Control system and method of automatic lifting mechanism and intelligent lamp

Abstract

The invention discloses a control system and method of an automatic lifting mechanism and an intelligent lamp, and relates to the technical field of motor control, and the system comprises a displacement sensing assembly, a data processing module, an instruction execution module and a motor assembly. The displacement sensing assembly is configured to obtain the current position of a controlled object; the data processing module is configured to configure a motor control instruction according to the adjusting instruction and the current position; the instruction execution module is configured to generate a driving signal according to the motor control instruction and control the motor assembly according to the driving signal; the motor assembly comprises a first motor, a second motor and a third motor; the first motor and the second motor are used for controlling lifting motion of a controlled object, and the third motor is used for controlling horizontal rotation motion of the controlled object. Accurate and stable lifting and rotation control over the controlled object is achieved, control strategies in different scenes can be dynamically adapted, the stability and accuracy of movement of the controlled object are guaranteed, and changes of control requirements can be flexibly coped with.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and particularly to a control system, method and intelligent lamp for an automatic lifting mechanism. Background Art

[0002] The working principle of an automatic lifting lamp mainly depends on the coordinated action of components such as an electric motor, a transmission device, a control system and a safety device. When the height of the lamp needs to be adjusted, the user can send a command through a remote control or a control panel. After receiving the command, the control system will start the electric motor and convert the rotational power into a lifting motion through a transmission device (such as a gearbox, a rotating shaft, an electric wire, etc.), so as to realize the lifting of the lamp.

[0003] The existing automatic lifting mechanisms mainly focus on the design of mechanical structures and the development of control systems. Although certain progress has been made in these aspects, there are still deficiencies in the precise position control and the integration of intelligent adjustment mechanisms. In particular, due to the lack of dynamic adaptability to different application scenarios, the existing automatic lifting mechanisms have relatively single control strategies and cannot effectively solve the adjustment requirements in different modes, which often leads to unsatisfactory performance of the system under high load or complex environments. Summary of the Invention

[0004] The purpose of the present invention is to provide a control system, method and intelligent lamp for an automatic lifting mechanism, so as to improve the control precision, stability and adaptability of the automatic lifting mechanism by integrating intelligent control technologies.

[0005] In a first aspect, the present invention provides a control system for an automatic lifting mechanism, including a displacement sensing component, a data processing module, an instruction execution module and a motor component; The displacement sensing component is configured to obtain the current position of the controlled object; the current position includes a first lifting position, a second lifting position and a rotation angle; The data processing module is configured to configure a motor control instruction according to an adjustment instruction and the current position; the adjustment instruction includes a mode state identifier, a target position and a target speed; the target position includes a target height and a target rotation angle; the mode state identifier includes a first mode identifier and a second mode identifier; the motor control instruction includes a first mode control instruction and a second mode control instruction; The instruction execution module is configured to generate a driving signal according to the motor control instruction and control the motor component according to the driving signal; The motor component includes a first motor, a second motor and a third motor; the first motor and the second motor are used to control the lifting motion of the controlled object, and the third motor is used to control the horizontal rotation motion of the controlled object.

[0006] As a preferred solution, the data processing module includes a pattern matching module, a first pattern processing module, and a second pattern processing module; The pattern matching module is used to parse the adjustment instruction to obtain a pattern status identifier, a target position, and a target speed; if the pattern status identifier is the first pattern identifier, the target position is transmitted to the first pattern processing module; if the pattern status identifier is the second pattern identifier, the target speed is transmitted to the second pattern processing module; The first pattern processing module responds to the target position, calculates a position deviation based on the target position and the current position, and generates a first pattern control instruction based on the position deviation and the target speed; The second pattern processing module responds to the target speed and generates a second pattern control instruction based on the target speed.

[0007] As a preferred solution, the first pattern processing module includes a deviation calculation unit, a first closed-loop control unit, and a second closed-loop control unit; The deviation calculation unit is used to calculate a first lifting position deviation, a second lifting position deviation, and a rotation angle deviation based on the target position and the current position; The first closed-loop control unit is used to generate a first motor target speed instruction based on the first lifting position deviation and generate a second motor target speed instruction based on the second lifting position deviation; The second closed-loop control unit is used to generate a third motor control instruction based on the rotation angle deviation.

