Pedal control method, storage medium and device

Abstract

The invention relates to the technical field of ship control, and discloses a pedal control method, a storage medium and a device, and the method comprises the following steps: obtaining the rotating speed and the rotating angle of a pedal; the pedal torque of a pedal motor is calculated according to the rotating speed of the pedal, and inductive FOC control is conducted on the pedal motor according to the pedal torque; calculating an expected output quantity of the equipment motor according to a mapping relation between the rotation angle of the pedal and the output quantity of the equipment motor; calculating the output torque of the equipment motor according to the difference value between the current output quantity and the expected output quantity of the equipment motor; and performing inductive FOC control on the equipment motor according to the output torque of the equipment motor, and when the output torque of the equipment motor exceeds the set maximum output torque, controlling the pedal motor to rotate reversely. By means of the pedal control method, the pedal can generate the resistance adapting to the rotating speed change through the pedal motor, the control precision of an operator on the pedal is improved, the pedal motor is reversely driven for feedback during overload, and damage to a mechanical structure is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of ship control, and in particular to a pedal control method, a storage medium and a device. Background Art

[0002] Marine propellers, also known as outboard motors, are widely used in the propulsion drive of small and medium-sized ships. Traditional outboard motors allow the operator to turn the handle to drive the main rod to rotate, thereby adjusting the direction of the propeller at the lower end of the main rod to control the course of the ship. In order to improve the user experience of fishermen or fishing enthusiasts and free the operator's hands, some outboard motors on the market control the steering motor or steering mechanism by stepping on a foot pedal to adjust the course. Existing foot control systems on the market often use electronic buttons or mechanical pedals, which can only provide fixed and non-adjustable resistance feedback to the foot pedal, which is not convenient for the operator to perform precise angle adjustment. In addition, when the steering mechanism reaches the maximum stroke or is subject to a large external resistance, it will not provide feedback to the operator through the foot pedal, which can easily cause damage to the steering mechanical structure. Summary of the invention

[0003] In order to overcome the deficiencies of the prior art, the object of the present invention is to provide a pedal control method, which can improve the control accuracy of the pedal control system, facilitate accurate control of the device through the pedal, and avoid damage to the steering mechanical structure.

[0004] To solve the above problems, the technical solution adopted by the present invention is as follows: a pedal control method, comprising the following steps:

[0005] Get the speed and rotation angle of the pedal;

[0006] The pedal torque of the pedal motor is calculated according to the rotation speed of the pedal, and the pedal motor is subjected to sensory FOC control according to the pedal torque;

[0007] Calculating the expected output of the device motor according to the mapping relationship between the rotation angle of the pedal and the output of the device motor;

[0008] Calculate the output torque of the device motor according to the difference between the current output of the device motor and the expected output;

[0009] The device motor is subjected to sensored FOC control according to the output torque of the device motor. When the output torque of the device motor exceeds its set maximum output torque, the pedal motor is controlled to rotate in the reverse direction.

[0010] Compared with the prior art, the beneficial effect of the present invention is that: by obtaining the speed of the pedal, the pedal torque of the pedal motor is calculated according to the speed, and the pedal motor is subjected to sensed FOC control according to the pedal torque, so that the pedal motor can feedback different resistances according to the speed, which is convenient for the operator to control the pedal more accurately. And when the output torque of the device motor exceeds the maximum torque it can bear, the pedal motor is driven to rotate in the opposite direction to avoid the operator continuing to increase the output torque of the device motor through the foot motor, causing damage to the mechanical structure driven by the device motor.

[0011] In the above-mentioned pedal control method, in the step of calculating the pedal torque of the pedal motor according to the speed of the pedal and performing sensed FOC control on the pedal motor according to the pedal torque, the calculation formula of the pedal torque is as follows:

[0012] E1=N1(A11-A12) / (T1-T2)

[0013] Among them, E1 is the pedal torque, A11 is the current pedal angle, A12 is the pedal angle when the time was last adjusted, T1 is the current time, T2 is the last adjustment time, and N1 is the torque output multiple of the pedal motor.

[0014] In the above-mentioned pedal control method, in the step of calculating the output torque of the device motor according to the difference between the current output of the device motor and the expected output, the expected output is the rotation angle of the device motor, and the calculation formula of the output torque of the device motor is as follows:

[0015] E2=P2(A21 / P1-A22)

[0016] Among them, E2 is the output torque of the device motor, P2 is the torque output multiple of the device motor, A21 is the rotation angle of the pedal, P1 is the multiple coefficient between the rotation angle of the pedal and the rotation angle of the device motor, and A22 is the current angle of the device motor.

