Motor control method and device, electronic equipment and computer readable storage medium

Abstract

The embodiment of the invention discloses a motor control method and device, electronic equipment and a computer readable storage medium, and the method comprises the steps: determining a motor starting acceleration parameter of a target motor in a label printer for target label paper; and generating a starting acceleration curve of the motor speed corresponding to the target motor based on the motor starting acceleration parameter, and finally controlling the target motor to perform motor acceleration by using the starting acceleration curve. Therefore, the technical problem that improper control of the motor in the starting stage has adverse effects on the printing quality of the label printer is solved.

Description

Technical Field

[0001] The present application relates to the field of motor technology, and in particular to a motor control method, device, electronic device and computer-readable storage medium. Background Art

[0002] In recent years, with the widespread application of label printers in many industries, the effective control of label printer motors has attracted more and more attention. The control of the motor at the starting stage is crucial, and improper motor starting will have a negative impact on the printing quality of the label printer. Summary of the invention

[0003] Embodiments of the present application provide a motor control method, device, electronic device, and computer-readable storage medium.

[0004] In a first aspect, an embodiment of the present application provides a motor control method, the method comprising:

[0005] Determine motor start acceleration parameters of a target motor in a label printer for a target label paper;

[0006] Generate a starting acceleration curve corresponding to the motor speed of the target motor based on the motor starting acceleration parameter;

[0007] The target motor is controlled to accelerate the motor by utilizing the startup acceleration curve.

[0008] Optionally, determining a motor startup acceleration parameter of a target motor in a label printer for a target label paper includes:

[0009] Determine a motor starting speed and a target motor stabilization speed of a target motor in a label printer for the target label paper;

[0010] Determine the motor initialization acceleration time of the target motor for the target label paper; wherein the motor initialization acceleration time is the time for the target motor to accelerate from the motor starting speed to the target motor stable speed;

[0011] Based on the motor starting speed, the target motor stable speed and the motor initialization acceleration time, a motor starting acceleration parameter of the target motor for the target label paper is obtained.

[0012] Optionally, determining a motor starting speed and a target motor stable speed of a target motor in the label printer for the target label paper includes:

[0013] Acquire label paper information of the target label paper, and determine a motor starting speed of a target motor in the label printer based on the label paper information;

[0014] A target printing speed of the label printer for the target label paper is determined, and a target motor stabilization speed of the target motor is determined based on the target printing speed.

[0015] Optionally, the target label paper includes a blank release paper area and a label paper area, and the blank release paper area and the label paper area are distributed along the length direction of the target label paper; and determining the motor initialization acceleration time of the target motor for the target label paper includes:

[0016] Determine a first predicted time when the blank release paper area is completed when the label printer is driven by the target motor to convey the target label paper;

[0017] Based on the first predicted time, a motor initialization acceleration time of the target motor for the target label paper is determined; wherein the motor initialization acceleration time is less than or equal to the first predicted time.

[0018] Optionally, the target label paper includes a label paper area, and determining the motor initialization acceleration time of the target motor for the target label paper includes:

[0019] Determine a second predicted time when the target to-be-printed position of the label paper area in the target label paper is transported to the target printing position corresponding to the label printer when the label printer is driven by the target motor to transport the target label paper;

[0020] Based on the second predicted time, a motor initialization acceleration time of the target motor for the target label paper is determined; wherein the motor initialization acceleration time is less than or equal to the second predicted time.

[0021] Optionally, generating a startup acceleration curve corresponding to a motor speed of the target motor based on the motor startup acceleration parameter includes:

[0022] Based on the motor starting speed, the target motor stable speed and the motor initialization acceleration time, an S-shaped starting acceleration curve corresponding to the target motor is generated;

[0023] Wherein, the independent variable of the S-shaped startup acceleration curve is time, and the dependent variable of the S-shaped startup acceleration curve is motor speed;

[0024] The motor initialization acceleration time includes a first acceleration time period, a second acceleration time period and a third acceleration time period in chronological order, a first slope of the S-type startup acceleration curve in the first acceleration time period is smaller than a second slope of the S-type startup acceleration curve in the second acceleration time period, and a third slope of the S-type startup acceleration curve in the third acceleration time period is smaller than the second slope of the S-type startup acceleration curve in the second acceleration time period.

[0025] Optionally, the motor speed is a pulse speed corresponding to the target motor, and the method further includes:

[0026] Determine a dependent variable conversion formula between the pulse speed and the time consumption per step, and perform dependent variable conversion processing on the S-shaped startup acceleration curve based on the dependent variable conversion formula to obtain a first target curve;

[0027] Determine a predicted total step number parameter of the target motor corresponding to the motor initialization acceleration time, determine an independent variable conversion formula of the step number and the time based on dividing the predicted total step number parameter by the motor initialization acceleration time, and perform independent variable conversion processing on the first target curve based on the independent variable conversion formula to obtain a second target curve;

[0028] Obtaining an objective function expression of the second objective curve, constructing a first calculation formula based on the motor initialization acceleration time, the objective function expression and the predicted total step number parameter, and determining the predicted total step number corresponding to the predicted total step number parameter based on the first calculation formula;

[0029] Among them, the first calculation formula is The N is the predicted total step number parameter and is a positive integer, the T is the motor initialization acceleration time, and the f(x) is the objective function expression.

[0030] Optionally, the using the startup acceleration curve to control the target motor to accelerate the motor includes:

[0031] Determine the target time per step corresponding to each target step based on the second target curve; wherein the target step is a positive integer;

[0032] The target pulse speed is determined based on the target time per step corresponding to the target step, and the target motor is controlled to accelerate the motor based on the target time per step corresponding to each target step and the target pulse speed.