[0008] As a preferred solution, the first closed-loop control unit adopts a double closed-loop PID control structure, including a height outer loop and a synchronization inner loop; The height outer loop takes the average value of the first lifting position deviation and the second lifting position deviation as an input to obtain a lifting speed reference value; The synchronization inner loop takes the difference between the first lifting position deviation and the second lifting position deviation as an input to obtain a first synchronization compensation speed value.

[0009] As a preferred solution, the lifting speed reference value is expressed as: ; ; Wherein, is the lifting speed reference value; represents the first lifting position, represents the second lifting position; represents the target height; 、 and are the proportional coefficient, integral coefficient, and differential coefficient of the height outer loop of the first closed-loop control unit respectively; The first synchronous compensation speed value is expressed as: ; ; wherein, is the first synchronous compensation speed value; and are respectively the proportional coefficient and integral coefficient of the synchronous inner loop of the first closed-loop control unit.

[0010] As a preferred solution, the second closed-loop control unit adopts a double closed-loop PID control structure, including a rotation angle outer loop and a speed inner loop; The rotation angle outer loop takes the rotation angle deviation as the input to obtain the target angular velocity; The speed inner loop takes the current angular velocity as the input to obtain the output torque of the third motor.

[0011] As a preferred solution, the second mode processing module includes an instruction parsing unit, a synchronous control unit and a dynamic speed regulation unit; The instruction parsing unit is used to set the target speeds of the first motor, the second motor and the third motor according to the target speed; The synchronous control unit is configured to output the second synchronous compensation speed value of the first motor or the second motor according to the difference when the difference between the first lifting position and the second lifting position is greater than a preset threshold; The dynamic speed regulation unit is used to adjust the target speed in real time according to the second synchronous compensation speed value or external disturbance and transmit it to the instruction parsing unit.

[0012] As a preferred solution, the instruction execution module includes a relay group, a drive circuit and a protection module; The relay group is used to convert the motor control instruction transmitted by the data processing module into a PWM control signal; The drive circuit is used to convert the PWM control signal into a drive signal; The protection module is used to receive the current detection signal of the motor and the position deviation of the displacement sensing component, and output an emergency braking signal according to the current detection signal and the position deviation.

[0013] In a second aspect, the present invention also provides a control method for an automatic lifting mechanism, which is used to implement a control system for an automatic lifting mechanism as described above, and includes the following steps: Obtain the current position of the controlled object; the current position includes a first lifting position, a second lifting position and a rotation angle; In response to the received adjustment instruction, configure a motor control instruction according to the adjustment instruction and the current position; the adjustment instruction includes a mode status identifier, a target position, and a target speed; the target position includes a target height and a target rotation angle; the mode status identifier includes a first mode identifier and a second mode identifier; the motor control instruction includes a first mode control instruction and a second mode control instruction; Generate a drive signal according to the motor control instruction, and control the motor assembly according to the drive signal.

[0014] In a third aspect, the present invention further provides an intelligent lamp, including a lamp body, a lifting mechanism, and a control unit; the control unit includes a processor and a memory, the memory is used to store computer program code, the computer program code includes computer instructions, and when the processor executes the computer instructions, the control unit controls the lifting mechanism by using a control system of an automatic lifting mechanism as described above.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: The control system of the automatic lifting mechanism of the present invention realizes precise and stable lifting and rotation control of the controlled object through a displacement sensing component, a data processing module, an instruction execution module, and a motor assembly. Moreover, the data processing module can dynamically adapt control strategies in different scenarios to generate motor control instructions through the mode status identifier, can adapt to different modes and ensure accurate control of the lifting height and rotation angle, which not only ensures the smoothness and accuracy of the movement of the controlled object, but also can flexibly respond to changes in control requirements.

[0016] In the first mode processing module of the present invention, the first closed-loop control unit controls the coordinated operation of the first motor and the second motor through a height outer loop and a synchronization inner loop; wherein the height outer loop uses the average value of the lifting position deviation to ensure the overall lifting accuracy; the synchronization inner loop generates a compensation speed by processing the difference of the lifting position deviation to achieve motor synchronization and avoid tilting, thereby improving the stability of the lifting process. The second closed-loop control unit generates a third motor control instruction according to the rotation angle deviation to ensure that during the rotation operation, the system can promptly reflect the deviation and make appropriate corrections, and the accuracy of the rotation angle. The present invention effectively improves the stability, synchronization, and accuracy of the multi-degree-of-freedom motion control by combining precise deviation calculation and double closed-loop PID control, and further improves the comprehensive performance of the automatic lifting and rotation mechanism.

