Control method, control device, control system and adjustable equipment

Abstract

The invention discloses a control method, a control device, a control system and adjustable equipment. The control method is applied to the control device, the control device is connected with an adjusting part, and the control device comprises a current sampling module, a motor and a driver. The control method comprises the steps of collecting a current signal of a motor through a current collection module, wherein the current signal is generated based on an acting force applied to an adjusting part; determining a driving signal according to the current signal through a driver; the driver drives the motor to move based on the driving signal so as to control the adjusting part to move. Therefore, operation is simple, easy and convenient, precise control over the torque of the adjusting piece is achieved, and the control precision is high.

Description

Technical Field

[0001] The present application relates to the technical field of equipment control, and in particular to a control method, a control device, a control system and an adjustable device. Background Art

[0002] In order to improve the comfort of the seat, the seat is usually equipped with an armrest to support the user's arms and improve the comfort of the seat. The seat armrests are mainly divided into fixed armrests and movable armrests. Among them, the movable armrests can adjust the position of the armrest relative to the seat. However, the current armrest adjustment method is mostly mechanical, and the user needs to manually adjust the position of the armrest, which is cumbersome and laborious. Summary of the invention

[0003] The embodiments of the present application provide a control method, a control device, a control system and an adjustable device to solve at least one of the above-mentioned technical problems.

[0004] The control method of the embodiment of the present application is applied to a control device, the control device is connected to a regulating member, the control device includes a current sampling module, a motor and a driver, and the control method includes:

[0005] collecting a current signal of the motor by the current collection module, wherein the current signal is generated based on the force applied to the adjusting member;

[0006] Determining a driving signal according to the current signal by the driver;

[0007] The driver drives the motor to move based on the driving signal to control the movement of the adjusting member.

[0008] In some embodiments, the control device further includes a magnetic encoder and a controller, and the control method further includes:

[0009] Measuring the operating parameters of the motor by means of the magnetic encoder;

[0010] Determining an operation signal according to the operation parameter by the controller;

[0011] The step of determining the driving signal according to the current signal by the driver includes:

[0012] The driver determines the drive signal according to the current signal and the operation signal.

[0013] In some embodiments, determining the drive signal according to the current signal and the operation signal by the driver includes:

[0014] The current signal is converted from a three-phase stationary coordinate system to a two-phase stationary coordinate system by Clarke transformation to obtain a first sub-current signal;

[0015] By Park transformation, the first sub-current signal is converted from the two-phase stationary coordinate system to a rotating coordinate system that rotates with the motor to obtain a second sub-current signal;

[0016] Based on a proportional-integral-differential control algorithm, a first sub-voltage signal is calculated on the rotating coordinate system according to the second sub-current signal and the operation signal;

[0017] By using an inverse Parker transformation, the first sub-voltage signal is converted from the rotating coordinate system to the two-phase stationary coordinate system to obtain a second sub-voltage signal;

[0018] The second sub-voltage signal is converted into a three-phase third sub-voltage signal through space vector modulation technology to obtain the driving signal.

[0019] In some embodiments, the force includes a first force in the horizontal direction; or a second force around a vertical axis; or a third force around a horizontal axis, and the driver drives the motor to move based on the drive signal to control the movement of the adjusting member, including:

[0020] Based on the driving signal, the motor is driven to move, so as to control the adjusting member to move linearly in a horizontal direction; or

[0021] driving the motor to move based on the driving signal to control the adjusting member to rotate around the vertical axis; or

[0022] The motor is driven to move based on the driving signal to control the adjusting member to rotate around a horizontal axis.

[0023] A control device in an embodiment of the present application, the control device is connected to the regulating member, and the control device includes a current acquisition module, a motor and a driver;

[0024] The current acquisition module is connected to the motor, and is used to acquire a current signal of the motor, wherein the current signal is generated based on a force applied to the adjusting member;

[0025] The driver is connected to the current acquisition module and the motor respectively, and is used to determine a driving signal according to the current signal, and drive the motor to move based on the driving signal to control the movement of the adjusting member.

[0026] In some embodiments, the control device further includes a magnetic encoder and a controller, the motor includes a bearing, and the magnetic encoder is disposed on the bearing to measure operating parameters of the motor;

[0027] The controller is connected to the magnetic encoder and the driver respectively, and the controller is used to determine the operation signal according to the operation parameter;

[0028] The driver is used to determine the driving signal according to the current signal and the operation signal, so as to drive the motor to move.

[0029] In some embodiments, the control device further comprises an actuator, the actuator comprising a gear and a screw, the gear being connected to the motor and the screw respectively, and the screw being connected to the adjusting member;

[0030] The gear is used to transmit the movement of the motor to the screw rod, and the screw rod is used to control the movement of the adjusting member according to the movement of the motor.

