Driving system capable of resetting self-adaptive threshold value

Abstract

The invention provides a driving system capable of resetting a self-adaptive threshold value, and relates to the field of driving systems, and the driving system capable of resetting the self-adaptive threshold value comprises an MCU, an input voltage reduction module, an input voltage detection module, an LDO voltage reduction module, a key access module, a speed regulation MOS bridge module, a current detection module, a motor, and a power supply. According to the method for detecting the current self-adaptive threshold value, due to the fact that the running current changes under the condition that the resistance is different in the starting, balance maintaining and running processes of the motor, interference in the running process of a control logic combination algorithm is eliminated, and the current during reset running of the motor is detected to be continuously weighted; and meanwhile, the running speed is detected to confirm whether a steady state is entered, a current reference value and a dynamic threshold value are calculated, the current variation is monitored in real time, and reliable reset can be ensured.

Description

Technical Field

[0001] The present application relates to the field of drive systems, and in particular to a drive system for resetting an adaptive threshold. Background Art

[0002] With the development of science and technology, more and more fields use electric, such as lifting tables, electric sofas, massage chairs, medical beds, elderly chairs, etc., which bring a lot of convenience and life experience to our lives. However, electric products can provide powerful driving force, but also bring certain tests to safety.

[0003] For example, the lifting table can support the lifting of a load weight of tens to hundreds of kilograms, and the corresponding desktop height can be displayed on the display screen. To ensure the accuracy of the height, it is necessary to reset and initialize the height when an abnormality occurs at the factory or during use. Currently, most lifting tables on the market are bottom reset. During reset, the lifting table continues to run downward until it jams. It can be judged that the reset is in place, and the height value can be reloaded at this time. With the continuous expansion of usage scenarios, some customers have put forward the demand for top reset to meet the needs of more usage scenarios. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a driving system for resetting an adaptive threshold, which can solve the above-mentioned technical problems.

[0005] An embodiment of the present application provides a driving system for resetting an adaptive threshold, comprising an MCU, an input buck module, an input voltage detection module, an LDO buck module, a button access module, a speed regulation MOS bridge module, a current detection module, a motor, and a power supply, wherein the power supply is connected to the input end of the input buck module, the output end of the input buck module is connected to the input end of the input voltage detection module and the input end of the speed regulation MOS bridge module, the output end of the input voltage detection module is connected to the input end of the MCU and the input end of the LDO buck module, the output end of the LDO buck module is respectively connected to the button access module and the input end of the MCU, the output end of the button access module is electrically connected to the input end of the MCU, the output end of the speed regulation MCU is connected to the input end of the speed regulation MOS bridge module, and the output end of the speed regulation MOS bridge module is electrically connected to the motor through the current detection module.

[0006] Preferably, the speed regulating MOS bridge module comprises a first speed regulating circuit and a second speed regulating circuit, and the motor comprises a first motor and a second motor.

[0007] Preferably, the first speed regulation circuit includes a processor U203, a processor U205, a MOS tube U202, a MOS tube U204, a MOS tube U206, a MOS tube U207, a processor U205, a capacitor C207, a diode D205, a resistor R255, a resistor R208, a resistor R206, a resistor R214, a resistor R207, a resistor R209, a resistor R215, a resistor R256, a capacitor C209, a capacitor C210, a capacitor C208, and a diode D207. The first interface of the processor U203 is grounded through the capacitor C207, the second interface and the third interface of the processor U203 are connected to the MCU, and the fourth interface of the processor U203 is connected to the MCU. The first interface of the processor U203 is connected to the input step-down module and the input end of the diode D205, the output end of the diode D205 is connected to the input end of the resistor R255, the output end of the resistor R255 is connected to the eighth interface of the processor U203 and one end of the capacitor C209, the sixth interface of the processor U203 is connected to the other end of the capacitor C209, the fifth interface of the processor U203 is connected to the G pole of the MOS tube U206 through the resistor R214, the sixth interface of the processor U203 is connected to the S pole of the MOS tube U204 and the D pole of the MOS tube U206, the eighth ... The seventh interface is connected to one end of the resistor R208, the other end of the resistor R208 is connected to one end of the resistor R206, the other end of the resistor R206 is connected to the S pole of the MOS tube U204 and the D pole of the MOS tube U206, the G pole of the MOS tube U204 is connected to the other end of the resistor R208, the S pole of the MOS tube U204 and the D pole of the MOS tube U206 are electrically connected to the first motor, the D pole of the MOS tube U204 and the D pole of the MOS tube U202 are connected to the input step-down module, the S pole of the MOS tube U202 and the D pole of the MOS tube U207 are electrically connected to the first motor, and the MOS tube U2 The G pole of 02 is connected to one end of the resistor R207 and one end of the resistor R209, the D pole of the MOS tube U207 is connected to the sixth interface of the processor U205, the S pole of the MOS tube U207 is connected to the S pole of the MOS tube U206, the first interface of the processor U205 is grounded through the capacitor C208, the first interface of the processor U205 is connected to the input buck module and the input end of the diode G207, the third interface and the fourth interface of the processor U205 are connected to the MCU, the fourth interface of the processor U205 is grounded, and the fifth interface of the processor U205 is connected to the G pole of the MOS tube 207 through the resistor R244.The seventh interface of the processor U205 is connected to the S electrode of the MOS tube through the resistor R209 and the resistor 207, one end of the resistor R256 is connected to the output end of the diode D207, and the other end of the resistor R256 is connected to the sixth interface of the processor U205 and the eighth interface of the processor U205;