[0017] In the second mode processing module of this embodiment, through the instruction parsing unit, the target speeds of the first motor, the second motor, and the third motor are set according to the target speed, achieving precise speed control; through the synchronization control unit, when the difference between the first lifting position and the second lifting position is greater than the preset threshold, a second synchronous compensation speed value of the first motor or the second motor is output according to this difference, realizing the synchronous adjustment between the two motors and ensuring the synchronization of the device in a dynamic scenario; through the dynamic speed regulation unit, the target speed is adjusted in real time according to the second synchronous compensation speed value or external disturbances and transmitted to the instruction parsing unit, realizing the timely response to dynamic changes, thereby maintaining speed stability and dynamic response efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings here are incorporated into the specification and form a part of this specification, showing the embodiments consistent with the present invention and used together with the specification to explain the principles of the present invention.

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0020] Figure 1 It is a schematic structural diagram of a control system for an automatic lifting mechanism provided in the first embodiment of this example; Figure 2 It is a schematic structural diagram of a data processing module provided in the first embodiment of this example; Figure 3 It is a schematic structural diagram of a first mode processing module provided in the first embodiment of this example; Figure 4 It is a schematic structural diagram of a second mode processing module provided in the first embodiment of this example; Figure 5 It is a schematic flowchart of a control method for an automatic lifting mechanism provided in the second embodiment of this example; Figure 6 It is a schematic structural diagram of an intelligent lamp provided in the third embodiment of this example. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0021] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0022] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the attached drawings). If the specific posture changes, the directional indications will also change accordingly.

[0023] In addition, the descriptions involving "first", "second", etc. in the present invention are only for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

[0024] Automatic lifting lamps are widely used in various places that require high-altitude lighting due to their flexibility and efficiency. For example: Factories and workshops: In factories and workshops, automatic lifting lamps can conveniently adjust the lighting height to meet the lighting needs of different working areas and equipment.

[0025] Gymnasiums and sports fields: In gymnasiums and sports fields, automatic lifting lamps can adjust the lighting angle and height according to the needs of competitions or training to ensure good lighting effects.

[0026] Outdoor lighting: In outdoor places such as squares, parks, roads, etc., automatic lifting lamps can conveniently achieve the lifting and adjustment of lighting equipment, improving lighting efficiency and safety.

[0027] Home lighting: In the home, it can be used for dining chandeliers, living room lights, ceiling lights, etc. Automatic lifting lamps can conveniently achieve the lifting and adjustment of lighting equipment, improving lighting efficiency and combining intelligence and safety.

[0028] The working principle of automatic lifting lamps mainly depends on the coordinated action of components such as motors, transmission devices, control systems, and safety devices. When the height of the lamp needs to be adjusted, the user can send a command through a remote control or a control panel. After the control system receives the command, it will start the motor and convert the rotational power into a lifting motion through a transmission device (such as a gearbox, a rotating shaft, wires, etc.), thereby realizing the lifting of the lamp.

[0029] Existing automatic lifting mechanisms mainly focus on the design of mechanical structures and the development of control systems. Although certain progress has been made in these aspects, there are still deficiencies in precise position regulation and the integration of intelligent adjustment mechanisms. In particular, due to the lack of dynamic adaptability to different application scenarios, the existing automatic lifting mechanisms have relatively simple control strategies and cannot effectively address the adjustment requirements in different modes, which often leads to unsatisfactory performance of the system under high loads or complex environments. These problems mainly stem from simple control algorithms, untimely sensor feedback, and insufficient motor control accuracy.

[0030] In view of the above problems, it is urgent to propose a control system, method, and intelligent lamp for an automatic lifting mechanism. It is particularly important to integrate intelligent control technology to improve the control accuracy, stability, and adaptability of the automatic lifting mechanism.