[0031] The control system of the embodiment of the present application includes a control device of any one of the above embodiments, and the number of the control devices is multiple.

[0032] In certain embodiments, the plurality of control devices include a first control device, a second control device, and a third control device;

[0033] The first control device is used to control the adjusting member to perform linear motion in the horizontal direction;

[0034] The second control device is used to control the adjusting member to perform rotational movement around the vertical axis;

[0035] The third control device is used to control the adjusting member to perform rotational movement around the horizontal axis.

[0036] The adjustable device of the embodiment of the present application includes:

[0037] Adjustment parts; and

[0038] The control system of any of the above embodiments is arranged on a side of the adjusting member close to the inside of the adjustable device.

[0039] In the control method, control device, control system and adjustable device of the embodiment of the present application, based on the force applied to the adjusting member, the movement of the adjusting member can be adaptively controlled, the current signal of the motor is collected by the current acquisition module, the driving signal of the motor is adjusted in real time, and the torque of the adjusting member is closed-loop controlled. In this way, the operation is simple, easy and convenient, and the precise control of the torque of the adjusting member is achieved with high control accuracy.

[0040] Additional aspects and advantages of the embodiments of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0042] Figure 1 is a schematic diagram of a module in which a control device and an adjusting member are connected in certain embodiments of the present application;

[0043] Figure 2 is a block diagram of an adjustable device according to certain embodiments of the present application;

[0044] Figure 3 is a schematic diagram of a module in which a control device and an adjusting member are connected in certain embodiments of the present application;

[0045] Figure 4 It is a schematic diagram of a module in which a motor in certain embodiments of the present application is connected to an adjusting member through an execution structure;

[0046] Figure 5 is a flow chart of a control method of certain embodiments of the present application;

[0047] Figure 6 is a flow chart of a control method of certain embodiments of the present application;

[0048] Figure 7 is a flow chart of a control method of certain embodiments of the present application;

[0049] Figure 8 is a flow chart of a control method of certain embodiments of the present application;

[0050] Fig. 9 It is a module schematic diagram of a control system of certain embodiments of the present application.

[0051] Description of reference numerals:

[0052] Control device 100, current acquisition module 10, motor 20, driver 30, magnetic encoder 40, controller 50, actuator 60, gear 61, screw 62, first control device 101, second control device 102, third control device 103, control system 200, adjustment member 300, adjustable device 1000. DETAILED DESCRIPTION

[0053] The following is a further description of the embodiments of the present application in conjunction with the accompanying drawings. The same or similar reference numerals in the accompanying drawings represent the same or similar elements or elements with the same or similar functions from beginning to end. In addition, the embodiments of the present application described below in conjunction with the accompanying drawings are exemplary and are only used to explain the embodiments of the present application, and cannot be understood as limiting the present application.

[0054] See also Figure 1 and Figure 2 , the embodiment of the present application provides a control device 100. The control device 100 is connected to the adjusting member 300, and the control device 100 includes a current acquisition module 10, a motor 20 and a driver 30. The current acquisition module 10 is connected to the motor 20, and the current acquisition module 10 is used to collect the current signal of the motor 20, and the current signal is generated based on the force applied to the adjusting member 300. The driver 30 is connected to the current acquisition module 10 and the motor 20 respectively, and the driver 30 is used to determine the driving signal according to the current signal, and drive the motor 20 to move based on the driving signal, so as to control the movement of the adjusting member 300.

[0055] In the control device 100 of the embodiment of the present application, based on the force applied to the adjusting member 300, the movement of the adjusting member 300 can be adaptively controlled, the current signal of the motor 20 is collected by the current acquisition module 10, the drive signal of the motor 20 is adjusted in real time, and the torque of the adjusting member 300 is closed-loop controlled. In this way, the operation is simple, easy and convenient, and the torque of the adjusting member 300 is accurately controlled with high control accuracy.

[0056] The adjusting member 300 may be any adjustable member, such as an armrest of a seat (eg Figure 2 As shown), a pan / tilt for supporting a shooting device, a force feedback knob for a human-machine interaction device, a joint of a robot, etc. The embodiment of the present application is described by taking the adjustment member 300 as an armrest of a chair as an example.

[0057] Specifically, the control device 100 includes a current acquisition module 10, a motor 20 and a driver 30. The current acquisition module 10 can use a Hall sensor or any other current sensor. It should be noted that when a Hall sensor is used as the current acquisition module 10, the connection between the current acquisition module 10 and the motor 20 is achieved by magnetic field induction. The material of the current acquisition module 10 can be a flexible polymer material, which is easy to process and light in weight. The size of the current acquisition module 10 needs to be compatible with the motor 20, so that it can be installed near the motor 20 to collect the current signal of the motor 20.

