Motor control method, circuit board and door opener

Abstract

The embodiment of the invention provides a motor control method, a circuit board and a door opener. The method comprises the steps that an obtained injection signal is modulated into a pulse signal; driving an inverter to generate a three-phase alternating current by using the pulse signal through a direct-current voltage; performing signal processing on the three-phase alternating current to generate control current; controlling the motor according to the control current. According to the technical scheme provided by the embodiment of the invention, the torque output by the door opener is adjustable through the non-inductive FOC motor control method, the door opening angle is controllable, the rotating speed of the motor is adjustable, and the cost is low.

Description

Technical Field

[0001] The present invention relates to the technical field of electric door driving, and in particular to a motor control method, a circuit board and a door opener. Background Art

[0002] The door opening driver is an automated and intelligent product that can be used in various fields such as automobiles and homes, enabling related products to achieve automated door opening and closing functions, such as electric doors, electric tailgates, curtain wall automatic switches, etc.

[0003] Door openers can be divided into two categories: mechanical and electric. The power source of mechanical door openers can come from air pressure, hydraulic pressure, springs or manual triggers. Some mechanical door openers require users to apply a large force to push the door body, especially for larger or heavy doors, which may require a certain amount of force to operate. For mechanical door openers, their opening speed and angle are usually limited by their design and mechanical principles, and they cannot adjust the opening speed and angle as flexibly as electric door openers. At the same time, they may not be suitable for larger or frequently used doors, because their design may not provide sufficient driving force or withstand the wear and tear of high-frequency use, which may affect the efficiency or convenience of the door. Electric door openers can automatically open and close the door without the user manually pushing and pulling the door body, providing higher convenience and comfort. It is especially suitable for places with frequent entry and exit or occasions with high user operation requirements. It usually has adjustable parameters such as opening speed, closing force and opening angle, which can be adjusted according to actual needs to meet the needs of different doors and usage scenarios. Equipped with safety sensors or anti-pinch functions, it can stop movement when obstacles or resistance are detected, thereby ensuring the safety of users and the surrounding environment.

[0004] Currently, most door openers on the market are magnetic or claw-type rebounders with a relatively simple structure, requiring manual resetting and a short service life. Or they are more complicated door openers that are difficult to install and use hydraulic buffering, which is costly. Summary of the invention

[0005] In view of this, an embodiment of the present invention provides a motor control method, a circuit board and a door opener, so that the door opener can have adjustable output torque, controllable door opening angle, adjustable motor speed and low cost.

[0006] In one aspect, an embodiment of the present invention provides a motor control method, comprising: modulating the acquired injection signal into a pulse signal; The pulse signal drives an inverter through a DC voltage to generate a three-phase AC current; Processing the three-phase alternating current to generate a control current; The motor is controlled according to the control current.

[0007] Optionally, the generating a control current by processing the three-phase alternating current through signals comprises: The three-phase alternating current is transformed by Clark to generate a motor static shaft current; The motor static shaft current is separated into a high-frequency current and a fundamental current through signal processing.

[0008] Optionally, controlling the motor according to the control current includes: The fundamental current is subjected to Park transformation to generate quadrature-axis current and direct-axis current; Performing signal decoupling on the high-frequency current to generate position information; generating an estimated angle and an estimated angular velocity based on the position information based on a position observer; The speed loop current is adjusted according to the estimated angular velocity and the target angular velocity by a proportional-integral controller to control the motor.

[0009] Optionally, the injection signal includes two orthogonal square wave signals, and the frequency of the injection signal is one quarter of the sampling frequency.

[0010] Optionally, modulating the acquired injection signal into a pulse signal includes: The acquired injection signal is converted into a pulse signal through space vector pulse width modulation.

[0011] On the other hand, an embodiment of the present invention provides a circuit board, including a memory and a processor, wherein the memory is used to store information including program instructions, and the processor is used to control the execution of the program instructions, wherein the program instructions implement the steps of the above-mentioned motor control method when loaded and executed by the processor.