[0017] In the above-mentioned pedal control method, the device motor is subjected to sensed FOC control according to the output torque of the device motor. When the output torque of the device motor exceeds the set maximum output torque, in the step of controlling the pedal motor to rotate in the opposite direction, when controlling the pedal motor to rotate in the opposite direction, the pedal torque of the pedal motor is set to the output torque E2 of the device motor.

[0018] A storage medium stores program codes, which implement the above-mentioned pedal control method when called and executed by a computer.

[0019] A pedal control device comprises a computer and the above-mentioned storage medium, wherein the storage medium is electrically connected to the computer.

[0020] A pedal control system, comprising: a pedal; a pedal motor, an output shaft connected to the pedal; a pedal angle sensor, connected to the output shaft of the pedal motor; a pedal control device, electrically connected to the pedal motor and the pedal angle sensor, comprising a first acquisition module, a pedal torque calculation module and a first FOC control module, the first acquisition module being used to acquire the rotation angle of the pedal motor, the pedal torque calculation module being used to calculate the rotation speed of the pedal motor according to the rotation angle of the pedal motor, and to calculate the pedal torque according to the rotation speed of the pedal motor, the first FOC control module being used to perform sensed FOC control of the pedal motor according to the pedal torque; an equipment motor, an output shaft connected to a load to be driven; an equipment angle sensor, connected to the output shaft of the equipment motor; an equipment control device, connected to the equipment motor and the equipment angle sensor The device is electrically connected to a degree sensor and is communicatively connected to the pedal control device, and includes a second acquisition module, an output torque calculation module, a second FOC control module and an overload feedback module. The second acquisition module is used to obtain the rotation angle of the pedal motor and the rotation angle of the device motor. The output torque calculation module is used to calculate the expected output of the device motor according to the rotation angle of the pedal motor, and calculate the output torque of the device motor according to the expected output and the rotation angle of the device motor. The second FOC control module is used to perform sensed FOC control on the device motor according to the output torque. The overload feedback module is used to feed back overload information to the pedal control device when the output torque exceeds its set maximum output torque, so that the pedal control device controls the pedal motor to rotate in the opposite direction.

[0021] In the above-mentioned pedal control system, the pedal torque calculation module calculates the pedal torque using the following formula:

[0022] E1=N1(A11-A12) / (T1-T2)

[0023] Among them, E1 is the pedal torque, A11 is the current pedal angle, A12 is the pedal angle when the time was last adjusted, T1 is the current time, T2 is the last adjustment time, and N1 is the torque output multiple of the pedal motor.

[0024] In the above-mentioned pedal control system, the output torque calculation module calculates the output torque of the device motor by the following formula:

[0025] E2=P2(A21 / P1-A22)

[0026] Among them, E2 is the output torque of the device motor, P2 is the torque output multiple of the device motor, A21 is the rotation angle of the pedal, P1 is the multiple coefficient between the rotation angle of the pedal and the rotation angle of the device motor, and A22 is the current angle of the device motor.

[0027] In the above-mentioned pedal control system, when the output torque exceeds the set maximum output torque, the overload feedback module feeds back the output torque to the pedal control device, so that the pedal control device controls the pedal motor to rotate in the opposite direction with the output torque.

[0028] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is a flow chart of a foot pedal control method according to an embodiment of the present invention;

[0030] Figure 2 4 is a principle block diagram of a foot pedal control system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0031] The embodiments of the present invention are described in detail below. Figure 1 , an embodiment of the present invention provides a pedal control method, comprising the following steps:

[0032] Get the speed and rotation angle of the pedal;

[0033] The pedal torque of the pedal motor is calculated according to the rotation speed of the pedal, and the pedal motor is subjected to sensory FOC control according to the pedal torque;

[0034] Calculating the expected output of the device motor according to the mapping relationship between the rotation angle of the pedal and the output of the device motor;

[0035] Calculate the output torque of the device motor according to the difference between the current output of the device motor and the expected output;

[0036] The device motor is subjected to sensored FOC control according to the output torque of the device motor. When the output torque of the device motor exceeds its set maximum output torque, the pedal motor is controlled to rotate in the reverse direction.