[0058] The motor 20 can be a high-precision brushless motor 20, and the housing of the motor 20 can be made of aluminum alloy. The size of the motor 20 is compatible with the device where the adjustment member 300 is located. The driver 30 is an integrated control circuit with a small size and is made of acrylonitrile-butadiene-styrene (ABS).

[0059] When an external force is applied to the adjusting member 300, the force is transmitted to the motor 20 inside the control device 100 through the adjusting member 300. The motor 20 resists the force and generates a three-phase current. The current acquisition module 10 acquires the three-phase current to obtain a current signal. After the current acquisition module 10 acquires the current signal, it sends the current signal to the driver 30. The driver 30 can determine the drive signal according to the current signal and send the drive signal to the motor 20 to drive the motor 20 to move, so that the motor 20 can control the movement of the adjusting member 300.

[0060] During the movement of the motor 20, the current acquisition module 10 continuously acquires the current signal of the motor 20, and adjusts the driving signal in real time according to the new current signal, so as to adjust the torque of the motor 20. In this way, closed-loop control of the torque during the movement of the adjusting member 300 can be achieved, so that the torque of the adjusting member 300 can be accurately controlled.

[0061] In an example, Figure 2 As shown, when the adjustment member 300 is an armrest of a chair, the user applies a force to the armrest by gently pushing the armrest, and the force is transmitted to the motor 20 inside the control device 100 through the armrest. The motor 20 generates a three-phase current, and the current acquisition module 10 acquires a current signal. The driver 30 determines a drive signal according to the current signal, and drives the motor 20 to move based on the drive signal to control the movement of the armrest.

[0062] In the related art, the armrests of seats are mostly adjusted mechanically, and users need to manually adjust the position of the armrests. This method is cumbersome and laborious to operate, and the adjustment accuracy is low.

[0063] In the implementation mode of the present application, the user only needs to lightly push the armrest, and the control device 100 can automatically control the movement of the armrest according to the force applied by the user, which is simple, easy and convenient to operate; through the current closed-loop control, the torque of the motor 20 is adjusted, and the magnitude of the torque is related to the speed and force of the movement of the armrest. By precisely controlling the torque, the smooth movement of the armrest can be achieved, avoiding impact or out-of-position caused by too fast or too slow movement, and the control accuracy is high.

[0064] In other examples, when the adjustment member 300 is a pan-tilt head for supporting a shooting device, the plane where the shooting device is located deviates from a preset plane (e.g., a horizontal plane), and the shooting device generates a force on the pan-tilt head. The force is transmitted to the motor 20 inside the control device 100 through the armrest, and the motor 20 generates a three-phase current, and the current acquisition module 10 acquires the current signal. The driver 30 determines a drive signal based on the current signal, and drives the motor 20 to move based on the drive signal to control the movement of the pan-tilt head and adjust the position of the shooting device. In this way, the position of the shooting device can be automatically adjusted to keep the shooting device stable.

[0065] When the adjustment member 300 is a force feedback knob of a human-machine interaction device, taking the shift knob of a vehicle as an example, the user applies force to the knob by gently turning the knob, and the force is transmitted to the motor 20 inside the control device 100 through the knob. The motor 20 generates a three-phase current, and the current acquisition module 10 acquires the current signal. The driver 30 determines the drive signal according to the current signal, and drives the motor 20 to move based on the drive signal to control the rotation of the shift knob and adjust the gear position of the vehicle. In this way, a stable and reliable shift operation can be provided.

[0066] When the adjustment member 300 is a joint of the robot, taking the robot grabbing an object as an example, the robot grabs the object, and the object generates a force on the joint of the robot, and the force is transmitted to the motor 20 inside the control device 100 through the joint. The motor 20 generates a three-phase current, and the current acquisition module 10 acquires the current signal. The driver 30 determines the drive signal according to the current signal, and drives the motor 20 to move based on the drive signal to control the movement of the joint, so that the object can be grabbed with appropriate force. In this way, it is avoided that the force is too large to cause damage to Wuping, or the force is too small to successfully grab the object, and the adaptability and performance of the robot are improved.

[0067] See also Figure 3 In some embodiments, the control device 100 further includes a magnetic encoder 40 and a controller 50. The motor 20 includes a bearing. The magnetic encoder 40 is disposed at the bearing and is used to measure the operating parameters of the motor 20. The controller 50 is connected to the magnetic encoder 40 and the driver 30 respectively, and the controller 50 is used to determine the operating signal according to the operating parameters. The driver 30 is used to determine the driving signal according to the current signal and the operating signal to drive the motor 20 to move.