[0012] On the other hand, an embodiment of the present invention provides a door opener, including: a base, a gear plate, a secondary planetary pinion, a secondary sun gear plate, a primary planetary pinion, a primary sun gear plate, an intermediate gear, a motor, a push rod, and the above-mentioned circuit board; The motor is connected to the base through a bearing; the gear on the motor is meshed with the intermediate gear, and the intermediate gear is fixed to the corresponding shaft hole on the base through a shaft; the intermediate gear is meshed with the primary sun gear plate, and the center holes of the secondary planetary pinions and the primary planetary pinions are connected to the center of the internal teeth on the base through a shaft; the gear plate of the secondary planetary pinions and the primary planetary pinions transmission output is meshed with the gear on the push rod; the circuit board is installed below the intermediate gear.

[0013] Optionally, the motor comprises an outer rotor brushless motor, and the outer rotor of the motor is integrated with a gear.

[0014] Optionally, it also includes: The gear on the motor is meshed with the intermediate gear for transmission; The intermediate gear is meshed with the primary sun gear plate, and the primary sun gear plate drives the primary planetary pinion gear below; The gear plate is meshed with the gear on the push rod for transmission.

[0015] Optionally, the gear transmission reduction ratio of the door opener includes: I=Z3 / Z9(1+Z4 / Z1) 2 , wherein Z9 is the number of teeth on the motor shaft, Z3 is the number of teeth on the intermediate gear, Z4 is the number of teeth on the planetary gear, Z1 is the number of internal teeth on the base, and I is the gear transmission reduction ratio.

[0016] In the technical solution of the motor control method provided by the embodiment of the present invention, the obtained injection signal is modulated into a pulse signal; the pulse signal drives the inverter through a DC voltage to generate a three-phase AC current; the three-phase AC current generates a control current through signal processing; and the motor is controlled according to the control current. In the technical solution provided by the embodiment of the present invention, the motor control method of the sensorless FOC realizes that the torque output by the door opener is adjustable, the door opening angle is controllable, the motor speed is adjustable, and the cost is low. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 A schematic diagram of the structure of a door opener provided by an embodiment of the present invention; Figure 2 A schematic diagram of the structure of the transmission structure of the door opener provided by an embodiment of the present invention; Figure 3 A schematic diagram of the structure of a motor for a door opener provided in an embodiment of the present invention; Figure 4 A schematic structural diagram of a base of a door opener provided by an embodiment of the present invention; Figure 5 A flow chart of a motor control method provided by an embodiment of the present invention; Figure 6 A flowchart of another motor control method provided by an embodiment of the present invention; Figure 7 A schematic diagram of an injection signal provided by an embodiment of the present invention; Figure 8 A schematic diagram of a motor control circuit provided by an embodiment of the present invention; Fig. 9 A schematic diagram of a circuit board provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0019] In order to better understand the technical solution of the present invention, the embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0020] It should be clear that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] The terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The singular forms "a", "said" and "the" used in the embodiments of the present invention and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0022] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0023] In the related art, various furniture with door openers are generally used together with hinges. When opening or closing the door, the user generally opens or closes the door by sliding the handle on the door or a component with similar functions, so the head of children in the family often hits the door. On the other hand, it is still inconvenient to push or pull to open or close the door.

[0024] In order to solve the technical problems in the related art, an embodiment of the present invention provides a door opener. Figure 1 A schematic diagram of the structure of a door opener provided by an embodiment of the present invention, Figure 2 A schematic diagram of the transmission structure of a door opener provided by an embodiment of the present invention, Figure 3 A schematic diagram of the structure of a motor for a door opener provided in an embodiment of the present invention, Figure 4 A schematic diagram of the structure of the base of the door opener provided by an embodiment of the present invention, as shown in Figure 1 , Figure 2 , Figure 3 or Figure 4As shown, the door opener includes: a base 1, a circuit board 2, a gear plate 3, a secondary planetary pinion 4, a secondary sun gear plate 5, a primary planetary pinion 6, a primary sun gear plate 7, an intermediate gear 8, a motor 9 and a push rod 10.

[0025] The outer rotor of the motor 9 is integrated with gears and connected to the base 1 through bearings. The gear on the motor 9 meshes with the intermediate gear 8, and the intermediate gear 8 is fixed to the corresponding shaft hole on the base 1 through an axis. The intermediate gear 8 meshes with the first-stage sun gear plate 7, and the center hole of the two-stage planetary gear is connected to the center of the inner teeth on the base 1 through an axis. Among them, the planetary gear meshes with the inner teeth and is installed at three corresponding annular protrusions on the lower gear plate. The gear plate 3 of the planetary gear transmission output meshes with the gear on the push rod 10, and the push rod 10 is rotated by a certain angle through the transmission of the above structure.