[0033] Optionally, the acquiring the label paper information of the target label paper includes:

[0034] Determine the label paper information of the target label paper based on at least one of the first label paper information acquisition method, the second label paper information acquisition method, and the third label paper acquisition method;

[0035] Among them, the first label paper information acquisition method is to acquire the label paper information of the target label paper sent by the terminal; the second label paper information is to determine the input information for the target label paper received by the label printer, and determine the label paper information of the target label paper based on the input information; the third label paper acquisition method is to identify the wireless radio frequency identification element corresponding to the target label paper to obtain an information recognition result, and determine the label paper information of the target label paper based on the information recognition result.

[0036] In a second aspect, an embodiment of the present application provides a motor control device, the device comprising:

[0037] A determination module, adapted to determine motor start acceleration parameters of a target motor in a label printer for a target label paper;

[0038] A generating module, adapted to generate a starting acceleration curve corresponding to a motor speed of the target motor based on the motor starting acceleration parameter;

[0039] The control module is adapted to control the target motor to accelerate the motor by using the startup acceleration curve.

[0040] In a third aspect, an embodiment of the present application provides an electronic device, the electronic device comprising:

[0041] Processor; and

[0042] A memory arranged to store computer executable instructions which, when executed, cause the processor to perform a method according to any one of the above.

[0043] In a third aspect, an embodiment of the present application provides a computer-readable storage medium, which stores one or more programs. When the one or more programs are executed by a processor, they implement any of the methods described above.

[0044] The beneficial effects of the technical solution provided by the embodiment of the present application include at least: by determining the motor startup acceleration parameters for the target label paper, then using the motor startup acceleration parameters to generate the startup acceleration curve of the target motor corresponding to the motor speed, and finally using the startup acceleration curve to control the target motor to accelerate the motor, so as to ensure that during the acceleration process of the target motor, the target motor can gradually match the corresponding acceleration speed for the corresponding load (target label paper), reducing the risk of step loss caused by the mismatch between the instantaneous load and the motor output, thereby causing adverse effects on the printing quality of the label printer. Thereby solving the technical problem that improper control of the motor in the starting stage has adverse effects on the printing quality of the label printer. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.

[0046] Figure 1 A schematic diagram of a flow chart of a motor control method provided in an embodiment of the present application;

[0047] Figure 2 A schematic diagram of a process for determining motor starting acceleration parameters provided in an embodiment of the present application;

[0048] Figure 3 A schematic diagram of a process for determining a motor starting speed and a target motor stable speed provided in an embodiment of the present application;

[0049] Figure 4 A schematic diagram of a process for determining a motor initialization acceleration time of a target motor for a target label paper provided in an embodiment of the present application;

[0050] Figure 5 A schematic diagram of another process for determining the motor initialization acceleration time of a target motor for a target label paper provided in an embodiment of the present application;

[0051] Figure 6 A curve diagram of an S-shaped startup acceleration curve provided in an embodiment of the present application;

[0052] Figure 7 A schematic diagram of a process flow of predicting the total number of steps of a target motor corresponding to the motor initialization acceleration time provided in an embodiment of the present application;

[0053] Figure 8 A method provided in the embodiment of the present application Figure 6A curve diagram of the first target curve corresponding to the middle S-shaped start acceleration curve;

[0054] Fig. 9 A method provided in the embodiment of the present application Figure 8 A curve schematic diagram of a second target curve corresponding to the first target curve;

[0055] Fig.10 A schematic diagram of a process of controlling a target motor to accelerate the motor by using a startup acceleration curve provided in an embodiment of the present application;

[0056] Fig.11 A schematic diagram of sampling a second target curve in N equal parts in the interval (0, N] corresponding to the independent variable provided in an embodiment of the present application;

[0057] Fig.12 A schematic diagram of the structure of a motor control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0058] In order to make the features and advantages of the embodiments of the present application more obvious and easy to understand, the technical solutions 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 only part of the embodiments of the present application, not all of them. Based on the embodiments in the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the embodiments of the present application.

[0059] In the relevant technology, in the actual application process of label printers, the starting stage of the motor plays a relatively important role. Improper motor starting methods may cause a series of problems, including motor step loss, deformation of printed content, and even startup failure. These problems will not only damage the printing quality of the label printer, but may also cause damage to the equipment, resulting in increased maintenance costs and reduced production efficiency. Traditional motor control strategies mostly use linear acceleration methods. Although they are easy to operate, they cannot meet the requirements of high-precision printing, especially when the load changes, it is often difficult to maintain the stability of the system. Therefore, a motor control method that can achieve smooth starting of the label printer motor and reduce step loss is particularly urgent.

[0060] To solve related technical problems, please refer to Figure 1 , Figure 1A flowchart of a motor control method provided in an embodiment of the present application. The execution subject of the embodiment of the present application can be an electronic device that executes the motor control method (such as a label printer with a target motor), or a processor in an electronic device that executes the motor control method, or a motor control service in an electronic device that executes the motor control method. For the convenience of description, the specific execution process of the motor control method is introduced below by taking the execution subject being a processor in an electronic device as an example. Figure 1 As shown, a motor control method includes:

[0061] S102: Determine motor startup acceleration parameters of a target motor in a label printer for a target label paper.

[0062] Among them, the motor starting acceleration parameters include the motor starting speed, the target motor stable speed and the motor initialization acceleration time. The motor starting speed is the initial speed of the target motor when it starts, the target motor stable speed is the stable speed of the target motor when it works stably, and the motor initialization acceleration time is the time it takes for the target motor to accelerate from the motor starting speed to the target motor stable speed. These parameters are set reasonably to ensure that the target motor can be started under better conditions.

[0063] Different types of target label papers may correspond to different motor starting acceleration parameters. The motor starting acceleration parameters corresponding to the type label may be queried based on the type label corresponding to the target label paper. For example, the query may be performed through a type label-motor starting acceleration parameter mapping table.