[0068] Specifically, the magnetic encoder 40 may be made of Hall element material. The magnetic encoder 40 is small in size and can be directly mounted on the bearing of the motor 20 and move with the motor 20. During the movement of the motor 20, the magnetic encoder 40 can measure the operating parameters of the motor 20, including the rotation angle of the rotor of the motor 20.

[0069] The controller 50 is connected to the magnetic encoder 40 and the driver 30. When the magnetic encoder 40 collects the operating parameters, it sends the operating parameters to the controller 50. The controller 50 calculates the rotational position and speed of the rotor of the motor 20 according to the rotational angle of the rotor of the motor 20. The operating signal includes the rotational angle, rotational position and speed of the rotor of the motor 20. The controller 50 also sends the operating signal to the driver 30, so that the driver 30 can determine the driving signal according to the current signal and the operating signal together to drive the motor 20 to move.

[0070] It should be noted that during the movement of the motor 20, the magnetic encoder 40 continuously collects the operating parameters of the motor 20 to determine a new operating signal according to the new operating parameters, and adjusts the drive signal in real time, thereby adjusting the rotation position and speed of the motor 20 in real time. In this way, closed-loop control of the position and speed of the adjusting member 300 during the movement can be achieved, thereby accurately controlling the position and speed of the adjusting member 300.

[0071] It can be understood that, taking the adjustment member 300 as the armrest of the chair as an example, different users have different adjustment requirements for the armrest. In the related art, the mechanical adjustment method cannot adjust the armrest according to the different needs of the users, and the user experience is poor.

[0072] In the implementation manner of the present application, through closed-loop control of the position and speed of the armrest during movement, the armrest can be accurately controlled to stably adjust to the user's desired position at the user's desired speed, thereby meeting the personalized needs of different users for armrest adjustment.

[0073] Similarly, when the adjusting member 300 is a pan-tilt platform of a photographing device, the pan-tilt platform can be precisely controlled to stably move at a preset speed and return to a preset plane (e.g., a horizontal plane). When the adjusting member 300 is a shift knob of a vehicle, the vehicle can be precisely controlled to stably shift to a desired gear. When the adjusting member 300 is a joint of a robot, the robot can be precisely controlled to stably grab an object to a preset position at a preset speed.

[0074] See also Figure 4 In some embodiments, the control device 100 further includes an actuator 60. The actuator 60 includes a gear 61 and a screw 62. The gear 61 is connected to the motor 20 and the screw 62 respectively, and the screw 62 is connected to the adjusting member 300. The gear 61 is used to transmit the movement of the motor 20 to the screw 62, and the screw 62 is used to control the movement of the adjusting member 300 according to the movement of the motor 20.

[0075] Specifically, the gear 61 connects the motor 20 and the screw 62, and the screw 62 is connected to the adjusting member 300. When the motor 20 moves, the movement of the motor 20 is a rotational movement, and the motor 20 drives the gear 61 to move. The gear 61 decelerates the rotational movement of the motor 20 and transmits it to the screw 62. The screw 62 converts the rotational movement of the motor 20 into a linear movement, so that the movement of the adjusting member 300 can be controlled.

[0076] In the control device 100 of the embodiment of the present application, the driver 30 and the magnetic encoder 40 are both small-sized components; the motor 20 is selected according to the device set by the adjustment member; the size of the current acquisition module 10 is adapted to the size of the motor; and the size of the actuator 60 is selected according to the actual application requirements. In this way, the overall structure of the control device 100 is compact, and the space occupied by the control device 100 is minimized on the basis of realizing the movement of the control adjustment member 300.

[0077] See also Figure 1 , Figure 2 and Figure 5 The embodiment of the present application provides a control method, which is applied to a control device 100. The control device 100 is connected to a regulating member 300, and the control device 100 includes a current sampling module, a motor 20 and a driver 30.

[0078] Control methods include:

[0079] 010: collecting a current signal of the motor 20 through the current collection module 10, where the current signal is generated based on the force applied to the adjustment member 300;

[0080] 020: determining a driving signal according to the current signal through the driver 30;

[0081] 030: The driver 30 drives the motor 20 to move based on the driving signal to control the movement of the adjusting member 300.

[0082] In the control method of the embodiment of the present application, based on the force applied to the adjusting member 300, the movement of the adjusting member 300 can be adaptively controlled, the current signal of the motor 20 is collected by the current acquisition module 10, the drive signal of the motor 20 is adjusted in real time, and the torque of the adjusting member 300 is closed-loop controlled. In this way, the operation is simple, easy and convenient, and the precise control of the torque of the adjusting member 300 is achieved with high control accuracy.