[0008] Preferably, the second speed control circuit includes a processor U210, a processor U212, a MOS tube U209, a MOS tube U211, a MOS tube U214, a processor U212, a capacitor C228, a diode D208, a resistor R257, a resistor R230, a resistor R228, a resistor R243, a resistor R229, a resistor R231, a resistor R244, a resistor R248, a capacitor C231, a capacitor C210, a capacitor C229, and a diode D209. The first interface of the processor U210 is grounded through the capacitor C228, the second interface and the third interface of the processor U210 are connected to the MCU, and the fourth interface of the processor U210 is connected to the MCU. The first interface of the processor U210 is connected to the input step-down module and the input end of the diode D208, the output end of the diode D208 is connected to the input end of the resistor R257, the output end of the resistor R257 is connected to the eighth interface of the processor U210 and one end of the capacitor C231, the sixth interface of the processor U210 is connected to the other end of the capacitor C231, the fifth interface of the processor U210 is connected to the G pole of the MOS tube U211 through the resistor R243, the sixth interface of the processor U210 is connected to the S pole of the MOS tube U211 and the D pole of the MOS tube U211, and the eighth interface of the processor U210 is connected to the G pole of the MOS tube U211 through the resistor R243. The seventh interface is connected to one end of the resistor R230, the other end of the resistor R230 is connected to one end of the resistor R228, the other end of the resistor R228 is connected to the S pole of the MOS tube U211 and the D pole of the MOS tube U211, the G pole of the MOS tube U211 is connected to the other end of the resistor R230, the S pole of the MOS tube U211 and the D pole of the MOS tube U211 are electrically connected to the second motor, the D pole of the MOS tube U211 and the D pole of the MOS tube U209 are connected to the input step-down module, the S pole of the MOS tube U209 and the D pole of the MOS tube U214 are electrically connected to the second motor, and the MOS tube U2 The G pole of 09 is connected to one end of the resistor R229 and one end of the resistor R231, the D pole of the MOS tube U214 is connected to the sixth interface of the processor U212, the S pole of the MOS tube U214 is connected to the S pole of the MOS tube U211, the first interface of the processor U212 is grounded through the capacitor C229, the first interface of the processor U212 is connected to the input buck module and the input end of the diode G207, the third interface and the fourth interface of the processor U212 are connected to the MCU, the fourth interface of the processor U212 is grounded, and the fifth interface of the processor U212 is connected to the G pole of the MOS tube 207 through the resistor R244.The seventh interface of the processor U212 is connected to the S electrode of the MOS tube through the resistor R231 and the resistor 207, one end of the resistor R248 is connected to the output end of the diode D209, and the other end of the resistor R248 is connected to the sixth interface of the processor U212 and the eighth interface of the processor U212.

[0009] Preferably, the input step-down module includes a first step-down circuit and a second step-down circuit, the input end of the first step-down circuit and the input end of the second step-down circuit are both electrically connected to the power supply, the output voltage of the output end of the first step-down circuit is DC +12V, and the output voltage of the output end of the second step-down circuit is DC +5V.