[0031] The following will elaborate on the specific embodiments of the present invention in detail: Embodiment 1: As Figure 1 shown, the present invention provides a control system for an automatic lifting mechanism, including a displacement sensing component, a data processing module, an instruction execution module, and a motor component; The displacement sensing component is configured to obtain the current position of the controlled object; the current position includes a first lifting position, a second lifting position, and a rotation angle; The data processing module is configured to configure a motor control instruction according to an adjustment instruction and the current position; the adjustment instruction includes a mode status identifier, a target position, and a target speed; the target position includes a target height and a target rotation angle; the mode status identifier includes a first mode identifier and a second mode identifier; the motor control instruction includes a first mode control instruction and a second mode control instruction; The instruction execution module is configured to generate a drive signal according to the motor control instruction and control the motor component according to the drive signal; The motor component includes a first motor, a second motor, and a third motor; the first motor and the second motor are used to control the lifting movement of the controlled object, and the third motor is used to control the horizontal rotation movement of the controlled object.

[0032] Among them, the displacement sensing component includes a first displacement sensor, a second displacement sensor, and an angle encoder; the first sensor is used to obtain the first lifting position of the controlled object, the second sensor is used to obtain the second lifting position of the controlled object, and the angle encoder is used to obtain the rotation angle of the controlled object.

[0033] In this embodiment, the first motor and the second motor are used to control the vertical lifting movement of the controlled object. They are respectively connected to the ball screw or linear actuator at both ends of the controlled object (such as a lamp), and the lifting displacement is realized by rotation. The two work in coordination to ensure the smoothness and accuracy of the lifting movement. The third motor is used to control the rotational movement of the controlled object on the horizontal plane. The third motor is connected to the rotating assembly (such as a rotating gear), and the rotation angle of the controlled object is controlled by rotation. The displacement sensing assembly includes a first displacement sensor and a second displacement sensor. The first displacement sensor is installed on the lifting channel controlled by the first motor to measure and feedback the first lifting position; the second displacement sensor: installed on the lifting channel controlled by the second motor to measure and feedback the second lifting position, so as to provide an accurate current position to ensure the synchronization of the two motors and the smoothness of the lifting movement. The angle encoder is connected to the rotating mechanism of the third motor to detect and feedback the rotation angle data to achieve accurate horizontal rotation control.

[0034] A closed-loop control system is formed among the above motors and sensors. The data processing module continuously adjusts the motor control instructions according to the real-time displacement and rotation angle, optimizes the motion path, and achieves the purpose of precise control. The motor assembly responds to the drive signal for real-time adjustment to ensure that the controlled object executes the motion according to the preset trajectory and speed.

[0035] The control system of the automatic lifting mechanism of the present invention realizes precise and stable lifting and rotation control of the controlled object through the displacement sensing assembly, the data processing module, the instruction execution module and the motor assembly. Moreover, the data processing module can dynamically adapt the control strategy in different scenarios through the mode status identifier to generate the motor control instruction, can adapt to different modes and ensure the accurate control of the lifting height and rotation angle, which not only ensures the smoothness and accuracy of the motion of the controlled object, but also can flexibly respond to the changes in the control requirements.

[0036] Further, as Figure 2 shown, the data processing module includes a mode matching module, a first mode processing module and a second mode processing module; The mode matching module is used to parse the adjustment instruction to obtain the mode status identifier, the target position and the target speed; if the mode status identifier is the first mode identifier, the target position is transmitted to the first mode processing module; if the mode status identifier is the second mode identifier, the target speed is transmitted to the second mode processing module; The first mode processing module responds to the target position, calculates the position deviation according to the target position and the current position, and generates a first mode control instruction according to the position deviation and the target speed; The second mode processing module responds to the target speed and generates a second mode control instruction according to the target speed.

[0037] During the above data processing, the adjustment instruction is denoted as , and the current position is denoted as ; where S represents ; represents the target position, including the target height and the target rotation angle ; represents the target speed; represents the first lifting position, represents the second lifting position, the current rotation angle.

[0038] In this embodiment, the control strategy is adapted through the mode state identifier (first mode / second mode), and combined with the target position, target speed, and real-time sensing data, motor control instructions adapted to different scenarios are generated. The purpose of the first mode is to accurately move the controlled object (such as a lamp) to the specified position; the purpose of the second mode is to control the controlled object to continuously move at the target speed of the preset speed (such as periodic lifting and rotation); it is applicable to dynamic tracking or scene switching (such as exhibit following in the exhibition mode).