[0083] Specifically, when an external force is applied to the adjusting member 300, the force is transmitted to the motor 20 inside the control device 100 through the adjusting member 300. The motor 20 resists the force and generates a three-phase current. The current acquisition module 10 is connected to the motor 20, and the current signal can be obtained by collecting the three-phase current of the motor 20. The current acquisition module 10 is also connected to the driver 30. After the current acquisition module 10 collects the current signal, it sends the current signal to the driver 30, and the driver 30 can determine the drive signal according to the current signal. The driver 30 is connected to the motor 20, and is used to send the drive signal to the motor 20 to drive the motor 20 to move, so that the motor 20 can control the movement of the adjusting member 300.

[0084] During the movement of the motor 20, the current acquisition module 10 continuously acquires the current signal of the motor 20, and adjusts the driving signal in real time according to the new current signal, so as to adjust the torque of the motor 20. In this way, closed-loop control of the torque during the movement of the adjusting member 300 can be achieved, so that the torque of the adjusting member 300 can be accurately controlled.

[0085] In the implementation mode of the present application, taking the adjustment part 300 as the armrest of the chair as an example, the user only needs to lightly push the armrest, and the control device 100 can adaptively control the movement of the armrest according to the force applied by the user, and the operation is simple, easy and convenient; through the current closed-loop control, the torque of the motor 20 is adjusted, and the magnitude of the torque is related to the speed and force of the armrest movement. By precisely controlling the torque, the smooth movement of the armrest can be achieved, avoiding impact or out-of-position caused by too fast or too slow movement, and the control accuracy is high.

[0086] See also Figure 3 and Figure 6 In some embodiments, the control device 100 further includes a magnetic encoder 40 and a controller 50. The control method further includes:

[0087] 040: measuring the operating parameters of the motor 20 through the magnetic encoder 40;

[0088] 050: determining an operation signal according to the operation parameters by the controller 50;

[0089] At this time, the driver 30 determines the driving signal (ie, 020) according to the current signal, including:

[0090] 021: The driver 30 determines the driving signal according to the current signal and the operation signal.

[0091] Specifically, during the movement of the motor 20 , the magnetic encoder 40 can measure the operating parameters of the motor 20 , where the operating parameters include the rotation angle of the rotor of the motor 20 .

[0092] The controller 50 is connected to the magnetic encoder 40 and the driver 30. When the magnetic encoder 40 collects the operating parameters, it sends the operating parameters to the controller 50. The controller 50 calculates the rotational position and speed of the rotor of the motor 20 according to the rotational angle of the rotor of the motor 20. The operating signal includes the rotational angle, rotational position and speed of the rotor of the motor 20. The controller 50 also sends the operating signal to the driver 30, so that the driver 30 can determine the driving signal according to the current signal and the operating signal together to drive the motor 20 to move.

[0093] It should be noted that during the movement of the motor 20, the magnetic encoder 40 continuously collects the operating parameters of the motor 20 to determine a new operating signal according to the new operating parameters, and adjusts the drive signal in real time, thereby adjusting the rotation position and speed of the motor 20 in real time. In this way, closed-loop control of the position and speed of the adjusting member 300 during the movement can be achieved, thereby accurately controlling the position and speed of the adjusting member 300.

[0094] It is understandable that, taking the adjustment member 300 as an armrest of a chair as an example, different users have different adjustment requirements for the armrest. In the implementation of the present application, by closed-loop control of the position and speed of the armrest during movement, the armrest can be accurately controlled to be stably adjusted to the user's desired position at the user's desired speed, thereby meeting the personalized requirements of different users for armrest adjustment.

[0095] See also Figure 3 and Figure 7 In some embodiments, the driver 30 determines the driving signal (ie, 021) according to the current signal and the operation signal, including:

[0096] 0211: Convert the current signal from the three-phase stationary coordinate system to the two-phase stationary coordinate system through Clarke transformation to obtain the first sub-current signal;

[0097] 0212: By Park transformation, the first sub-current signal is converted from the two-phase stationary coordinate system to a rotating coordinate system that rotates with the motor 20 to obtain a second sub-current signal;

[0098] 0213: Based on the proportional-integral-differential control algorithm, the first sub-voltage signal is calculated in the rotating coordinate system according to the second sub-current signal and the operation signal;

[0099] 0214: Convert the first sub-voltage signal from the rotating coordinate system to the two-phase stationary coordinate system through an inverse Parker transformation to obtain a second sub-voltage signal;

[0100] 0215: Through the space vector modulation technology, the second sub-voltage signal is converted into a three-phase third sub-voltage signal to obtain a driving signal.