[0010] Preferably, the current detection module includes a first current acquisition circuit and a second current acquisition circuit, the first current acquisition circuit is connected to the first speed regulation circuit, the second current acquisition circuit is connected to the second speed regulation circuit, the first current acquisition circuit includes resistor R218, resistor R216, and capacitor C221, and the first current acquisition circuit includes resistor R246, resistor R245, and capacitor C242.

[0011] Preferably, the input voltage detection module includes a resistor R233, a resistor R241, a resistor R237, and a capacitor C236, one end of the resistor R233 is connected to the output end of the input step-down module, the other end of the resistor R233 is connected to one end of the resistor R241 and one end of the resistor R237, the other end of the resistor R237 is connected to the MCU and one end of the capacitor C236, and the other end of the capacitor C236 is grounded.

[0012] Preferably, the button access module is externally connected with adjustment buttons, and the adjustment buttons include an upward adjustment button, a downward adjustment button, a left adjustment button and a right adjustment button.

[0013] Preferably, the current detection module includes a first detection sensor J201 and a second detection sensor J202, the input end of the first detection sensor J201 and the input end of the second detection sensor J202 are connected to the output end of the second step-down circuit, the output end of the first detection sensor J201 is electrically connected to the first motor, and the output end of the second detection sensor J202 is electrically connected to the second motor.

[0014] Preferably, the model of the MCU is MT006.

[0015] Beneficial effects of the present invention:

[0016] The present invention provides a driving system for resetting an adaptive threshold, comprising an MCU, an input buck module, an input voltage detection module, an LDO buck module, a button access module, a speed regulating MOS bridge module, a current detection module, a motor, and a power supply, wherein the power supply is connected to the input end of the input buck module, the output end of the input buck module is connected to the input end of the input voltage detection module and the input end of the speed regulating MOS bridge module, the output end of the input voltage detection module is connected to the input end of the MCU and the input end of the LDO buck module, the output end of the LDO buck module is respectively connected to the button access module and the input end of the MCU, and the The output end of the button access module is electrically connected to the input end of the MCU, the output end of the speed regulation MCU is connected to the input end of the speed regulation MOS bridge module, and the output end of the speed regulation MOS bridge module is electrically connected to the motor through the current detection module. The present invention uses a method for detecting a current adaptive threshold. Since the motor has different resistances during startup, balance maintenance, and operation, the operating current will change. The interference in the operation of the control logic and algorithm is eliminated. The current during the motor reset operation is detected and weighted continuously. At the same time, the operating speed is detected to confirm whether it has entered a steady state, the current reference value and the dynamic threshold are calculated, and the change in current is monitored in real time to ensure reliable reset. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a framework diagram of the present invention;

[0019] Figure 2 It is a circuit schematic diagram of the present invention. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0021] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0022] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0023] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the product of the application is usually placed when in use. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0024] In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0025] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0026] like Figure 1-2As shown, a driving system for resetting an adaptive threshold includes an MCU, an input buck module, an input voltage detection module, an LDO buck module, a button access module, a speed regulating MOS bridge module, a current detection module, a motor, and a power supply. The power supply is connected to the input end of the input buck module, the output end of the input buck module is connected to the input end of the input voltage detection module and the input end of the speed regulating MOS bridge module, the output end of the input voltage detection module is connected to the input end of the MCU and the input end of the LDO buck module, the output end of the LDO buck module is connected to the button access module and the input end of the MCU respectively, and the button The output end of the key access module is electrically connected to the input end of the MCU, the output end of the speed regulation MCU is connected to the input end of the speed regulation MOS bridge module, and the output end of the speed regulation MOS bridge module is electrically connected to the motor through the current detection module. The present invention uses a method for detecting a current adaptive threshold. Since the motor has different resistances during startup, balance maintenance, and operation, the operating current will change. The interference in the operation of the control logic and algorithm is eliminated. The current during the reset operation of the motor is detected and weighted continuously. At the same time, the operating speed is detected to confirm whether it has entered a steady state, the current reference value and the dynamic threshold are calculated, and the change in current is monitored in real time to ensure reliable reset.

[0027] like Figure 2 As shown, in this embodiment, the speed regulation MOS bridge module includes a first speed regulation circuit and a second speed regulation circuit, and the motor includes a first motor and a second motor.