[0064] In the motor starting acceleration parameters, the target motor stable speed can be determined based on the target printing speed of the label printer set by the user for the target label paper. The motor starting speed cannot be too high. If the motor starting speed is too high, the rotation speed is very large, making the torque very small, and it may not be able to drive the target motor to start. Therefore, the motor starting speed needs to be set specifically for the target label paper. Similarly, the shorter the motor initialization acceleration time is, the better. However, the shorter the motor initialization acceleration time is, the faster the acceleration is, and it may not be able to drive the operation. At this time, driving the operation of the target label paper usually depends on the maximum power that the motor can provide. It is easy to understand that the motor initialization acceleration time is difficult to print, so the target label paper can be controlled to be delivered to the position in the label printer where it can be printed during the motor initialization acceleration time. That is, the motor starting speed needs to be set specifically for the target label paper and the maximum power that the motor can provide.

[0065] S104: Generate a starting acceleration curve corresponding to the motor speed of the target motor based on the motor starting acceleration parameter.

[0066] After determining the motor starting acceleration parameters, the motor starting acceleration parameters are used to construct a starting acceleration curve with time as the independent variable and the motor speed corresponding to the target motor as the dependent variable. The starting acceleration curve satisfies the constraints of a smooth start, increased acceleration in the middle, and decreased acceleration at the end in terms of time sequence, which can effectively prevent the target motor from being subjected to excessive load at the moment of starting.

[0067] In the startup acceleration curve, since the motor startup speed, the target motor stable speed and the motor initialization acceleration time are determined, the starting point of the startup acceleration curve can be determined based on the motor startup speed and the initial time, and the end point of the startup acceleration curve can be determined based on the target motor stable speed and the motor initialization acceleration time. In addition to being constrained by the constraints, the acceleration curve between the starting point and the end point is also constrained by the motor performance parameters of the target motor itself. The motor performance parameters of the target motor itself can be obtained from the motor test report of the target motor during production. The motor performance parameters include the mapping relationship between the various acceleration curves that the motor can achieve and the corresponding motor control parameters.

[0068] S106: Using the startup acceleration curve to control the target motor to accelerate the motor.

[0069] Among them, after determining the startup acceleration curve, the motor can be controlled to accelerate based on the coordinate information set corresponding to each point on the startup acceleration curve or part of the points collected on the curve, so that the target motor can accelerate the motor startup speed to the target motor stable speed within the motor initialization acceleration time. During the motor acceleration process, the time required for each step of the target motor is calculated based on the startup acceleration curve. This control strategy ensures that the target motor gradually adapts to the target speed under the corresponding acceleration during acceleration, reducing the risk of lost steps caused by instantaneous load.

[0070] In the embodiment provided by the present application, by determining the motor startup acceleration parameters for the target label paper, then using the motor startup acceleration parameters to generate the startup acceleration curve of the target motor corresponding to the motor speed, and finally using the startup acceleration curve to control the target motor to accelerate the motor, it is ensured that during the acceleration process of the target motor, the target motor can gradually match the corresponding acceleration speed for the corresponding load (target label paper), reducing the risk of step loss caused by the mismatch between the instantaneous load and the motor output, which in turn causes adverse effects on the print quality of the label printer. Thereby solving the technical problem that improper control of the motor in the starting stage has adverse effects on the print quality of the label printer.

[0071] In addition, through comparative experiments, the target motor's step loss rate is significantly reduced compared with the traditional linear acceleration method. In the actual printing process, the label printer using this method is not only more stable at the start, but also has significantly improved printing quality, especially during the motor acceleration process before printing.

[0072] See also Figure 2 , Figure 2 A schematic diagram of a process for determining motor startup acceleration parameters provided in an embodiment of the present application. Figure 2 As shown, determining the motor start acceleration parameters of the target motor in the label printer for the target label paper in S102 includes:

[0073] S202: Determine a motor starting speed and a target motor stabilization speed of a target motor in a label printer for a target label paper.

[0074] The motor starting speed of the target motor in the label printer for the target label paper can be flexibly configured based on the corresponding target label paper. For example, the motor starting speed of the corresponding target label paper can be queried based on a mapping table of target label paper-motor starting speed.

[0075] The motor starting speed should be neither too high nor too low. If the motor starting speed is too high, the target motor will have a high speed and a low torque. The target motor cannot be started due to the presence of the target label paper. If the motor starting speed is too low, the target motor will have a low speed. Although the torque is large, the motor initialization acceleration time will increase, thus affecting the user experience of the label printer.

[0076] The target motor stable speed of the target motor in the label printer for the target label paper can be set based on the target printing speed corresponding to the label printer. The rotation of the target motor drives the movement of the target label paper, and the movement speed of the target label paper corresponds to the target printing speed corresponding to the label printer. Therefore, based on the mapping relationship between the target printing speed corresponding to the label printer and the motor speed corresponding to the target motor, the target motor stable speed corresponding to the target printing speed can be calculated.

[0077] S204: Determine the motor initialization acceleration time of the target motor for the target label paper; wherein the motor initialization acceleration time is the time for the target motor to accelerate from the motor starting speed to the target motor stable speed.

[0078] Among them, the motor initialization acceleration time can be determined based on the predicted time for the target label paper to be transported to the position where it can be printed in the label printer. The motor initialization acceleration time is generally less than or equal to the predicted time for the target label paper to be transported to the position where it can be printed in the label printer.

[0079] During the process of conveying the target label paper to the position in the label printer where printing can be performed, the motor speed corresponding to the target motor is accelerated from the motor starting speed to the target motor stable speed.

[0080] S206: Based on the motor starting speed, the target motor stable speed and the motor initialization acceleration time, a motor starting acceleration parameter of the target motor for the target label paper is obtained.

[0081] Among them, after determining the motor starting speed, the target motor stable speed and the motor initialization acceleration time, the motor starting speed, the target motor stable speed and the motor initialization acceleration time are parameter-associated to obtain associated parameters, and the motor starting acceleration parameters of the target motor for the target label paper are obtained using the associated parameters.

