embodiments of the present application. The memory can be implemented in forms such as a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM), etc., and is used to store computer program codes. The computer program codes include computer instructions. When the processor executes the computer instructions, the electronic device executes the method in any one of the possible implementation manners as described above.

[0149] Embodiment IV

[0150] The present invention also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program. The computer program includes program instructions. When the program instructions are executed by the processor of the electronic device, the processor is caused to execute the method in any one of the possible implementation manners as described above.

[0151] The beneficial effects of the present invention are as follows:

[0152] The present invention monitors the real-time speeds of the motors through a motor speed monitoring module, detects the real-time lifting heights of the lifting devices through a lifting height detection module, and finally adjusts the speeds of the motors through a motor speed adjustment module according to the real-time speeds of the motors and the real-time lifting heights of the lifting devices, ensuring that the solar electric protective cover maintains stability and the same horizontal lifting during the lifting process, thereby improving the safety of the lifting of the protective cover;

[0153] The present invention determines the real-time first rotational speed of a corresponding motor based on the real-time phase current signal of the motor, determines the real-time second rotational speed of the corresponding motor based on the real-time line voltage signal of the motor, and finally obtains the actual rotational speed of the corresponding motor according to the real-time first rotational speed and the real-time second rotational speed. Taking the average value of the two rotational speed measurement values as the final result can, to a certain extent, offset the random error in a single measurement method, making the final rotational speed calculation result more stable and reliable.

[0154] When the real-time rotational speeds of each motor are different and the real-time lifting heights of each lifting device are the same, the present invention adjusts the rotational speeds of each motor to the same rotational speed through a deviation coupling control strategy. In the scenario of multi-motor collaborative work, ensuring that the rotational speeds of all motors are consistent is crucial for synchronous operation. The deviation coupling control strategy can effectively reduce the rotational speed difference between different motors, thereby improving the synchronization of the entire system, and further ensuring that the solar electric protective cover maintains stability and the same level of lifting during the lifting process, thereby enhancing the safety of the protective cover lifting.

[0155] When the real-time lifting heights of each lifting device are different, according to the formula it can be known that the time for the first lifting device to reach the same lifting height as the target lifting device at the maximum rotational speed of the motor is calculated. Since 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 for all lifting devices to reach the same lifting height. Finally, according to the maximum rotational speed of the motor of the first lifting device and this time, the adjusted rotational speeds of the motors of each second lifting device are calculated. The rotational speeds of the motors of each second lifting device are adjusted to the corresponding adjusted rotational speeds of the motors until the real-time lifting heights of all lifting devices are the same, and then the rotational speeds of the motors of each lifting device are adjusted to the same rotational speed through a deviation coupling control strategy. It can quickly make the lifting heights of each lifting device reach the same level when the real-time lifting heights of each lifting device are different. After adjusting the rotational speeds of each motor to be the same, it further ensures that the solar electric protective cover maintains stability and the same level of lifting during the lifting process, thereby enhancing the safety of the protective cover lifting.

[0156] In the description of the specification, the description referring to terms such as "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0157] In addition, in each embodiment of the present application, each functional unit can be integrated into one processing unit, or each unit can exist physically alone, 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 such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes multiple instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in each embodiment of the present application. The foregoing storage medium includes: various media that can store programs, such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs.

[0158] The above are only specific embodiments of the present invention, enabling those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can 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 these embodiments shown herein, but rather will conform to the broadest scope consistent with the principles and novel features claimed herein.

Claims

1. A solar electric protective cover system based on stable collaborative lifting of multiple motors, characterized in that, The system includes a protective cover and a lifting system; the lifting system includes a plurality of motors, a plurality of lifting devices, and a lifting monitoring system. Each motor is used to control a lifting device to lift and thereby control the lifting of the protective cover. The lifting monitoring system includes: a motor speed monitoring module, a lifting height detection module, and a motor speed regulation 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 regulation module is used to adjust 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 speeds of the motors are adjusted to the same speed through a deviation coupling control strategy; If the real-time lifting heights of the lifting devices are different: Determine the target lifting device and the first lifting device, and regard the lifting devices other than the target lifting device and the first lifting device as the second lifting devices. When the lifting devices are in the ascending state, the target lifting device is the lifting device with the maximum real-time lifting height, and the first lifting device is the lifting device with the minimum real-time lifting height. When the lifting devices are in the descending state, the target lifting device is the lifting device with the minimum real-time lifting height, and the first lifting device is the lifting device with the maximum real-time lifting height; Adjust the speed of the motor of the first lifting device to the maximum motor speed, and calculate the motor adjustment speed of the motors of the second lifting devices according to the maximum motor speed of the motor of the first lifting device; Adjust the speeds of the motors of the second lifting devices to the corresponding motor adjustment speeds until the real-time lifting heights of all the lifting devices are the same, and then adjust the speeds of the motors of all the lifting devices to the same speed through a deviation coupling control strategy.

2. The solar electric protective cover system based on stable cooperative lifting of multiple motors according to claim 1, wherein The protective cover includes: a foamed inner support heat-insulating cover plate and a solar panel device located on the upper surface of the foamed inner support heat-insulating cover plate; the thickness range of the foamed inner support heat-insulating cover plate is 50 mm to 100 mm; the foamed inner support heat-insulating cover plate is provided with a sealing strip, a lighting system, and a leakage and drainage device; the lighting system includes an ambient light and a lighting lamp; the lighting lamp is arranged on the lower surface of the foamed inner support heat-insulating cover plate, and the ambient light is located on the peripheral side surfaces of the foamed inner support heat-insulating cover plate; the leakage and drainage device is arranged at the four corners of the foamed inner support heat-insulating cover plate; the sealing strip is arranged on the lower surface of the foamed inner support heat-insulating cover plate; the solar panel device supplies energy to the lifting system and the lighting system.