[0028] like Figure 2As shown, in this embodiment, the first speed regulation circuit includes a processor U203, a processor U205, a MOS tube U202, a MOS tube U204, a MOS tube U206, a MOS tube U207, a processor U205, a capacitor C207, a diode D205, a resistor R255, a resistor R208, a resistor R206, a resistor R214, a resistor R207, a resistor R209, a resistor R215, a resistor R256, a capacitor C209, a capacitor C210, a capacitor C208, and a diode D207. The first interface of the processor U203 is grounded through the capacitor C207, the second interface and the third interface of the processor U203 are connected to the MCU, and the processor U203 The fourth interface is grounded, the first interface of the processor U203 is connected to the input step-down module and the input end of the diode D205, the output end of the diode D205 is connected to the input end of the resistor R255, the output end of the resistor R255 is connected to the eighth interface of the processor U203 and one end of the capacitor C209, the sixth interface of the processor U203 is connected to the other end of the capacitor C209, the fifth interface of the processor U203 is connected to the G pole of the MOS tube U206 through the resistor R214, the sixth interface of the processor U203 is connected to the S pole of the MOS tube U204 and the D pole of the MOS tube U206, the processor U203 The seventh interface is connected to one end of the resistor R208, the other end of the resistor R208 is connected to one end of the resistor R206, the other end of the resistor R206 is connected to the S pole of the MOS tube U204 and the D pole of the MOS tube U206, the G pole of the MOS tube U204 is connected to the other end of the resistor R208, the S pole of the MOS tube U204 and the D pole of the MOS tube U206 are electrically connected to the first motor, the D pole of the MOS tube U204 and the D pole of the MOS tube U202 are connected to the input step-down module, the S pole of the MOS tube U202 and the D pole of the MOS tube U207 are electrically connected to the first motor, and the MOS tube U204 and the D pole of the MOS tube U206 are electrically connected to the first motor. The G pole of 202 is connected to one end of the resistor R207 and one end of the resistor R209, the D pole of the MOS tube U207 is connected to the sixth interface of the processor U205, the S pole of the MOS tube U207 is connected to the S pole of the MOS tube U206, the first interface of the processor U205 is grounded through the capacitor C208, the first interface of the processor U205 is connected to the input buck module and the input end of the diode G207, the third interface and the fourth interface of the processor U205 are connected to the MCU, the fourth interface of the processor U205 is grounded, and the fifth interface of the processor U205 is connected to the G pole of the MOS tube 207 through the resistor R244.The seventh interface of the processor U205 is connected to the S electrode of the MOS tube through the resistor R209 and the resistor 207, one end of the resistor R256 is connected to the output end of the diode D207, and the other end of the resistor R256 is connected to the sixth interface of the processor U205 and the eighth interface of the processor U205;

[0029] like Figure 2As shown, in this embodiment, the second speed control circuit includes a processor U210, a processor U212, a MOS tube U209, a MOS tube U211, a MOS tube U214, a processor U212, a capacitor C228, a diode D208, a resistor R257, a resistor R230, a resistor R228, a resistor R243, a resistor R229, a resistor R231, a resistor R244, a resistor R248, a capacitor C231, a capacitor C210, a capacitor C229, and a diode D209. The first interface of the processor U210 is grounded through the capacitor C228, the second interface and the third interface of the processor U210 are connected to the MCU, and the processor U210 The fourth interface is grounded, the first interface of the processor U210 is connected to the input step-down module and the input end of the diode D208, the output end of the diode D208 is connected to the input end of the resistor R257, the output end of the resistor R257 is connected to the eighth interface of the processor U210 and one end of the capacitor C231, the sixth interface of the processor U210 is connected to the other end of the capacitor C231, the fifth interface of the processor U210 is connected to the G pole of the MOS tube U211 through the resistor R243, the sixth interface of the processor U210 is connected to the S pole of the MOS tube U211 and the D pole of the MOS tube U211, and the processor U210 The seventh interface is connected to one end of the resistor R230, the other end of the resistor R230 is connected to one end of the resistor R228, the other end of the resistor R228 is connected to the S pole of the MOS tube U211 and the D pole of the MOS tube U211, the G pole of the MOS tube U211 is connected to the other end of the resistor R230, the S pole of the MOS tube U211 and the D pole of the MOS tube U211 are electrically connected to the second motor, the D pole of the MOS tube U211 and the D pole of the MOS tube U209 are connected to the input step-down module, the S pole of the MOS tube U209 and the D pole of the MOS tube U214 are electrically connected to the second motor, and the MOS tube U The G pole of 209 is connected to one end of the resistor R229 and one end of the resistor R231, the D pole of the MOS tube U214 is connected to the sixth interface of the processor U212, the S pole of the MOS tube U214 is connected to the S pole of the MOS tube U211, the first interface of the processor U212 is grounded through the capacitor C229, the first interface of the processor U212 is connected to the input buck module and the input end of the diode G207, the third interface and the fourth interface of the processor U212 are connected to the MCU, the fourth interface of the processor U212 is grounded, and the fifth interface of the processor U212 is connected to the G pole of the MOS tube 207 through the resistor R244.The seventh interface of the processor U212 is connected to the S electrode of the MOS tube through the resistor R231 and the resistor 207, one end of the resistor R248 is connected to the output end of the diode D209, and the other end of the resistor R248 is connected to the sixth interface of the processor U212 and the eighth interface of the processor U212.