[0082] In the embodiment provided in the present application, the motor starting acceleration parameters of the target motor for the target label paper are determined by determining the motor starting speed, target motor stable speed and motor initialization acceleration time of the target motor for the target label paper, so that a starting acceleration curve for the target label paper can be generated based on the motor starting acceleration parameters.

[0083] See also Figure 3 , Figure 3 A schematic diagram of a process for determining a motor starting speed and a target motor stable speed provided in an embodiment of the present application. Figure 3 As shown, determining the motor starting speed and the target motor stable speed of the target motor in the label printer for the target label paper in S202 includes:

[0084] S302: Acquire label paper information of a target label paper, and determine a motor starting speed of a target motor in a label printer based on the label paper information.

[0085] The step of obtaining the label paper information of the target label paper in S302 includes:

[0086] Determine label paper information of the target label paper based on at least one of the first label paper information acquisition method, the second label paper information acquisition method, and the third label paper acquisition method;

[0087] Among them, the first label paper information acquisition method is to obtain the label paper information of the target label paper sent by the terminal; the second label paper information is to determine the input information for the target label paper received by the label printer, and determine the label paper information of the target label paper based on the input information; the third label paper acquisition method is to identify the wireless radio frequency identification element corresponding to the target label paper to obtain the information recognition result, and determine the label paper information of the target label paper based on the information recognition result.

[0088] Exemplarily, the first label paper information acquisition method may specifically be: the user enters the label paper information such as the width, thickness, and surface paper material of the target label paper in the software corresponding to the label printer in the terminal (such as a mobile phone, computer, tablet, smart watch, etc.). The second label paper information acquisition method may specifically be: the user manually enters the label paper information such as the width, thickness, and surface paper material of the target label paper on the label printer. The third label paper information acquisition method may specifically be: a wireless radio frequency identification element is provided on the target label paper. When the label printer is turned on, it will automatically identify the wireless radio frequency identification element on the target label paper to obtain an information identification result, and the information identification result is parsed to obtain the label paper information of the target label paper. The wireless radio frequency identification element on the target label paper carries the label paper information of the target label paper, and the label paper information includes the width, thickness, and surface paper material of the target label paper. The wireless radio frequency identification element includes but is not limited to an RFID (Radio Frequency Identification) element, which can realize contactless data communication to transmit information.

[0089] After determining the label paper information of the target label paper, the motor starting speed of the target motor in the label printer is calculated using the determined information such as the width, thickness, and surface paper material of the target label paper, and the starting speed corresponding to the torque in the target motor that can just drive the target label paper to move is used as the reference motor starting speed. It should be understood that the minimum torque corresponding to the movement of the target label paper can be determined by looking up the table based on the label paper information corresponding to the target label paper. Afterwards, the motor starting speed of the target motor in the label printer is controlled to be equal to or slightly less than the reference motor starting speed.

[0090] S304: Determine a target printing speed of the label printer for the target label paper, and determine a target motor stabilization speed of the target motor based on the target printing speed.

[0091] Among them, the target printing speed of the label printer for the target label paper can be a standard printing speed pre-stored in the label printer, or it can be a printing speed entered by the user into the label printer, or it can be a printing speed entered by the user in the software corresponding to the label printer in the terminal (such as a mobile phone, computer, tablet, smart watch, etc.).

[0092] After determining the target printing speed of the label printer for the target label paper, based on the mapping relationship between the printing speed of the label printer and the motor speed corresponding to the target motor, the target motor stable speed corresponding to the target printing speed is determined.

[0093] In the embodiment provided in the present application, the motor starting speed of the target motor in the label printer is determined using the label paper information, so that the motor starting speed can drive the target label paper to move, and the target motor stable speed of the target motor is determined using the label printer for the target printing speed of the target label paper, so that the label printer can print the target label paper according to the target printing speed.

[0094] See also Figure 4 , Figure 4 A flow chart of determining the motor initialization acceleration time of a target motor for a target label paper provided in an embodiment of the present application. The target label paper includes a blank release paper area and a label paper area, and the blank release paper area and the label paper area are distributed along the length direction of the target label paper; the blank release paper area is an area on the side of the target label paper that is not labeled, and the label paper area is an area on the target label paper that is labeled, and the blank release paper area and the label paper area can be distributed alternately in sequence along the length direction of the target label paper; or in the target label paper, two or more consecutive label paper areas are followed by blank release paper areas, that is, the label paper area and the blank release paper area can be distributed along the length direction of the target label paper, and the distribution is not regular.

[0095] like Figure 4 As shown, determining the motor initialization acceleration time of the target motor for the target label paper in S204 includes:

[0096] S402: Determine a first predicted time for the blank release paper area to be delivered when the label printer delivers the target label paper under the drive of the target motor.

[0097] Among them, when the blank release paper area and the label paper area are distributed along the length direction of the target label paper, the target label paper includes both the blank release paper area and the label paper area. The label printer identifies the first predicted time when the corresponding blank release paper area is delivered. Here, the blank release paper area specifically refers to the blank release paper area delivered to the outside by the label printer.

[0098] The label printer identifies the length of the current corresponding blank release paper area in the length direction of the target label paper, and then predicts the first predicted time for the blank release paper area to be transported based on the corresponding printing speed of the label printer. The completion of the blank release paper area transport can be understood as the next label paper area corresponding to the blank release paper area reaching the position of the label printer for printing. The specific position here is not limited and can be flexibly set based on actual needs.

[0099] S404: Based on the first predicted time, determine the motor initialization acceleration time of the target motor for the target label paper; wherein the motor initialization acceleration time is less than or equal to the first predicted time.