[0026] In the embodiment of the present invention, the base 1 is designed to have an indicator light and a trigger button installed on the front, and a power connector on the side. The circuit board 2 for controlling the motor is installed under the intermediate gear 8, and the base 1 has a corresponding support column for positioning the circuit board 2 to fix the position of the circuit board 2.

[0027] In the embodiment of the present invention, combined with the actual requirements of the door opener, in addition to the above mechanical structure design, the embodiment of the present invention adopts a motor control circuit with a switching frequency of 10KHz, a rated voltage of 12V, a rated current of 3A, and safety measures such as short circuit protection and overcurrent protection.

[0028] In the embodiment of the present invention, the motor 9 includes an outer rotor brushless motor, and the outer rotor of the motor 9 is integrated with a gear. Compared with a DC brush motor, the outer rotor brushless motor has lower noise. The transmission structure adopts a combination of spur gears and multi-stage planetary gear transmission to achieve a large reduction ratio and output a larger torque. At the same time, the motor control method can achieve adjustable speed and torque to adapt to more different types of applications.

[0029] In the embodiment of the present invention, a two-stage spur gear transmission plus a two-stage planetary gear reduction transmission can be used, wherein the first-stage transmission is driven by the gear on the motor 9 meshing with the intermediate gear 8, the second-stage transmission is driven by the intermediate gear 8 meshing with the first-stage sun gear plate 7, the first-stage sun gear plate 7 drives the first-stage planetary pinion 6 below, and finally the gear plate 3 is meshed with the gear on the push rod 10 in a 1:1 manner.

[0030] In the embodiment of the present invention, the gear transmission reduction ratio of the door opener includes: I=Z3 / Z9(1+Z4 / Z1) 2, where Z9 is the number of teeth on the motor 9 shaft, Z3 is the number of teeth on the intermediate gear 8, Z4 is the number of teeth on the planetary gear (secondary planetary pinion 4 or primary planetary pinion 6), Z1 is the number of internal teeth on the base 1, and I is the gear transmission reduction ratio. The door is opened or closed by the above-mentioned automatic door opener to avoid the door hitting the head of the children in the family, and it is more convenient to open or close.

[0031] In the embodiment of the present invention, the greater the gear transmission reduction ratio, the greater the output torque. Whether it is a single transmission method such as gear transmission or worm gear transmission, it is difficult to save volume while having a large reduction ratio. In the embodiment of the present invention, the combination of gear transmission and multi-stage planetary gear transmission can increase the reduction ratio while saving space occupancy.

[0032] The purpose of the embodiment of the present invention is to design a low-cost automatic door opener that can output a large torque and control the door opening angle. The brushless motor is driven by the sensorless field oriented control (FOC) control strategy to achieve the adjustable door opening angle and torque of the door opener, which reduces the use of sensors and reduces costs.

[0033] Based on the above door opener, an embodiment of the present invention provides a motor control method. Figure 5 A flow chart of a motor control method provided by an embodiment of the present invention is as follows: Figure 5 As shown, the method includes: Step 102: modulate the acquired injection signal into a pulse signal.

[0034] In the embodiment of the present invention, each step can be executed by a circuit board of the door opener.

[0035] In the embodiment of the present invention, the injection signal includes two orthogonal square wave signals, and the frequency of the injection signal is one quarter of the sampling frequency. In this step, two orthogonal square wave signals can be injected into the αβ axis.

[0036] Specifically, the acquired injection signal may be converted into a pulse signal through space vector pulse width modulation (SVPWM for short).

[0037] Step 104: Drive the inverter with the pulse signal through a DC voltage to generate a three-phase AC current.

[0038] In this step, the pulse signal drives the inverter through the DC voltage Udc to generate three-phase AC currents ia, ib and ic. At this time, the current becomes a high-frequency signal with rotor position information.

[0039] Step 106: Generate a control current by processing the three-phase AC current through signals.

[0040] Step 108: Control the motor according to the control current.