[0030] The MCU of the present invention drives the first speed regulating circuit and the second speed regulating circuit, and controls the running direction and running height of the motor through the first speed regulating circuit and the second speed regulating circuit.

[0031] Specifically, when the MCU is powered on, it is initialized first, and then detects whether there are various abnormalities. If there are abnormalities, it enters the abnormality handling unit until the abnormality is resolved, and then extracts the set reset current threshold parameter, and then receives the manual control instruction. When the reset control is detected, it continues to execute, and when other control instructions are detected, it executes other control operations;

[0032] After detecting the reset control, the soft start is turned on, and the PWM gradually increases. At this time, the motor current also gradually increases, and the motor running speed also gradually increases. In this stage, since the motor current has not reached a steady state, the PWM proportional threshold is used to ensure that during this stage, the stalling force on the table frame will not be too large during reset; when the motor speed reaches the set reset speed, PWM no longer increases. At this time, a current is collected as the reference current for the adaptive threshold. Since the running speed of different table legs needs to be continuously adjusted during operation to ensure that the desktop is always in a horizontal state, the current of each motor will always change slightly during operation. At the same time, the tightness of the table frame at different high speeds will change, which will also cause the current to change during operation. The current is constantly changing, so it is necessary to continuously weight the newly sampled current into the reference current to filter out false reset judgments caused by normal current changes during operation, and then superimpose a smaller threshold on the reference current to form an adaptive threshold. In order to make this threshold controlled by the set total threshold, the superimposed threshold is taken as a percentage of the total threshold. In this way, after changing the setting value of the total threshold, the size of the adaptive threshold will also be adjusted. When the table is loaded and the reference current is relatively high, the total threshold or the adaptive threshold can be triggered to stop running in time, so that the blocking force of the table frame will not be too large. When the table is lightly loaded or unloaded, the reference current is relatively low, and it will stop running when the adaptive threshold is triggered. The blocking force of the table frame will also not be too large, protecting the table frame from damage.

[0033] In this embodiment, the input step-down module includes a first step-down circuit and a second step-down circuit. The input end of the first step-down circuit and the input end of the second step-down circuit are both electrically connected to the power supply. The output voltage of the output end of the first step-down circuit is DC +12V, and the output voltage of the output end of the second step-down circuit is DC +5V.

[0034] like Figure 2 As shown, the first buck circuit of the present invention is used to supply power to the first motor, the second motor, the first speed regulation circuit, and the second speed regulation circuit, and the second buck circuit is used to supply power to the MCU and the like.

[0035] like Figure 2 As shown, in this embodiment, the current detection module includes a first current acquisition circuit and a second current acquisition circuit, the first current acquisition circuit is connected to the first speed regulation circuit, the second current acquisition circuit is connected to the second speed regulation circuit, the first current acquisition circuit includes a resistor R218, a resistor R216, and a capacitor C221, and the first current acquisition circuit includes a resistor R246, a resistor R245, and a capacitor C242.