[0039] Further, as Figure 3 shown, the first mode processing module includes a deviation calculation unit, a first closed-loop control unit, and a second closed-loop control unit; the deviation calculation unit is used to calculate the first lifting position deviation, the second lifting position deviation, and the rotation angle deviation according to the target position and the current position; the first closed-loop control unit is used to generate a first motor target speed instruction according to the first lifting position deviation and a second motor target speed instruction according to the second lifting position deviation; the second closed-loop control unit is used to generate a third motor control instruction according to the rotation angle deviation.

[0040] Among them, the first lifting position deviation is the difference between the current first lifting position and the target height, and the second lifting position deviation is the difference between the current second lifting position and the target height; the rotation angle deviation is the difference between the current rotation angle and the target rotation angle.

[0041] The first mode processing module of this embodiment calculates the deviation values of each degree of freedom according to the target position and the current position, providing input for the closed-loop control. Among them, to ensure the synchronization of the first lifting position and the second lifting position controlled by the first motor and the second motor, it is necessary to generate a first motor target speed instruction and a second motor target speed instruction according to the lifting position deviation and the synchronization deviation.

[0042] Specifically, the first closed-loop control unit adopts a dual closed-loop PID control structure, including a height outer loop and a synchronization inner loop; the height outer loop takes the average value of the first lifting position deviation and the second lifting position deviation as the input to obtain the lifting speed reference value; the synchronization inner loop takes the difference between the first lifting position deviation and the second lifting position deviation as the input to obtain the first synchronous compensation speed value. The lifting speed reference value is expressed as: ; ; Wherein, is the lifting speed reference value; represents the first lifting position, represents the second lifting position; represents the target height; 、 and are the proportional coefficient, integral coefficient, and differential coefficient of the height outer loop of the first closed-loop control unit, respectively.

[0043] The first synchronous compensation speed value is expressed as: ; ; Wherein, is the first synchronous compensation speed value; and are the proportional coefficient and integral coefficient of the synchronization inner loop of the first closed-loop control unit, respectively.

[0044] Based on the foregoing, the first motor target speed command is used to adjust the speed of the first motor to the first motor target speed; the second motor target speed command is used to adjust the speed of the second motor to the second motor target speed.

[0045] The first motor target speed is expressed as , and the second motor target speed is expressed as . In the actual implementation process, constraints need to be added to the control equations of the above lifting speed reference value and the first synchronous compensation speed value, including: and do not exceed the maximum speed of the motor; When is less than 10 mm, the proportional coefficient and integral coefficient of the height outer loop are automatically reduced to prevent overshoot.

[0046] Specifically, the second closed-loop control unit adopts a dual closed-loop PID control structure, including a rotation angle outer loop and a speed inner loop; the rotation angle outer loop takes the rotation angle deviation as the input to obtain the target angular velocity; the speed inner loop takes the current angular velocity as the input to obtain the output torque of the third motor; The target angular velocity is expressed as: ; The output torque of the third motor is expressed as: ; Wherein, represents the rotation angle deviation; , and are respectively the proportional coefficient, integral coefficient and differential coefficient of the rotation angle outer loop of the second closed-loop control unit; and are respectively the proportional coefficient and integral coefficient of the speed inner loop of the second closed-loop control unit. In the actual implementation process, constraints also need to be added to the control equations of the above target angular velocity and the output torque of the third motor, including: If > 1.2ωtarget, trigger dynamic braking (short-circuit the motor winding) to achieve overspeed protection; Set the rotation angle range according to the application scenario (such as -180° to +180°), and force deceleration when exceeding the limit.

[0047] In the first mode processing module of this embodiment, the first closed-loop control unit controls the coordinated operation of the first motor and the second motor through the height outer loop and the synchronization inner loop; among them, the height outer loop uses the average value of the lifting position deviation to ensure the overall lifting accuracy; the synchronization inner loop generates a compensation speed by processing the difference of the lifting position deviation to achieve motor synchronization, so as to avoid tilting and improve the stability of the lifting process. The second closed-loop control unit generates a control command for the third motor according to the rotation angle deviation to ensure that during the rotation operation, the system can timely reflect the deviation and make appropriate corrections, and the accuracy of the rotation angle. This embodiment effectively improves the stability, synchronization and accuracy of the multi-degree-of-freedom motion control by combining precise deviation calculation and dual closed-loop PID control, and further improves the comprehensive performance of the automatic lifting and rotation mechanism.