[0101] Specifically, the driver 30 may be a driver 30 based on Field Oriented Control (FOC) technology, so as to achieve closed-loop control of the current (corresponding to the torque of the motor 20), position, and speed of the motor 20. The specific process of the driver 30 determining the driving signal is as follows:

[0102] The driver 30 obtains the current signal collected by the current acquisition module 10. The current signal is a three-phase current, represented by Ia, Ib, and Ic. The current signals Ia, Ib, and Ic are converted from a three-phase stationary coordinate system (abc coordinate system) to a two-phase stationary coordinate system (αβ coordinate system) by Clark transformation to obtain a first sub-current signal. The first sub-current signal is a two-phase current, represented by Iα and Iβ.

[0103] After determining the first sub-current signals Iα and Iβ, the first sub-current signals Iα and Iβ are converted from the two-phase stationary coordinate system to the rotating coordinate system (dq coordinate system) through Park transformation to obtain the second sub-current signal, which is represented by Id and Iq. At this time, the second sub-current signals Id and Iq are constants. The rotating coordinate system is a coordinate system that rotates with the motor 20. The direction of the d-axis (also known as the direct axis) coincides with the direction of the rotor flux of the motor 20, and the direction of the q-axis (also known as the quadrature axis) is perpendicular to the direction of the rotor flux. It should be noted that during the Park transformation process, the driver 30 can obtain the rotation angle of the rotor of the motor 20 in the operating signal, thereby realizing the conversion from the two-phase stationary coordinate system to the rotating coordinate system.

[0104] After determining the second sub-current signals Id and Iq, the current deviation value between the second sub-current signals Id and Iq and the expected current signals Id_ref and Iq_ref is calculated. The expected current signals Id_ref and Iq_ref are determined according to the torque required by the motor 20, and can be dynamically adjusted according to the actual application scenario and control requirements. For example, according to the speed of the rotor of the motor 20 included in the operating signal, the speed deviation value between the speed and the target speed is calculated, and based on the Proportion Integral Differential (PID) control algorithm, the expected current signals Id_ref and Iq_ref can be calculated according to the speed deviation value. The target speed can be set according to the actual application scenario, and can also be dynamically adjusted according to the actual control requirements. Based on the PID control algorithm, the first sub-voltage signal can be calculated on the rotating coordinate system according to the current deviation value, and the first sub-voltage signal is represented as Ud and Uq.

[0105] After determining the first sub-voltage signals Ud and Uq, the first sub-voltage signals Ud and Uq are converted from the rotating coordinate system to the two-phase stationary coordinate system through the inverse Park transformation to obtain the second sub-voltage signals, which are represented as Uα and Uβ. The inverse Park transformation is the inverse operation of the Park transformation.

[0106] After determining the second sub-voltage signals Uα and Uβ, the second sub-voltage signals Uα and Uβ are modulated by space vector modulation (SVPWM) technology. The SVPWM technology can convert the second sub-voltage signals Uα and Uβ into a third sub-voltage signal to drive the motor 20. The third sub-voltage signal is a pulse width modulation signal of a three-phase voltage, that is, a drive signal. The third sub-voltage signal generates a saddle waveform current in the winding of the motor 20. These currents are subtracted between the three phases to obtain a sinusoidal waveform current, thereby driving the motor 20 to move.

[0107] See also Figure 2 , Figure 3 and Figure 8 In some embodiments, the force includes a first force in the horizontal direction; or a second force around the vertical axis; or a third force around the horizontal axis. The motor 20 is driven to move by the driver 30 based on the driving signal to control the movement of the adjusting member 300 (ie, 030), including:

[0108] 031: Based on the driving signal, the motor 20 is driven to move so as to control the adjusting member 300 to make a linear motion in the horizontal direction; or based on the driving signal, the motor 20 is driven to move so as to control the adjusting member 300 to make a rotational motion around the vertical axis; or based on the driving signal, the motor 20 is driven to move so as to control the adjusting member 300 to make a rotational motion around the horizontal axis.

[0109] Specifically, different motion modes can be set for the adjustment member 300 according to different application scenarios. Taking the adjustment member 300 as an armrest of a chair as an example, the armrest can be controlled to move linearly in the horizontal direction, such as Figure 2 As shown, the armrest is controlled to move in a straight line in the direction indicated by the double arrow A on the horizontal plane, that is, to move forward and backward. With the center of the armrest as the origin, the range of the straight line movement can be [-5cm, 5cm]. The armrest can be controlled to move in a straight line in the horizontal direction to any position within the range of -5cm, -3cm, -1cm, 1cm, 3cm, 5cm or [-5cm, 5cm]. In this way, users can adjust the armrest to a suitable position according to their body shape to ensure that their arms are adequately supported.