[0041] In the technical solution provided by the embodiment of the present invention, the obtained injection signal is modulated into a pulse signal; the pulse signal drives the inverter through a DC voltage to generate a three-phase AC current; the three-phase AC current generates a control current through signal processing; and the motor is controlled according to the control current. In the technical solution provided by the embodiment of the present invention, the motor control method of the sensorless FOC is used to achieve adjustable torque output by the door opener, controllable door opening angle, adjustable motor speed and low cost.

[0042] The embodiment of the present invention provides another motor control method. Figure 6 A flowchart of another motor control method provided by an embodiment of the present invention, Figure 8 A schematic diagram of a motor control circuit provided by an embodiment of the present invention is shown in FIG. Figure 6 or Figure 8 As shown, the method includes: Step 202: Convert the acquired injection signal into a pulse signal through space vector pulse width modulation.

[0043] In the embodiment of the present invention, the injection signal includes two orthogonal square wave signals. Figure 7 Schematic diagram of the injection signal provided by the embodiment of the present invention, two orthogonal square wave signals such as Figure 7 shown.

[0044] In the embodiment of the present invention, the frequency of the injection signal may be one quarter of the sampling frequency. In this step, two orthogonal square wave signals may be injected into the αβ axis.

[0045] Step 204: Drive the inverter with the pulse signal through a DC voltage to generate a three-phase AC current.

[0046] In the embodiment of the present invention, the pulse signal drives the inverter through the DC voltage Udc to generate a three-phase AC current i abc , at this time the current becomes a high-frequency signal with rotor position information.

[0047] Step 206: Generate the motor static shaft current by Clark transformation of the three-phase AC current.

[0048] In the embodiment of the present invention, the three-phase AC current is transformed to the motor stationary axis αβ axis through Clark transformation to generate the motor stationary axis current i α and i β .

[0049] Step 208: Separate the motor static shaft current into high-frequency current and fundamental current through signal processing.

[0050] In the embodiment of the present invention, the motor static shaft current response is separated into high-frequency current i and αh 、i βh and fundamental current.

[0051] Step 210: Perform Park transformation on the fundamental current to generate quadrature-axis current and direct-axis current.

[0052] In the embodiment of the present invention, the fundamental current is transformed by Park to generate quadrature-axis current and direct-axis current i q and i d Then it participates in the motor control of the current loop to ensure the stability of the motor operation.

[0053] Step 212: perform signal decoupling on the high-frequency current to generate position information.

[0054] In the embodiment of the present invention, since the high-frequency current contains error information, it is necessary to perform signal decoupling on the high-frequency current to generate position information θ g .

[0055] Step 214: Generate an estimated angle and an estimated angular velocity according to the position information based on the position observer.

[0056] In the embodiment of the present invention, the position observer generates an estimated angle according to the position information and estimated angular velocity .

[0057] Step 216: Adjust the speed loop current according to the estimated angular velocity and the target angular velocity through a proportional-integral controller to control the motor.

[0058] In the embodiment of the present invention, a proportional integral (PI) controller is used according to the estimated angular velocity and target angular velocity Adjust speed loop current , to control the motor.

[0059] In the technical solution provided by the embodiment of the present invention, the obtained injection signal is modulated into a pulse signal; the pulse signal drives the inverter through a DC voltage to generate a three-phase AC current; the three-phase AC current generates a control current through signal processing; and the motor is controlled according to the control current. In the technical solution provided by the embodiment of the present invention, the motor control method of the sensorless FOC is used to achieve adjustable torque output by the door opener, controllable door opening angle, adjustable motor speed and low cost.

[0060] In the technical solution provided by the embodiment of the present invention, the closing speed of the door opener when closing the door is variable, which can avoid colliding with the heads of children in the family when in use, thereby reducing safety hazards.

[0061] In the technical solution provided by the embodiment of the present invention, the door opener is controlled by the sensorless FOC so that the closing speed of the door opener is gradually reduced when closing the door. When the closing speed is small enough, it can also achieve an effective buffering effect, reduce safety hazards, and facilitate use.

[0062] In the technical solution provided by the embodiment of the present invention, the door opener can realize automatic operation, and the sensorless FOC control strategy is used to drive the brushless motor to achieve adjustable opening angle and torque of the door opener, and adjustable speed of the brushless motor, thereby increasing the service life of the brushless motor.