[0037] The pedal control method of the embodiment of the present invention is used for a pedal control system with a pedal control motor. The pedal in the pedal control system is connected to the output shaft of the pedal motor. When the pedal is rotated by pressure, the output shaft of the pedal motor will be driven to rotate together. The above-mentioned pedal control method calculates the pedal torque of the pedal motor according to the rotation speed of the pedal, and performs sensed FOC control on the pedal motor according to the pedal torque, so that the pedal motor can apply resistance to the pedal torque that follows the change of the pedal speed. When the pedal speed is fast, the pedal motor can output a larger damping to the pedal; when the pedal speed is slow, the pedal motor can output a smaller damping to the pedal, so as to accurately control the angle of the pedal, thereby realizing accurate control of the device motor through the pedal. And when the output torque of the device motor is too large and greater than the maximum output torque set, the pedal motor is controlled to rotate in the opposite direction to prevent the operator from continuing to press the pedal to continue to increase the output torque of the device motor, thereby avoiding damage to the mechanical structure driven by the device motor.

[0038] It is understandable that the pedal torque and the speed of the pedal may be linearly positively correlated, or the pedal torque may be gradually increased along a preset curve as the speed of the pedal increases, thereby increasing the pressure resistance of the pedal to improve the accuracy of the user's operation. The expected output of the device motor may be the rotation angle, output torque or speed of the device motor according to the needs of the mechanism driven by the device motor. When the operator stops pedaling, the pedal will be reset under the drive of the elastic mechanism or the pedal motor.

[0039] In this embodiment, the pedal torque of the pedal motor is calculated by the following formula:

[0040] E1=N1(A11-A12) / (T1-T2) (1)

[0041] Among them, E1 is the pedal torque, A11 is the current pedal angle, A12 is the pedal angle at the last adjustment time, T1 is the current time, T2 is the last adjustment time, (A11-A12) / (T1-T2) is the average speed of the pedal in the T1-T2 time period, and N1 is the torque output multiple of the pedal motor. N1 can be adjusted by the user through the control panel to adapt to the foot strength of different operators and further improve the user experience.

[0042] In this embodiment, taking the steering motor of an outboard motor as an example, the steering angle of the steering motor is controlled according to the rotation angle of the pedal, and the steering motor is also subjected to sensed FOC control to further improve the accuracy of the steering angle control. The output torque of the steering motor is calculated by the following formula:

[0043] E2=P2(A21 / P1-A22) (2)

[0044] Among them, E2 is the output torque of the steering motor, P2 is the torque output multiple of the steering motor, A21 is the rotation angle of the pedal, P1 is the multiple coefficient between the rotation angle of the pedal and the rotation angle of the equipment motor, A21 / P1 is the expected rotation angle of the steering motor calculated according to the rotation angle of the pedal, A22 is the current angle of the steering motor, and A21 / P1-A22 is the difference between the expected rotation angle and the current angle of the steering motor. The greater the difference between the expected rotation angle and the current angle, the greater the output torque of the steering motor. P1 needs to be set according to the pedal stroke and the steering stroke of the steering motor, and P2 needs to be set according to the steering resistance of the steering mechanism. When the pedal loses pressure and resets, the output torque E2 of the steering motor reverses, prompting the steering mechanism to reset. When the steering motor is under sensed FOC control, as long as the output torque of the motor is not zero, the sensed FOC control will control the steering motor to rotate. When the steering motor rotates to the desired rotation angle, the output torque of the steering motor calculated according to formula (2) is zero, so that the steering motor stays at the desired rotation angle, thereby realizing the control of the rotation angle of the steering motor.

[0045] In this embodiment, in order to be able to more obviously feed back the resistance encountered by the steering motor to the pedal when the steering mechanism encounters greater resistance due to movement to the steering limit or obstruction by other external forces, when the output torque of the steering motor is greater than its preset maximum torque, the output torque E2 of the steering motor is directly set to the pedal torque of the pedal motor, and the resistance encountered by the steering motor is intuitively fed back to the operator through the pedal.

[0046] The storage medium of the embodiment of the present invention stores program codes, which can be called and executed by a computer to implement the above-mentioned foot control method. The foot control device of the embodiment of the present invention includes a computer and the above-mentioned storage medium, the computer is electrically connected to the storage medium, and the program codes can be called to implement the above-mentioned foot control method for the foot motor and the device motor.