[0100] Among them, after determining the first predicted time, in order to make the motor speed of the target motor reach the target motor stable speed within the first predicted time and then stably print the target label paper, the motor initialization acceleration time of the target motor for the target label paper can be controlled to be less than or equal to the first predicted time, thereby providing the user with a delay-free printing experience, that is, the motor acceleration process is completed during the transportation of the target label paper.

[0101] In the embodiment provided in the present application, the first predicted time for the completion of the delivery of the blank release paper area is used to determine the motor initialization acceleration time of the target motor for the target label paper, thereby providing the user with a delay-free printing experience, that is, the motor acceleration process is completed during the delivery of the target label paper.

[0102] See also Figure 5 , Figure 5 Another flow chart of determining the motor initialization acceleration time of the target motor for the target label paper provided in the embodiment of the present application. The target label paper includes a label paper area, and at this time, the side of the target label paper with the label pasted can be completely covered with the label to be printed. Of course, in some embodiments, a blank release paper area can also be included between the label paper areas.

[0103] like Figure 5 As shown, determining the motor initialization acceleration time of the target motor for the target label paper in S204 includes:

[0104] S502: Determine a second predicted time when a target to-be-printed position of a label paper area in a target label paper is transported to a target printing position corresponding to the label printer when the label printer is driven by a target motor to transport a target label paper.

[0105] Each label paper area has a starting printing position (such as the position corresponding to the first line of starting printing), and the starting printing position in the label paper area can be used as the target position to be printed. The label printer then identifies the distance from the target position to be printed in the label paper area to the target printing position corresponding to the label printer, and then predicts the second predicted time from the target position to be printed in the label paper area to the target printing position corresponding to the label printer based on the printing speed corresponding to the label printer.

[0106] S504: Based on the second predicted time, determine the motor initialization acceleration time of the target motor for the target label paper; wherein the motor initialization acceleration time is less than or equal to the second predicted time.

[0107] Among them, after determining the second predicted time, in order to make the motor speed of the target motor reach the target motor stable speed within the second predicted time and then stably print the target label paper, the motor initialization acceleration time of the target motor for the target label paper can be controlled to be less than or equal to the second predicted time, thereby giving the user a delay-free printing experience, that is, the motor acceleration process is completed during the transportation of the target label paper.

[0108] In the embodiment provided in the present application, the second predicted time for the completion of the delivery of the blank release paper area is used to determine the motor initialization acceleration time of the target motor for the target label paper, thereby providing the user with a delay-free printing experience, that is, the motor acceleration process is completed during the delivery of the target label paper.

[0109] The embodiment of the present application further provides a method for determining a startup acceleration curve. Specifically, in S104, a startup acceleration curve corresponding to a motor speed of a target motor is generated based on the motor startup acceleration parameter, including:

[0110] Generate an S-shaped starting acceleration curve corresponding to the target motor based on the motor starting speed, the target motor stable speed and the motor initialization acceleration time;

[0111] Among them, the independent variable of the S-type starting acceleration curve is time, and the dependent variable of the S-type starting acceleration curve is the motor speed;

[0112] The motor initialization acceleration time includes a first acceleration time period, a second acceleration time period and a third acceleration time period in chronological order, a first slope of the S-type starting acceleration curve in the first acceleration time period is smaller than a second slope of the S-type starting acceleration curve in the second acceleration time period, and a third slope of the S-type starting acceleration curve in the third acceleration time period is smaller than the second slope of the S-type starting acceleration curve in the second acceleration time period.

[0113] See also Figure 6 , Figure 6 A curve diagram of an S-shaped startup acceleration curve provided in an embodiment of the present application. For example, the unit corresponding to the motor speed can be pps (pulse per second). If the target motor is full-step controlled, the motor speed can represent the number of full steps taken by the motor per second. Assuming that the target motor is full-step controlled, the motor startup speed is 200pps, the target motor stable speed is 1000pps, and the motor initialization acceleration time is 100ms, then the S-shaped startup acceleration curve is as follows: Figure 6 The time period corresponding to the AB segment is the first acceleration time period, the time period corresponding to the BC segment is the second acceleration time period, and the time period corresponding to the CD segment is the third acceleration time period. The function expression of the S-type start acceleration curve is s=g(t).

[0114] Figure 6 The first slope of the S-type startup acceleration curve in the first acceleration time period is less than the second slope of the S-type startup acceleration curve in the second acceleration time period, and the third slope of the S-type startup acceleration curve in the third acceleration time period is less than the second slope of the S-type startup acceleration curve in the second acceleration time period. In addition, because the friction torque required for the target label paper to move from rest is usually greater than the friction torque required when the target label paper moves, in the first acceleration time period, the first slope is less than the preset acceleration threshold, the second slope is greater than or equal to the preset acceleration threshold, and the third slope is less than the preset acceleration threshold, so that the speed increases slowly in the first acceleration time period to drive the target label paper as much as possible, the speed increases rapidly in the second acceleration time period to reduce the motor initialization acceleration time as much as possible, and the acceleration gradually decreases in the third acceleration time period to gradually reach the target motor stable speed, thereby effectively avoiding the target motor from being subjected to excessive load at the moment of startup, resulting in the target motor starting failure.

[0115] See also Figure 7 , Figure 7 A flow chart of a predicted total number of steps of a target motor corresponding to a motor initialization acceleration time provided in an embodiment of the present application. At this time, the motor speed is a pulse speed corresponding to the target motor, that is, the unit corresponding to the motor speed is pps. The method includes:

[0116] S702: Determine a dependent variable conversion formula between the pulse speed and the time consumption per step, and perform dependent variable conversion processing on the S-type starting acceleration curve based on the dependent variable conversion formula to obtain a first target curve.

[0117] Among them, the pulse speed can be expressed as s, the time per step can be expressed as y, if the target motor is full-step controlled, the motor speed can be expressed as the number of full steps the motor takes per second, and the dependent variable conversion formula can be y=1 / s.