[0110] Alternatively, the handrail can be controlled to rotate around the vertical axis, such as Figure 2As shown, the armrest is controlled to rotate around the vertical axis O1. With the horizontal plane as a reference, the angle range of the rotational movement can be [0°, 360°]. For example, the armrest can be controlled to rotate around the vertical axis at 60°, 120°, 180°, 240°, 300°, 360° or any angle within the range of [0°, 360°]. There is no restriction on the rotation direction of the rotational movement, for example, it can rotate clockwise or counterclockwise. In this way, compared to the armrest always being perpendicular to the seat back, the user can adjust the armrest to a suitable position according to actual needs to meet the personalized needs of different users.

[0111] Alternatively, control the armrest to rotate around the horizontal axis, such as Figure 2 As shown, the armrest is controlled to rotate around the horizontal axis O2. With the horizontal plane as a reference, the angle range of the rotational movement can be [0°, 30°]. For example, the armrest can be controlled to rotate around the vertical axis at 5°, 10°, 15°, 20°, 25°, 30° or any angle within the range of [0°, 30°]. The rotation direction of the rotational movement can be configured according to actual application requirements. For example, according to the actual usage habits of the user, the rotation direction of the rotational movement can be set to counterclockwise rotation. In this way, compared to the armrest being always perpendicular to the seat back, the user can adjust the armrest to a suitable tilt angle according to actual needs to improve comfort.

[0112] It should be noted that one control device 100 can control the adjusting member 300 to move in one mode. By providing a plurality of control devices 100 for the adjusting member 300, the movement modes of the plurality of adjusting members 300 can be arbitrarily combined.

[0113] See also Fig. 9 The embodiment of the present application further provides a control system 200. The control system 200 includes the control device 100 of any of the above embodiments. The number of the control devices 100 is multiple. For example, a control system 200 may include 1, 2, 3 or more control devices 100.

[0114] See also Fig. 9 In some embodiments, the plurality of control devices 100 include a first control device 101, a second control device 102, and a third control device 103. The first control device 101 is used to control the adjustment member 300 to perform linear motion in the horizontal direction. The second control device 102 is used to control the adjustment member 300 to perform rotational motion around a vertical axis. The third control device 103 is used to control the adjustment member 300 to perform rotational motion around a horizontal axis.

[0115] Specifically, take the control system 200 including three control devices 100 as an example. Figure 2As shown, the first control device 101 can control the adjusting member 300 to make linear motion along the direction indicated by the double arrow A on the horizontal plane, the second control device 102 can control the adjusting member 300 to make rotational motion around the vertical axis O1, and the third control device 103 is used to control the adjusting member 300 to make rotational motion around the horizontal axis O2.

[0116] See also Figure 2 The embodiment of the present application further provides an adjustable device 1000. The adjustable device 1000 includes an adjusting member 300 and a control system 200 of any of the above embodiments. The control system 200 is disposed on a side of the adjusting member 300 close to the inside of the adjustable device 1000.

[0117] Specifically, when the adjustment member 300 is an armrest, the adjustable device 1000 may be a seat, and the control system 200 is disposed on a side of the armrest close to the inside of the seat, specifically, on the lower inner side of the armrest support plane.

[0118] When the adjustment member 300 is a gimbal, the adjustable device 1000 may be a shooting device including a gimbal, and the control system 200 may be disposed on the lower inner side of a gimbal support plane.

[0119] When the adjustment member 300 is a force feedback knob, the adjustable device 1000 can be a human-computer interaction device. For example, when the adjustment member 300 is a shift knob, the adjustable device 1000 is a vehicle, and the control system 200 is arranged on the side of the shift knob close to the interior of the vehicle, specifically, it can be the lower inner side of the shift knob.

[0120] When the adjusting member 300 is a joint, the adjustable device 1000 may be a robot, and the control system 200 is disposed on a side of the joint close to the inside of the robot.

[0121] In the embodiment of the present application, the control system 200 is arranged on one side close to the inside of the adjustable device 1000 together with the adjustment 300, and the multiple control devices 100 included in the control system 200 are compact in structure and occupy a small space. In this way, while realizing the control of the adjustment member 300 to perform various movements, the overall design of the adjustable device 1000 is not affected.

[0122] In summary, in the control method, control device 100, control system 200 and adjustable device 1000 of the embodiment of the present application, based on the force applied to the adjusting member 300, the movement of the adjusting member 300 can be adaptively controlled, the current signal of the motor 20 is collected by the current acquisition module 10, the drive signal of the motor 20 is adjusted in real time, and the torque of the adjusting member 300 is closed-loop controlled. In this way, the operation is simple, easy and convenient, and the precise control of the torque of the adjusting member 300 is achieved with high control accuracy.