[0036] like Figure 2 As shown, the first current acquisition circuit of the present invention is used to collect the current of the first motor during operation, and the second current acquisition circuit collects the current of the second motor during operation, detects the rotation speed and position of the first motor and the second motor, and then feeds back to the MCU, and the MCU makes appropriate adjustments based on the adopted data.

[0037] like Figure 2 As shown, in this embodiment, the input voltage detection module includes a resistor R233, a resistor R241, a resistor R237, and a capacitor C236, one end of the resistor R233 is connected to the output end of the input step-down module, the other end of the resistor R233 is connected to one end of the resistor R241 and one end of the resistor R237, the other end of the resistor R237 is connected to the MCU and one end of the capacitor C236, and the other end of the capacitor C236 is grounded.

[0038] In this embodiment, the button access module is externally connected to an adjustment button, and the adjustment button includes an upward adjustment button, a downward adjustment button, a left adjustment button and a right adjustment button. The present invention can adjust the left and right and height positions through the upward adjustment button, the downward adjustment button, the left adjustment button and the right adjustment button.

[0039] like Figure 2 As shown, in this embodiment, the current detection module includes a first detection sensor J201 and a second detection sensor J202, the input end of the first detection sensor J201 and the input end of the second detection sensor J202 are connected to the output end of the second step-down circuit, the output end of the first detection sensor J201 is electrically connected to the first motor, and the output end of the second detection sensor J202 is electrically connected to the second motor.

[0040] like Figure 2As shown, in this embodiment, the model of the MCU is MT006.

[0041] Specifically, as PWM increases slowly, the motor current also increases slowly from 0. At this time, the current has not stabilized yet, so the threshold can be temporarily set according to: (current PWM / maximum PWM at reset)*maximum threshold. If the mechanical position is directly blocked during the startup phase, the threshold current will not be too large, protecting the table frame from damage. When the running speed reaches the set speed, PWM stops increasing. At this time, it is reliable to use the maximum threshold to determine whether the reset is completed. If the table is loaded, the reference current collected during the operation will be relatively large. After the reset is in place, the current mutation caused by the slight blockage can reach the maximum threshold and the reset is judged to be completed, and the operation is stopped. However, if it is at this time, When the table is running empty, the reference current (the current collected when running at normal speed) is very low. After the table runs to the mechanical position, the stall current needs to be very large to make the reference current + stall current ≥ reset current threshold. In this way, the driving force for reset is very large, which is easy to damage the table frame. The reset current threshold needs to be automatically adjusted according to the load condition; when the running speed reaches the set speed, the PWM stops increasing. At this time, the current of the motor basically tends to be stable. The current is first collected as the new current reference. The PWM of the two motors is adjusted according to the height balance of the desktop to ensure that the running height of the two sides of the table legs is consistent and the desktop is always in a horizontal state. The current of the two tables will change slightly in the process of adjusting their respective PWMs to maintain height consistency. During operation, the resistance of the table legs at different heights will change, which will also cause the current to change. In order to accurately collect and refresh the current in operation, each newly collected current is weighted to the original current, for example: (I original * 24 + I new) / 25, (the weighted value is adjusted according to actual needs), which means that every time a new current is collected, the new current is superimposed on 4% of the original current for averaging. In this way, the current reference will slowly follow the new current changes, but if there is a sudden current change, the reference current will not change suddenly. In this way, the characteristics of the current information are maintained, which can be used to detect the sudden change value of the current △I / △t (△t: generally take the change of 10-80mS as the basis for determining the sudden change value According to the actual measured results of different table frames), on the basis of the current reference obtained after weighting, 30% to 70% of the maximum threshold is superimposed as the adaptive threshold (selected according to the actual measured results). The percentage of the maximum threshold is selected here to ensure that after the user sets the maximum reset threshold, the adaptive threshold can change with the setting of the maximum current threshold; after the above weighted reference current is obtained, the adaptive threshold coefficient is superimposed, and the mutation value △I / △t is obtained for judgment, it can not only eliminate the false reset caused by small current fluctuations caused by different tightness during balance adjustment and operation, but also ensure that after the actual operation is in place, the reset is judged in time and the operation is stopped to avoid excessive reset force and damage to the table frame.