[0118] Based on the dependent variable conversion formula, the dependent variable corresponding to the S-type startup acceleration curve can be converted to obtain the first target curve with the dependent variable being the time consumption per step and the independent variable being time. Figure 8 , Figure 8 A method provided in the embodiment of the present application Figure 6 The schematic diagram of the first target curve corresponding to the S-shaped startup acceleration curve. The unit of y is microseconds. Figure 6 The coordinates of point A are converted to Figure 8 Medium(0,5000), Figure 6 The coordinates of point D are converted to Figure 8 In (100, 1000), the function expression of the first target curve is y=Q(t).

[0119] S704: Determine the predicted total step number parameter corresponding to the motor initialization acceleration time of the target motor, determine the independent variable conversion formula of the step number and time based on the predicted total step number parameter divided by the motor initialization acceleration time, perform independent variable conversion processing on the first target curve based on the independent variable conversion formula, and obtain the second target curve.

[0120] Among them, the predicted total number of steps of the target motor corresponding to the motor initialization acceleration time is taken as x, that is, the parameter corresponding to the predicted total number of steps of the target motor during the motor initialization acceleration time is N. The motor initialization acceleration time is T, then the independent variable conversion formula of the number of steps and time is n=t×N / T, t is the time parameter, and n is the number of steps parameter. Then, the independent variable conversion formula is used to convert the first target curve ( Figure 8 ) to obtain the second target curve.

[0121] See also Fig. 9 , Fig. 9 A method provided in the embodiment of the present application Figure 8 Schematic diagram of a curve of the second target curve corresponding to the first target curve. Figure 8 The motor initialization acceleration time is 100ms, and the corresponding curve coordinates are (100, 1000). Fig. 9 The corresponding coordinates are (N, 1000). Similarly, the coordinate points of the first target curve are transformed accordingly, and the function expression corresponding to the second target curve is y=f(x).

[0122] S706: Obtain the objective function expression of the second objective curve, construct a first calculation formula based on the motor initialization acceleration time, the objective function expression and the predicted total step number parameter, and determine the predicted total step number corresponding to the predicted total step number parameter based on the first calculation formula.

[0123] The first calculation formula is N is the predicted total number of steps parameter and is a positive integer, T is the motor initialization acceleration time, and f(x) is the objective function expression.

[0124] Exemplarily, after determining the objective function expression of the second objective curve, the integral of f(x) from 0 to N is as follows: Fig. 9 As shown in the figure, the integral of f(x) from 0 to N is the area of ​​the enclosed region formed by f(x) and the x-axis, y-axis and x=N. This area can represent the total time required for all steps, so we can let Thus, N is solved, where N is a positive integer.

[0125] If f(x) is a regular function, then the formula can directly calculate the specific value of N; if f(x) is not a regular function, then the formula cannot directly calculate the specific value of N. In this case, the approximate value of N can be estimated based on T. and

[0126] In the embodiment provided in the present application, the first target curve is obtained by sequentially performing dependent variable conversion processing on the S-shaped starting acceleration curve, and the second target curve is obtained by performing independent variable conversion processing on the first target curve. Then, the integral of the second target curve from 0 to the predicted total step parameter is calculated to be equal to the motor initialization acceleration time, thereby calculating the specific value corresponding to the predicted total step parameter.

[0127] See also Fig.10 , Fig.10 A schematic diagram of a process of using a startup acceleration curve to control a target motor to accelerate the motor is provided in an embodiment of the present application. Fig.10 As shown, in S106, the starting acceleration curve is used to control the target motor to accelerate the motor, including:

[0128] S1002: Determine the target time consumption per step corresponding to each target step based on the second target curve; wherein the target step is a positive integer.

[0129] The horizontal coordinate corresponding to the second target curve can be divided into N equal parts in the interval [0, N], so that the second target curve is sampled N times, and the horizontal coordinate of each sampling corresponds to a target step, so as to obtain the target time consumption per step corresponding to each target step in the second target curve.

[0130] For example, see Fig.11 , Fig.11 A schematic diagram of sampling the second target curve in N equal parts in the interval (0, N] corresponding to the independent variable provided in the embodiment of the present application. Fig.11 In , each point corresponds to a target step, and the target steps include 1, 2, ... N-1, N. Fig.11 The corresponding point distribution function is y=F(x), where F(x) is the sampling function corresponding to f(x).

[0131] S1004: Determine a target pulse speed based on a target time per step corresponding to the target step, and control a target motor to accelerate the motor based on the target time per step corresponding to each target step and the target pulse speed.

[0132] After determining the target time per step corresponding to each target step, the target pulse speed corresponding to the target time per step can be determined based on the conversion relationship between the target time per step and the pulse speed. Specifically, the pulse speed can be expressed as s, and the time per step can be expressed as y. If the target motor is full-step controlled, the motor speed can represent the number of full steps the motor takes per second, and the corresponding conversion formula is y=1 / s.

[0133] Afterwards, the target motor is accelerated by using the target time per step and the target pulse speed corresponding to each target step. Specifically, the MCU (Microcontroller Unit) electrically connected to the target motor controls the target motor to accelerate according to the target time per step and the target pulse speed corresponding to each target step, and accurately controls the time taken by the target motor in each step process. In this way, the target motor will be able to smoothly complete the acceleration process according to the preset startup acceleration curve, avoid sudden changes and vibrations, and ensure the smoothness and reliability of the movement.

[0134] See also Fig.12 , Fig.12 This is a schematic diagram of the structure of a motor control device provided in an embodiment of the present application. Fig.12 As shown, the motor control device 1200 includes:

[0135] The determination module 1210 is adapted to determine the motor start acceleration parameters of the target motor in the label printer for the target label paper;

[0136] A generating module 1220, adapted to generate a starting acceleration curve corresponding to a motor speed of a target motor based on the motor starting acceleration parameter;

[0137] The control module 1230 is adapted to control the target motor to accelerate the motor by using the startup acceleration curve.