[0123] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0124] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0125] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable storage medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or used in combination with these instruction execution systems, devices or apparatuses.

[0126] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0127] A person of ordinary skill in the art will appreciate that all or part of the steps carried by the method for implementing the above-mentioned embodiment can be completed by instructing the relevant hardware through a program, and the program can be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment. In addition, each functional unit in each embodiment of the present application can be integrated into a processing module, or each unit can exist physically alone, or two or more units can be integrated into one module. The above-mentioned integrated module can be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. The above-mentioned storage medium can be a read-only memory, a disk or an optical disk, etc.

[0128] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0129] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0130] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application. The scope of the present application is defined by the claims and their equivalents.

Claims

1. A control method, characterized in that: Applied to a control device, the control device is connected to a regulating member, the control device comprises a current sampling module, a motor and a driver, and the control method comprises: collecting a current signal of the motor by the current collection module, wherein the current signal is generated based on the force applied to the adjusting member; Determining a driving signal according to the current signal by the driver; The driver drives the motor to move based on the driving signal to control the movement of the adjusting member.

2. The control method according to claim 1, characterized in that: The control device further includes a magnetic encoder and a controller, and the control method further includes: Measuring the operating parameters of the motor by means of the magnetic encoder; Determining an operation signal according to the operation parameter by the controller; The step of determining the driving signal according to the current signal by the driver includes: The driver determines the drive signal according to the current signal and the operation signal.

3. The control method according to claim 2, characterized in that: The step of determining the driving signal according to the current signal and the operation signal by the driver includes: The current signal is converted from a three-phase stationary coordinate system to a two-phase stationary coordinate system by Clarke transformation to obtain a first sub-current signal; By Park transformation, the first sub-current signal is converted from the two-phase stationary coordinate system to a rotating coordinate system that rotates with the motor to obtain a second sub-current signal; Based on a proportional-integral-differential control algorithm, a first sub-voltage signal is calculated on the rotating coordinate system according to the second sub-current signal and the operation signal; By using an inverse Parker transformation, the first sub-voltage signal is converted from the rotating coordinate system to the two-phase stationary coordinate system to obtain a second sub-voltage signal; The second sub-voltage signal is converted into a three-phase third sub-voltage signal through space vector modulation technology to obtain the driving signal.

4. The control method according to claim 1, characterized in that: The acting force includes a first acting force in a horizontal direction; or a second acting force around a vertical axis; or a third force around the horizontal axis, wherein the driver drives the motor to move based on the drive signal to control the movement of the adjusting member, comprising: Based on the driving signal, the motor is driven to move, so as to control the adjusting member to move linearly in a horizontal direction; or driving the motor to move based on the driving signal to control the adjusting member to rotate around the vertical axis; or The motor is driven to move based on the driving signal to control the adjusting member to rotate around a horizontal axis.

5. A control device, characterized in that: The control device is connected to the regulating member, and the control device includes a current acquisition module, a motor and a driver; The current acquisition module is connected to the motor, and is used to acquire a current signal of the motor, wherein the current signal is generated based on a force applied to the adjusting member; The driver is connected to the current acquisition module and the motor respectively, and is used to determine a driving signal according to the current signal, and drive the motor to move based on the driving signal to control the movement of the adjusting member.

6. The control device according to claim 5, characterized in that: The control device further includes a magnetic encoder and a controller, the motor includes a bearing, and the magnetic encoder is arranged on the bearing to measure the operating parameters of the motor; The controller is connected to the magnetic encoder and the driver respectively, and the controller is used to determine the operation signal according to the operation parameter; The driver is used to determine the driving signal according to the current signal and the operation signal, so as to drive the motor to move.

7. The control device according to claim 5, characterized in that: The control device further comprises an actuator, the actuator comprising a gear and a screw, the gear being connected to the motor and the screw respectively, and the screw being connected to the adjusting member; The gear is used to transmit the movement of the motor to the screw rod, and the screw rod is used to control the movement of the adjusting member according to the movement of the motor.

8. A control system, characterized in that: The invention comprises a control device as described in any one of claims 5 to 7, wherein the number of the control devices is multiple.

9. The control system according to claim 8, characterized in that: The plurality of control devices include a first control device, a second control device and a third control device; The first control device is used to control the adjusting member to perform linear motion in the horizontal direction; The second control device is used to control the adjusting member to perform rotational movement around the vertical axis; The third control device is used to control the adjusting member to perform rotational movement around the horizontal axis.

10. An adjustable device, characterized in that: include: Adjustment parts; and The control system according to claim 8 or 9, wherein the control system is arranged on a side of the adjusting member close to the interior of the adjustable device.

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