[0048] Based on the foregoing content, the second mode processing module is responsible for controlling the controlled object (such as a lamp) to continuously move at a preset target speed in the scenarios of dynamic tracking or scene switching, rather than accurately reaching a fixed position in the first mode. Its core goal is to achieve a balance between speed stability and dynamic response efficiency, while taking into account energy consumption optimization and safety protection.

[0049] Furthermore, as Figure 4As shown, the second mode processing module includes an instruction parsing unit, a synchronization control unit, and a dynamic speed regulation unit.

[0050] The instruction parsing unit is used to set the target rotational speeds of the first motor, the second motor, and the third motor according to the target speed; the synchronization control unit is configured to output a second synchronization compensation speed value of the first motor or the second motor according to the difference when the difference between the first lifting position and the second lifting position is greater than a preset threshold; the dynamic speed regulation unit is used to adjust the target speed in real time according to the second synchronization compensation speed value or an external disturbance and transmit it to the instruction parsing unit.

[0051] In this embodiment, the instruction parsing unit initially sets the target rotational speeds of the first motor and the second motor according to the received target speed; the synchronization control unit is used to monitor the difference between the first lifting position and the second lifting position. If it is detected that the difference is greater than the set threshold (such as 3 mm), a superimposed synchronization compensation amount is generated. To distinguish it from the foregoing first synchronization compensation speed value, the superimposed synchronization compensation amount here is denoted as the second synchronization compensation speed value, and the second synchronization compensation speed value can be the product of the difference between the first lifting position and the second lifting position and a preset proportionality coefficient. The second synchronization compensation speed value is transmitted to the dynamic speed regulation unit, and the dynamic speed regulation unit adjusts the target speeds of the first motor and the second motor based on the second synchronization compensation speed value to correct the inclination phenomenon in the vertical direction; in addition, the dynamic speed regulation unit is also used to receive external disturbance data (such as a displacement mutation detected by the displacement sensing component due to a collision), and adjust the target speed according to the external disturbance data. For example, the target speed is set to the product of the displacement mutation amount and a preset proportionality coefficient.

[0052] In the second mode processing module of this embodiment, through the instruction parsing unit, the target rotational speeds of the first motor, the second motor, and the third motor are set according to the target speed to achieve precise speed control; through the synchronization control unit, when the difference between the first lifting position and the second lifting position is greater than a preset threshold, a second synchronization compensation speed value of the first motor or the second motor is output according to the difference, realizing the synchronization adjustment between the two motors and ensuring the synchronization of the device in a dynamic scenario; through the dynamic speed regulation unit, the target speed is adjusted in real time according to the second synchronization compensation speed value or an external disturbance and transmitted to the instruction parsing unit, realizing a timely response to dynamic changes, thereby maintaining speed stability and dynamic response efficiency.

[0053] Furthermore, the instruction execution module includes a relay group, a drive circuit, and a protection module; The relay group is used to convert the motor control instruction transmitted by the data processing module into a PWM control signal; The drive circuit is used to convert the PWM control signal into a drive signal; The protection module is used to receive the current detection signal of the motor and the position deviation of the displacement sensing component, and output an emergency braking signal according to the current detection signal and the position deviation.

[0054] In this embodiment, the relay group is used to convert the motor control instruction generated by the data processing module into a PWM control signal, which can be more directly matched with the requirements of the motor, thereby improving the control accuracy. The drive circuit converts the PWM control signal output by the relay group into the drive signal required by the motor. Among them, the drive circuit includes a lifting drive circuit and a rotation drive circuit, which can adjust the output voltage and current according to the PWM control signal, so as to optimize the operating state of the motor assembly. The protection module receives the current detection signal of the motor and the position deviation of the displacement sensing component, monitors the operating state and position of the motor in real time, and when an abnormal current or excessive position deviation is detected, the protection module will output an emergency braking signal to prevent the motor from overloading or losing control of its position.

[0055] Based on the above content, the PWM control signal is used to control the switching elements in the drive circuit, thereby adjusting the voltage applied to the motor coil, and further controlling the speed and torque of the motor. In the first mode, the goal of the system is to accurately move the controlled object to the specified position. This means that high-precision position control and stable motor operation are required. Therefore, the PWM control signal needs to ensure that the motor obtains appropriate voltage at different stages (such as acceleration, constant speed, deceleration) to achieve smooth movement. At the same time, by adjusting the duty cycle of the PWM control signal, the current can be accurately controlled to avoid overcurrent or undercurrent, thereby improving energy efficiency. In the second mode, the goal of the system is to continuously move at a preset speed, such as periodic lifting and rotation. In this mode, the PWM control needs to adapt to dynamic changes. For example, when an external disturbance or position deviation is detected, the PWM control signal is adjusted in a timely manner to maintain the target speed. The dynamic speed regulation unit will adjust the duty cycle of the PWM according to the feedback to ensure that the motor can maintain a stable speed under different load conditions, while optimizing the current use and reducing energy waste.