[0047] Reference Figure 2 The pedal control system of an embodiment of the present invention includes a pedal, a pedal motor, a pedal angle sensor, a pedal control device, an equipment motor, an equipment angle sensor and an equipment control device. The output shaft of the pedal motor is connected to the pedal and the pedal angle sensor, and the pedal motor and the pedal angle sensor are both connected to the pedal control device. The output shaft of the equipment motor is connected to the driven load, the equipment angle sensor is connected to the output shaft of the equipment motor, and the equipment motor and the equipment angle sensor are both electrically connected to the equipment control device. The pedal control device and the equipment control device are connected in a wired or wireless communication manner.

[0048] In this embodiment, both the device angle sensor and the pedal angle sensor use magnetic encoders. The rear ends of the output shafts of the pedal motor and the device motor are equipped with radial circular magnets. The circular magnets are concentric with the output shafts of the motors and rotate with the output shafts of the motors. The main body of the magnetic encoder is fixed to the housing of the motor, suspended one millimeter above the circular magnets and concentric with the circular magnets. The magnetic encoder detects the angle of the output shaft of the motor through the change in the magnetic field caused by the rotation of the circular magnets.

[0049] The pedal control device includes a first acquisition module, a pedal torque calculation module and a first FOC control module. The first acquisition module acquires the rotation angle of the pedal motor through a pedal angle sensor, and the pedal torque calculation module is used to calculate the speed of the pedal motor according to the rotation angle of the pedal motor, and calculate the pedal torque according to the speed of the pedal motor. The first FOC control module is used to perform sensed FOC control on the pedal motor according to the pedal torque. The equipment control device includes a second acquisition module, an output torque calculation module, a second FOC control module and an overload feedback module. The second acquisition module acquires the rotation angle of the pedal motor by communicating with the pedal control device, and acquires the rotation angle of the equipment motor through the equipment angle sensor. The output torque calculation module is used to calculate the expected output of the equipment motor according to the rotation angle of the pedal motor, and calculate the output torque of the equipment motor according to the expected output and the rotation angle of the equipment motor. The second FOC control module is used to perform sensed FOC control on the equipment motor according to the output torque. The overload feedback module is used to feed back the overload information to the pedal control device when the output torque exceeds the maximum output torque set by the pedal control device, so that the pedal control device controls the pedal motor to rotate in the opposite direction.

[0050] In this embodiment, the device motor is a steering motor, and the output shaft of the steering motor is connected to the main rod of the outboard motor through a transmission mechanism. Both the pedal motor and the steering motor are brushless motors, which have the advantages of long life and low noise. The pedal angle sensor and the device angle sensor are both absolute encoders, integrated with the brushless motor. The pedal control device and the device control device both use models with brushless motor drive functions in the STM32 series of single-chip microcomputers, such as STM32F1 xx, STM32F4xx, STM32G4xx, etc. The pedal control device and the device control device communicate through the CAN bus, and the pedal control device and the device control device also include a first CAN communication module and a second CAN communication module, respectively, which are used to control the information sending and receiving process of the pedal control device and the device control device, respectively.

[0051] It can be understood that when the foot control system of the embodiment of the present invention is applied to the steering control of the outboard motor, the pedal needs to be a seesaw pedal, that is, the rotating shaft of the pedal is located in the middle of the pedal, so as to realize the steering control of the outboard motor drive in both left and right directions.

[0052] It should be noted that in the description of the present invention, if there are any orientation descriptions, such as up, down, front, back, left, right, etc., the orientations or positional relationships indicated are all based on the orientations or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed or operated in a specific orientation, and cannot be understood as a limitation on the present invention.

[0053] In the description of the present invention, "several" means one or more, "more" means two or more, "greater than", "less than", "exceed" etc. are understood to exclude the number itself, and "above", "below", "within" etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used to distinguish the technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0054] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0055] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0056] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0057] The above-mentioned embodiments are only preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and substitutions made by technicians in this field on the basis of the present invention shall fall within the scope of protection required by the present invention.

Claims

1. A pedal control method, characterized in that: The steps include: Get the speed and rotation angle of the pedal; The pedal torque of the pedal motor is calculated according to the rotation speed of the pedal, and the pedal motor is subjected to sensory FOC control according to the pedal torque; Calculating the expected output of the device motor according to the mapping relationship between the rotation angle of the pedal and the output of the device motor; Calculate the output torque of the device motor according to the difference between the current output of the device motor and the expected output; The device motor is subjected to sensored FOC control according to the output torque of the device motor. When the output torque of the device motor exceeds its set maximum output torque, the pedal motor is controlled to rotate in the reverse direction.