[0138] Optionally, the determining module 1210 includes:

[0139] A first determining unit, adapted to determine a motor starting speed and a target motor stabilizing speed of a target motor in a label printer for a target label paper;

[0140] The second determination unit is adapted to determine the motor initialization acceleration time of the target motor for the target label paper; wherein the motor initialization acceleration time is the time for the target motor to accelerate from the motor starting speed to the target motor stable speed;

[0141] The motor start acceleration parameter determination unit is adapted to obtain the motor start acceleration parameter of the target motor for the target label paper based on the motor start speed, the target motor stable speed and the motor initialization acceleration time.

[0142] Optionally, the first determining unit includes:

[0143] An acquisition subunit, adapted to acquire label paper information of a target label paper, and determine a motor starting speed of a target motor in a label printer based on the label paper information;

[0144] The determination subunit is adapted to determine a target printing speed of the label printer for a target label paper, and to determine a target motor stabilization speed of the target motor based on the target printing speed.

[0145] Optionally, the target label paper includes a blank release paper area and a label paper area, and the blank release paper area and the label paper area are distributed along the length direction of the target label paper; and the second determining unit includes:

[0146] A first predicted time determination subunit, adapted to determine a first predicted time for the blank release paper area to be delivered when the label printer delivers the target label paper under the drive of the target motor;

[0147] The first motor initialization acceleration time determination subunit is adapted to determine the motor initialization acceleration time of the target motor for the target label paper based on the first predicted time; wherein the motor initialization acceleration time is less than or equal to the first predicted time.

[0148] Optionally, the target label paper includes a label paper area, and the second determining unit includes:

[0149] A second predicted time determination subunit, adapted to determine a second predicted time for a target to-be-printed position of a label paper area in a target label paper to be transported to a corresponding target printing position of the label printer when the label printer is driven by a target motor to transport a target label paper;

[0150] The second motor initialization acceleration time determination subunit is adapted to determine the motor initialization acceleration time of the target motor for the target label paper based on the second predicted time; wherein the motor initialization acceleration time is less than or equal to the second predicted time.

[0151] Optionally, the generating module 1220 is further adapted to generate an S-shaped starting acceleration curve corresponding to the target motor based on the motor starting speed, the target motor stable speed and the motor initialization acceleration time;

[0152] Among them, the independent variable of the S-type starting acceleration curve is time, and the dependent variable of the S-type starting acceleration curve is the motor speed;

[0153] The motor initialization acceleration time includes a first acceleration time period, a second acceleration time period and a third acceleration time period in chronological order, a first slope of the S-type starting acceleration curve in the first acceleration time period is smaller than a second slope of the S-type starting acceleration curve in the second acceleration time period, and a third slope of the S-type starting acceleration curve in the third acceleration time period is smaller than the second slope of the S-type starting acceleration curve in the second acceleration time period.

[0154] Optionally, the motor speed is a pulse speed corresponding to the target motor, and the motor control device 1200 further includes:

[0155] A first target curve determination module is adapted to determine a dependent variable conversion formula between pulse speed and time consumption per step, and to perform dependent variable conversion processing on the S-type startup acceleration curve based on the dependent variable conversion formula to obtain a first target curve;

[0156] A second target curve determination module is adapted to determine a predicted total step number parameter of the target motor corresponding to the motor initialization acceleration time, determine an independent variable conversion formula of the step number and time based on the predicted total step number parameter divided by the motor initialization acceleration time, and perform independent variable conversion processing on the first target curve based on the independent variable conversion formula to obtain a second target curve;

[0157] A predicted total step number acquisition module is adapted to acquire an objective function expression of a second objective curve, construct a first calculation formula based on the motor initialization acceleration time, the objective function expression and the predicted total step number parameter, and determine the predicted total step number corresponding to the predicted total step number parameter based on the first calculation formula;

[0158] The first calculation formula is N is the predicted total number of steps parameter and is a positive integer, T is the motor initialization acceleration time, and f(x) is the objective function expression.

[0159] Optionally, the control module 1230 includes:

[0160] a target time per step determining unit, adapted to determine the target time per step corresponding to each target step based on the second target curve; wherein the target step is a positive integer;

[0161] The motor acceleration unit is suitable for determining the target pulse speed based on the target time per step corresponding to the target step, and controlling the target motor to accelerate the motor based on the target time per step and the target pulse speed corresponding to each target step.

[0162] Optionally, the acquisition subunit is further adapted to:

[0163] Determine label paper information of the target label paper based on at least one of the first label paper information acquisition method, the second label paper information acquisition method, and the third label paper acquisition method;

[0164] Among them, the first label paper information acquisition method is to obtain the label paper information of the target label paper sent by the terminal; the second label paper information is to determine the input information for the target label paper received by the label printer, and determine the label paper information of the target label paper based on the input information; the third label paper acquisition method is to identify the wireless radio frequency identification element corresponding to the target label paper to obtain the information recognition result, and determine the label paper information of the target label paper based on the information recognition result.

[0165] In the embodiments provided in the present application, an electronic device is also provided, which includes: a processor; and a memory arranged to store computer executable instructions, and when the executable instructions are executed, the processor executes a method according to any one of the above embodiments.

[0166] In the embodiments provided in the present application, a computer-readable storage medium is also provided, which stores one or more programs. When the one or more programs are executed by a processor, they implement the method of any one of the above embodiments.

[0167] In the several embodiments provided in the embodiments of the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or modules, which can be electrical, mechanical or other forms.

[0168] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0169] In addition, each functional module in each embodiment of the present application can be integrated into a processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules.

[0170] If the integrated module is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program code.

[0171] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present application are not limited by the described order of actions, because according to the embodiments of the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the embodiments of the present application.

[0172] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0173] The above is a description of a motor control method, device, electronic device and computer-readable storage medium provided in the embodiments of the present application. For technicians in this field, according to the ideas of the embodiments of the present application, there may be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the embodiments of the present application.