[0063] An embodiment of the present invention provides a circuit board, including a memory and a processor, the memory is used to store information including program instructions, the processor is used to control the execution of the program instructions, and when the program instructions are loaded and executed by the processor, the steps of the embodiment of the above-mentioned motor control method are implemented. For a specific description, please refer to the embodiment of the above-mentioned motor control method.

[0064] Fig. 9 A schematic diagram of a circuit board provided by an embodiment of the present invention. Fig. 9 As shown, the circuit board 20 of this embodiment includes: a processor 21, a memory 22, and a computer program 23 stored in the memory 22 and executable on the processor 21. When the computer program 23 is executed by the processor 21, the motor control method applied in the embodiment is implemented. To avoid repetition, they are not described one by one here.

[0065] The circuit board 20 includes, but is not limited to, a processor 21 and a memory 22. Those skilled in the art will appreciate that Fig. 9 This is only an example of the circuit board 20 and does not constitute a limitation of the circuit board 20. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the circuit board may also include input and output devices, network access devices, buses, etc.

[0066] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0067] In the several embodiments provided by the present invention, it should be understood that the disclosed systems, 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 units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units 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 units, which can be electrical, mechanical or other forms.

[0068] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0069] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0070] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A motor control method, characterized in that: include: modulating the acquired injection signal into a pulse signal; The pulse signal drives an inverter through a DC voltage to generate a three-phase AC current; Processing the three-phase alternating current to generate a control current; The motor is controlled according to the control current.

2. The method according to claim 1, characterized in that The step of generating a control current by processing the three-phase alternating current through signals comprises: The three-phase alternating current is transformed by Clark to generate a motor static shaft current; The motor static shaft current is separated into a high-frequency current and a fundamental current through signal processing.

3. The method according to claim 2, characterized in that The step of controlling the motor according to the control current comprises: The fundamental current is subjected to Park transformation to generate quadrature-axis current and direct-axis current; Performing signal decoupling on the high-frequency current to generate position information; generating an estimated angle and an estimated angular velocity based on the position information based on a position observer; The speed loop current is adjusted according to the estimated angular velocity and the target angular velocity by a proportional-integral controller to control the motor.

4. The method according to claim 1, characterized in that The injection signal includes two orthogonal square wave signals, and the frequency of the injection signal is one quarter of the sampling frequency.

5. The method according to claim 1, characterized in that The step of modulating the acquired injection signal into a pulse signal comprises: The acquired injection signal is converted into a pulse signal through space vector pulse width modulation.

6. A circuit board, comprising a memory and a processor, wherein the memory is used to store information including program instructions, and the processor is used to control the execution of the program instructions, characterized in that: When the program instructions are loaded and executed by the processor, the steps of the motor control method according to any one of claims 1 to 5 are implemented.

7. A door opener, characterized in that: include: A base, a gear plate, a secondary planetary pinion, a secondary sun gear plate, a primary planetary pinion, a primary sun gear plate, an intermediate gear, a motor, a push rod, and the circuit board according to claim 6; The motor is connected to the base through a bearing; the gear on the motor is meshed with the intermediate gear, and the intermediate gear is fixed to the corresponding shaft hole on the base through a shaft; the intermediate gear is meshed with the primary sun gear plate, and the center holes of the secondary planetary pinions and the primary planetary pinions are connected to the center of the internal teeth on the base through a shaft; the gear plate of the secondary planetary pinions and the primary planetary pinions transmission output is meshed with the gear on the push rod; the circuit board is installed below the intermediate gear.

8. The door opener according to claim 7, characterized in that: The motor comprises an outer rotor brushless motor, and the outer rotor of the motor is integrated with a gear.

9. The door opener according to claim 7, characterized in that: Also includes: The gear on the motor is meshed with the intermediate gear for transmission; The intermediate gear is meshed with the primary sun gear plate, and the primary sun gear plate drives the primary planetary pinion gear below; The gear plate is meshed with the gear on the push rod for transmission.

10. The door opener according to claim 9, characterized in that The gear transmission reduction ratio of the door opener includes: I=Z3 / Z9(1+Z4 / Z1) 2 , wherein Z9 is the number of teeth on the motor shaft, Z3 is the number of teeth on the intermediate gear, Z4 is the number of teeth on the planetary gear, Z1 is the number of internal teeth on the base, and I is the gear transmission reduction ratio.

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