[0042] The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A driving system for resetting an adaptive threshold, characterized in that: It includes an MCU, an input buck module, an input voltage detection module, an LDO buck module, a button access module, a speed regulation MOS bridge module, a current detection module, a motor, and a power supply. The power supply is connected to the input end of the input buck module, the output end of the input buck module is connected to the input end of the input voltage detection module and the input end of the speed regulation MOS bridge module, the output end of the input voltage detection module is connected to the input end of the MCU and the input end of the LDO buck module, the output end of the LDO buck module is respectively connected to the button access module and the input end of the MCU, the output end of the button access module is electrically connected to the input end of the MCU, the output end of the speed regulation MCU is connected to the input end of the speed regulation MOS bridge module, and the output end of the speed regulation MOS bridge module is electrically connected to the motor through the current detection module.

2. A driving system for resetting an adaptive threshold according to claim 1, characterized in that: The speed regulating MOS bridge module comprises a first speed regulating circuit and a second speed regulating circuit, and the motor comprises a first motor and a second motor.

3. A driving system for resetting an adaptive threshold according to claim 2, characterized in that: The first speed regulation circuit includes a processor U203, a processor U205, a MOS tube U202, a MOS tube U204, a MOS tube U206, a MOS tube U207, a processor U205, a capacitor C207, a diode D205, a resistor R255, a resistor R208, a resistor R206, a resistor R214, a resistor R207, a resistor R209, a resistor R215, a resistor R256, a capacitor C209, a capacitor C210, a capacitor C208, and a diode D207. The first interface of the processor U203 is grounded through the capacitor C207. The second interface and the third interface of the processor U203 are connected to the MCU. The fourth interface of the processor U203 is grounded. The first interface of the processor U203 is connected to the input step-down module and the input end of the diode D205, the output end of the diode D205 is connected to the input end of the resistor R255, the output end of the resistor R255 is connected to the eighth interface of the processor U203 and one end of the capacitor C209, the sixth interface of the processor U203 is connected to the other end of the capacitor C209, the fifth interface of the processor U203 is connected to the G pole of the MOS tube U206 through the resistor R214, the sixth interface of the processor U203 is connected to the S pole of the MOS tube U204 and the D pole of the MOS tube U206, the seventh ... The port is connected to one end of the resistor R208, the other end of the resistor R208 is connected to one end of the resistor R206, the other end of the resistor R206 is connected to the S pole of the MOS tube U204 and the D pole of the MOS tube U206, the G pole of the MOS tube U204 is connected to the other end of the resistor R208, the S pole of the MOS tube U204 and the D pole of the MOS tube U206 are electrically connected to the first motor, the D pole of the MOS tube U204 and the D pole of the MOS tube U202 are connected to the input step-down module, the S pole of the MOS tube U202 and the D pole of the MOS tube U207 are electrically connected to the first motor, and the MOS tube U20 2 is connected to one end of the resistor R207 and one end of the resistor R209, the D pole of the MOS tube U207 is connected to the sixth interface of the processor U205, the S pole of the MOS tube U207 is connected to the S pole of the MOS tube U206, the first interface of the processor U205 is grounded through the capacitor C208, the first interface of the processor U205 is connected to the input buck module and the input end of the diode G207, the third interface and the fourth interface of the processor U205 are connected to the MCU, the fourth interface of the processor U205 is grounded, and the fifth interface of the processor U205 is connected to the G pole of the MOS tube 207 through the resistor R244,The seventh interface of the processor U205 is connected to the S electrode of the MOS tube through the resistor R209 and the resistor 207, one end of the resistor R256 is connected to the output end of the diode D207, and the other end of the resistor R256 is connected to the sixth interface of the processor U205 and the eighth interface of the processor U205.