Claims

1. A motor control method, characterized in that: The method comprises: Determine motor start acceleration parameters of a target motor in a label printer for a target label paper; Generate a startup acceleration curve corresponding to the motor speed of the target motor based on the motor startup acceleration parameter; The target motor is controlled to accelerate the motor by utilizing the startup acceleration curve.

2. The method according to claim 1, characterized in that The step of determining a motor startup acceleration parameter of a target motor in a label printer for a target label paper includes: Determine a motor starting speed and a target motor stabilization speed of a target motor in a label printer for the target label paper; Determine the motor initialization acceleration time of the target motor for the target label paper; wherein the motor initialization acceleration time is the time for the target motor to accelerate from the motor starting speed to the target motor stable speed; Based on the motor starting speed, the target motor stable speed and the motor initialization acceleration time, a motor starting acceleration parameter of the target motor for the target label paper is obtained.

3. The method according to claim 2, characterized in that The step of determining a motor starting speed and a target motor stabilization speed of a target motor in a label printer for the target label paper comprises: Acquire label paper information of the target label paper, and determine a motor starting speed of a target motor in the label printer based on the label paper information; A target printing speed of the label printer for the target label paper is determined, and a target motor stabilization speed of the target motor is determined based on the target printing speed.

4. The method according to claim 2, characterized in that: The target label paper comprises a blank release paper area and a label paper area, and the blank release paper area and the label paper area are distributed along the length direction of the target label paper; The determining of the motor initialization acceleration time of the target motor for the target label paper includes: Determine a first predicted time when the blank release paper area is completed when the label printer is driven by the target motor to convey the target label paper; Based on the first predicted time, a motor initialization acceleration time of the target motor for the target label paper is determined; wherein the motor initialization acceleration time is less than or equal to the first predicted time.

5. The method according to claim 2, characterized in that: The target label paper includes a label paper area, and determining the motor initialization acceleration time of the target motor for the target label paper includes: Determine a second predicted time when the target to-be-printed position of the label paper area in the target label paper is transported to the target printing position corresponding to the label printer when the label printer is driven by the target motor to transport the target label paper; Based on the second predicted time, a motor initialization acceleration time of the target motor for the target label paper is determined; wherein the motor initialization acceleration time is less than or equal to the second predicted time.

6. The method according to claim 2, characterized in that The step of generating a startup acceleration curve corresponding to the motor speed of the target motor based on the motor startup acceleration parameter includes: Based on the motor starting speed, the target motor stable speed and the motor initialization acceleration time, an S-shaped starting acceleration curve corresponding to the target motor is generated; Wherein, the independent variable of the S-shaped startup acceleration curve is time, and the dependent variable of the S-shaped startup acceleration curve is motor speed; The motor initialization acceleration time includes a first acceleration time period, a second acceleration time period and a third acceleration time period in chronological order, a first slope of the S-type startup acceleration curve in the first acceleration time period is smaller than a second slope of the S-type startup acceleration curve in the second acceleration time period, and a third slope of the S-type startup acceleration curve in the third acceleration time period is smaller than the second slope of the S-type startup acceleration curve in the second acceleration time period.

7. The method according to claim 6, characterized in that The motor speed is a pulse speed corresponding to the target motor, and the method further includes: Determine a dependent variable conversion formula between the pulse speed and the time consumption per step, and perform dependent variable conversion processing on the S-shaped startup acceleration curve based on the dependent variable conversion formula to obtain a first target curve; Determine a predicted total step number parameter of the target motor corresponding to the motor initialization acceleration time, determine an independent variable conversion formula of the step number and the time based on dividing the predicted total step number parameter by the motor initialization acceleration time, and perform independent variable conversion processing on the first target curve based on the independent variable conversion formula to obtain a second target curve; Obtaining an objective function expression of the second objective curve, constructing a first calculation formula based on the motor initialization acceleration time, the objective function expression and the predicted total step number parameter, and determining the predicted total step number corresponding to the predicted total step number parameter based on the first calculation formula; Among them, the first calculation formula is The N is the predicted total step number parameter and is a positive integer, the T is the motor initialization acceleration time, and the f(x) is the objective function expression.

8. The method according to claim 7, characterized in that The using the startup acceleration curve to control the target motor to accelerate the motor includes: Determine the target time per step corresponding to each target step based on the second target curve; wherein the target step is a positive integer; The target pulse speed is determined based on the target time per step corresponding to the target step, and the target motor is controlled to accelerate the motor based on the target time per step corresponding to each target step and the target pulse speed.

9. The method according to claim 3, characterized in that: The step of obtaining label paper information of the target label paper includes: Determine the label paper information of the target label paper based on at least one of the first label paper information acquisition method, the second label paper information acquisition method, and the third label paper acquisition method; Among them, the first label paper information acquisition method is to acquire the label paper information of the target label paper sent by the terminal; the second label paper information is to determine the input information for the target label paper received by the label printer, and determine the label paper information of the target label paper based on the input information; the third label paper acquisition method is to identify the wireless radio frequency identification element corresponding to the target label paper to obtain an information recognition result, and determine the label paper information of the target label paper based on the information recognition result.

10. A motor control device, characterized in that: The device comprises: A determination module, adapted to determine motor start acceleration parameters of a target motor in a label printer for a target label paper; A generating module, adapted to generate a starting acceleration curve corresponding to a motor speed of the target motor based on the motor starting acceleration parameter; The control module is adapted to control the target motor to accelerate the motor by using the startup acceleration curve.

11. An electronic device, characterized in that: The electronic device includes: Processor; and A memory arranged to store computer executable instructions which, when executed, cause the processor to perform a method according to any one of claims 1 to 9.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores one or more programs, which, when executed by a processor, implement the method of any one of claims 1 to 9.

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