3. The solar electric protective cover system based on stable collaborative lifting of multiple motors according to claim 2, characterized in that, The edge of the foamed inner support heat-insulating cover plate is set as a concave groove; the protective cover further 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 heat-insulating cover plate through the mountain-shaped groove and surrounds the edge of the foamed inner support heat-insulating cover plate; the ambient light is arranged in the concave groove of the connecting frame profile around the edge of the foamed inner support heat-insulating cover plate.

4. The solar electric protective cover system based on the stable and collaborative lifting of multiple motors according to claim 1, 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 in the sudden change of the phase current is detected, the lifting system issues a corresponding instruction to perform the reverse operation of the motor, 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, where V = (v1 + v2) / 2.

5. The solar electric protective cover system based on stable cooperative lifting of multiple motors according to claim 4, characterized in that, The determination of the real-time first speed of the corresponding motor according to the real-time phase current signal is specifically as follows: Use the first filter circuit for filtering to remove the noise of the real-time phase current signal. Use the first zero-crossing comparison circuit to compare the real-time phase current signal processed by the first filter circuit, and convert the real-time phase current signal into a corresponding current frequency pulse signal. Calculate the real-time first speed of the corresponding motor through the current frequency pulse signal.

6. The solar electric protective cover system based on stable cooperative lifting of multiple motors according to claim 4, wherein The determination of the real-time second speed of the corresponding motor according to the real-time line voltage signal is specifically as follows: Use the second filter circuit for filtering to remove the noise of the real-time line voltage signal. Use the second zero-crossing comparison circuit to compare the real-time line voltage signal processed by the second filter circuit, and convert the real-time line voltage signal into a corresponding voltage frequency pulse signal. Calculate the real-time second speed of the corresponding motor through the voltage frequency pulse signal.

7. The solar electric protective cover system based on stable collaborative lifting of multiple motors according to claim 1, characterized in that, The detection of the real-time lifting height of each lifting device is specifically as follows: Set an infrared ranging device on the fixed part of each lifting device, and the installation positions of the infrared ranging devices are on the same horizontal plane. The distance from the corresponding infrared ranging device to the bottom plane of the protective cover obtained by emitting infrared light vertically to the bottom plane of the protective cover is used as the real-time lifting height of the corresponding lifting device.

8. The solar electric protective cover system based on stable cooperative lifting of multiple motors according to claim 1, characterized in that, Calculating the motor adjustment speed of the motors of the respective second lifting devices based on the maximum motor speed of the motor of the first lifting device, specifically: ; Among them, represents the motor regulation speed of the motor of the nth second lifting device, represents 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, represents the real-time rotation speed of the motor of the target lifting device, and t represents the time taken for the real-time lifting heights of all lifting devices to be the same, represents the difference between the real-time lifting height of the first lifting device and the real-time lifting height of the target lifting device, represents the maximum motor speed of the motor of the first lifting device.

9. A control method for a solar electric protective cover based on stable and cooperative lifting of multiple motors, which is applied to the solar electric protective cover system based on stable and cooperative lifting of multiple motors according to any one of claims 1 to 8, and is characterized in that, It includes the following steps: Monitor the real-time speed of each motor. Detect the real-time lifting height of each lifting device. Adjust 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: Adjust the speeds of the motors to the same speed through the deviation coupling control strategy. If the real-time lifting heights of the lifting devices are different: Determine the target lifting device and the 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 the rising state, the target lifting device is the lifting device with the maximum real-time lifting height, and the first lifting device is the lifting device with the minimum real-time lifting height. When each lifting device is in the falling state, the target lifting device is the lifting device with the minimum real-time lifting height, and the first lifting device is the lifting device with the maximum real-time lifting height. Adjust the rotational speed of the motor of the first lifting device to the maximum rotational speed of the motor, and calculate the adjusted rotational speed of the motor of each second lifting device based on the maximum rotational speed of the motor of the first lifting device; After adjusting the rotational speeds of the motors of the second lifting devices to the corresponding adjusted rotational speeds of the motors until the real-time lifting heights of all the lifting devices are the same, adjust the rotational speeds of the motors of the lifting devices to the same rotational speed through the deviation coupling control strategy. Specifically: If the real-time rotational speeds of the motors are different and the real-time lifting heights of the lifting devices are the same: Adjust the rotational speeds of the motors to the same rotational speed through the deviation coupling control strategy; If the real-time lifting heights of the lifting devices are different: Determine the target lifting device and the first lifting device, and regard the lifting devices other than the target lifting device and the first lifting device as the second lifting devices. When all the lifting devices are in the ascending state, the target lifting device is the lifting device with the maximum real-time lifting height, and the first lifting device is the lifting device with the minimum real-time lifting height. When all the lifting devices are in the descending state, the target lifting device is the lifting device with the minimum real-time lifting height, and the first lifting device is the lifting device with the maximum real-time lifting height; Adjust the rotational speed of the motor of the first lifting device to the maximum rotational speed of the motor, and calculate the adjusted rotational speed of the motor of each second lifting device based on the maximum rotational speed of the motor of the first lifting device; After adjusting the rotational speeds of the motors of the second lifting devices to the corresponding adjusted rotational speeds of the motors until the real-time lifting heights of all the lifting devices are the same, adjust the rotational speeds of the motors of the lifting devices to the same rotational speed through the deviation coupling control strategy.

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