4. A driving system for resetting an adaptive threshold according to claim 2, characterized in that: The second speed control circuit includes a processor U210, a processor U212, a MOS tube U209, a MOS tube U211, a MOS tube U214, a processor U212, a capacitor C228, a diode D208, a resistor R257, a resistor R230, a resistor R228, a resistor R243, a resistor R229, a resistor R231, a resistor R244, a resistor R248, a capacitor C231, a capacitor C210, a capacitor C229, and a diode D209. The first interface of the processor U210 is grounded through the capacitor C228, the second interface and the third interface of the processor U210 are connected to the MCU, and the fourth interface of the processor U210 is grounded. The first interface of the processor U210 is connected to the input step-down module and the input end of the diode D208, the output end of the diode D208 is connected to the input end of the resistor R257, the output end of the resistor R257 is connected to the eighth interface of the processor U210 and one end of the capacitor C231, the sixth interface of the processor U210 is connected to the other end of the capacitor C231, the fifth interface of the processor U210 is connected to the G pole of the MOS tube U211 through the resistor R243, the sixth interface of the processor U210 is connected to the S pole of the MOS tube U211 and the D pole of the MOS tube U211, the seventh interface of the processor U210 is connected to the G pole of the MOS tube U211 through the resistor R243, the sixth interface of the processor U210 is connected to the S pole of the MOS tube U211 and the D pole of the MOS tube U211, and the seventh interface of the processor U210 is connected to the G pole of the MOS tube U211 through the resistor R243. The port is connected to one end of the resistor R230, the other end of the resistor R230 is connected to one end of the resistor R228, the other end of the resistor R228 is connected to the S pole of the MOS tube U211 and the D pole of the MOS tube U211, the G pole of the MOS tube U211 is connected to the other end of the resistor R230, the S pole of the MOS tube U211 and the D pole of the MOS tube U211 are electrically connected to the second motor, the D pole of the MOS tube U211 and the D pole of the MOS tube U209 are connected to the input step-down module, the S pole of the MOS tube U209 and the D pole of the MOS tube U214 are electrically connected to the second motor, and the MOS tube U20 The G pole of the MOS tube U29 is connected to one end of the resistor R229 and one end of the resistor R231, the D pole of the MOS tube U214 is connected to the sixth interface of the processor U212, the S pole of the MOS tube U214 is connected to the S pole of the MOS tube U211, the first interface of the processor U212 is grounded through the capacitor C229, the first interface of the processor U212 is connected to the input buck module and the input end of the diode G207, the third interface and the fourth interface of the processor U212 are connected to the MCU, the fourth interface of the processor U212 is grounded, and the fifth interface of the processor U212 is connected to the G pole of the MOS tube 207 through the resistor R244.The seventh interface of the processor U212 is connected to the S electrode of the MOS tube through the resistor R231 and the resistor 207, one end of the resistor R248 is connected to the output end of the diode D209, and the other end of the resistor R248 is connected to the sixth interface of the processor U212 and the eighth interface of the processor U212.

5. A driving system for resetting an adaptive threshold according to claim 2, characterized in that: The input step-down module includes a first step-down circuit and a second step-down circuit. The input end of the first step-down circuit and the input end of the second step-down circuit are both electrically connected to the power supply. The output voltage of the output end of the first step-down circuit is DC +12V, and the output voltage of the output end of the second step-down circuit is DC +5V.

6. A driving system for resetting an adaptive threshold according to claim 2, characterized in that: The current detection module includes a first current acquisition circuit and a second current acquisition circuit. The first current acquisition circuit is connected to the first speed regulation circuit, and the second current acquisition circuit is connected to the second speed regulation circuit. The first current acquisition circuit includes a resistor R218, a resistor R216, and a capacitor C221. The first current acquisition circuit includes a resistor R246, a resistor R245, and a capacitor C242.

7. A driving system for resetting an adaptive threshold according to claim 1, characterized in that: The input voltage detection module includes a resistor R233, a resistor R241, a resistor R237, and a capacitor C236. One end of the resistor R233 is connected to the output end of the input step-down module, the other end of the resistor R233 is connected to one end of the resistor R241 and one end of the resistor R237, the other end of the resistor R237 is connected to the MCU and one end of the capacitor C236, and the other end of the capacitor C236 is grounded.

8. A driving system for resetting an adaptive threshold according to claim 1, characterized in that: The button access module is externally connected with adjustment buttons, and the adjustment buttons include an upward adjustment button, a downward adjustment button, a left adjustment button and a right adjustment button.

9. A driving system for resetting an adaptive threshold according to claim 5, characterized in that: The current detection module includes a first detection sensor J201 and a second detection sensor J202. The input end of the first detection sensor J201 and the input end of the second detection sensor J202 are connected to the output end of the second step-down circuit. The output end of the first detection sensor J201 is electrically connected to the first motor, and the output end of the second detection sensor J202 is electrically connected to the second motor.

10. The driving system for resetting an adaptive threshold according to claim 1, characterized in that: The model of the MCU is MT006.

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