2. The pedal control method according to claim 1, characterized in that: In the step of calculating the pedal torque of the pedal motor according to the rotation speed of the pedal and performing sensored FOC control on the pedal motor according to the pedal torque, the calculation formula of the pedal torque is as follows: E1=N1(A11-A12) / (T1-T2) Among them, E1 is the pedal torque, A11 is the current pedal angle, A12 is the pedal angle when the time was last adjusted, T1 is the current time, T2 is the last adjustment time, and N1 is the torque output multiple of the pedal motor.

3. The pedal control method according to claim 1, characterized in that: In the step of calculating the output torque of the device motor according to the difference between the current output of the device motor and the expected output, the expected output is the rotation angle of the device motor, and the calculation formula of the output torque of the device motor is as follows: E2=P2(A21 / P1-A22) Among them, E2 is the output torque of the device motor, P2 is the torque output multiple of the device motor, A21 is the rotation angle of the pedal, P1 is the multiple coefficient between the rotation angle of the pedal and the rotation angle of the device motor, and A22 is the current angle of the device motor.

4. The pedal control method according to claim 3, characterized in that: The device motor is subjected to sensed FOC control according to the output torque of the device motor. When the output torque of the device motor exceeds the set maximum output torque, in the step of controlling the pedal motor to rotate in the opposite direction, the pedal torque of the pedal motor is set to the output torque E2 of the device motor when controlling the pedal motor to rotate in the opposite direction.

5. A storage medium storing program code, characterized in that: When the program code is called and executed by a computer, the foot pedal control method according to any one of claims 1 to 4 is implemented.

6. A foot control device, characterized in that: It comprises a computer and the storage medium according to claim 5, wherein the storage medium is electrically connected to the computer.

7. A pedal control system, characterized in that: include: pedal; A pedal motor, whose output shaft is connected to the pedal; A pedal angle sensor connected to the output shaft of the pedal motor a pedal control device, electrically connected to the pedal motor and the pedal angle sensor, comprising a first acquisition module, a pedal torque calculation module and a first FOC control module, wherein the first acquisition module is used to acquire the rotation angle of the pedal motor, the pedal torque calculation module is used to calculate the rotation speed of the pedal motor according to the rotation angle of the pedal motor, and calculate the pedal torque according to the rotation speed of the pedal motor, and the first FOC control module is used to perform sensed FOC control on the pedal motor according to the pedal torque; The equipment motor, the output shaft of which is connected to the load to be driven; A device angle sensor connected to the output shaft of the device motor; The device control device is electrically connected to the device motor and the device angle sensor, and is communicatively connected to the pedal control device, and includes a second acquisition module, an output torque calculation module, a second FOC control module and an overload feedback module. The second acquisition module is used to obtain the rotation angle of the pedal motor and the rotation angle of the device motor. The output torque calculation module is used to calculate the expected output of the device motor according to the rotation angle of the pedal motor, and calculate the output torque of the device motor according to the expected output and the rotation angle of the device motor. The second FOC control module is used to perform sensed FOC control on the device motor according to the output torque. The overload feedback module is used to feed back overload information to the pedal control device when the output torque exceeds its set maximum output torque, so that the pedal control device controls the pedal motor to rotate in the opposite direction.

8. The pedal control system according to claim 7, characterized in that: The pedal torque calculation module calculates the pedal torque using the following formula: E1=N1(A11-A12) / (T1-T2) Among them, E1 is the pedal torque, A11 is the current pedal angle, A12 is the pedal angle when the time was last adjusted, T1 is the current time, T2 is the last adjustment time, and N1 is the torque output multiple of the pedal motor.

9. The pedal control system according to claim 7, characterized in that: The output torque calculation module calculates the output torque of the device motor by the following formula: E2=P2(A21 / P1-A22) Among them, E2 is the output torque of the device motor, P2 is the torque output multiple of the device motor, A21 is the rotation angle of the pedal, P1 is the multiple coefficient between the rotation angle of the pedal and the rotation angle of the device motor, and A22 is the current angle of the device motor.

10. The pedal control system according to claim 7, characterized in that: When the output torque exceeds the set maximum output torque, the overload feedback module feeds back the output torque to the pedal control device, so that the pedal control device controls the pedal motor to rotate in the opposite direction with the output torque.

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