[0056] In the instruction execution module of this embodiment, the switching elements in the drive circuit are adjusted through the PWM control signal, and then the speed and torque of the motor are controlled, realizing precise position control and stable operation in the first mode, and stable speed control and dynamic response in the second mode.

[0057] Embodiment 2 As Figure 5 shown, this embodiment also provides a control method for an automatic lifting mechanism, including the following steps: S1. Obtain the current position of the controlled object; the current position includes a first lifting position, a second lifting position, and a rotation angle; S2. In response to the received adjustment instruction, configure a motor control instruction according to the adjustment instruction and the current position; the adjustment instruction includes a mode status identifier, a target position, and a target speed; the target position includes a target height and a target rotation angle; the mode status identifier includes a first mode identifier and a second mode identifier; the motor control instruction includes a first mode control instruction and a second mode control instruction; S3. Generate a drive signal according to the motor control instruction, and control the motor assembly according to the drive signal.

[0058] Embodiment III As Figure 6 shown, the present invention further provides an intelligent lamp, including a lamp body, a lifting mechanism, and a control unit; the control unit includes a processor and a memory, the memory is used to store computer program code, the computer program code includes computer instructions, and when the processor executes the computer instructions, the control unit controls the lifting mechanism by using a control system of an automatic lifting mechanism as described above.

[0059] The above are only specific embodiments of the present invention, enabling those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown herein, but rather will conform to the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A control system for an automatic lifting mechanism, characterized in that: It includes a displacement sensing component, a data processing module, an instruction execution module and a motor component; The displacement sensing component is configured to obtain the current position of the controlled object; the current position includes a first lifting position, a second lifting position and a rotation angle; The data processing module is configured to configure a motor control instruction according to the adjustment instruction and the current position; the adjustment instruction includes a mode state identifier, a target position and a target speed; the target position includes a target height and a target rotation angle; the mode state identifier includes a first mode identifier and a second mode identifier; the motor control instruction includes a first mode control instruction and a second mode control instruction; The instruction execution module is configured to generate a drive signal according to the motor control instruction, and control the motor component according to the drive signal; The motor assembly includes a first motor, a second motor and a third motor; the first motor and the second motor are used to control the lifting movement of the controlled object, and the third motor is used to control the horizontal rotation movement of the controlled object.

2. The control system of the automatic lifting mechanism according to claim 1 is characterized in that: The data processing module includes a pattern matching module, a first pattern processing module and a second pattern processing module; The mode matching module is used to parse the adjustment instruction to obtain the mode state identifier, target position and target speed; If the mode state identifier is the first mode identifier, transmitting the target position to the first mode processing module; If the mode state identifier is the second mode identifier, transmitting the target speed to the second mode processing module; The first mode processing module is responsive to the target position, calculates a position deviation according to the target position and the current position, and generates a first mode control instruction according to the position deviation and the target speed; The second mode processing module generates a second mode control instruction in response to the target speed according to the target speed.

3. The control system of the automatic lifting mechanism according to claim 2 is characterized in that: The first mode processing module includes a deviation calculation unit, a first closed-loop control unit and a second closed-loop control unit; The deviation calculation unit is used to calculate the first lifting position deviation, the second lifting position deviation and the rotation angle deviation according to the target position and the current position; The first closed-loop control unit is used to generate a first motor target speed command according to the first lifting position deviation, and to generate a second motor target speed command according to the second lifting position deviation; The second closed-loop control unit is used to generate a third motor control instruction according to the rotation angle deviation.

4. The control system of the automatic lifting mechanism according to claim 3 is characterized in that: The first closed-loop control unit adopts a double closed-loop PID control structure, including a high-speed outer loop and a synchronous inner loop; The height outer loop uses the average value of the first lifting position deviation and the second lifting position deviation as input to obtain a lifting speed reference value; The synchronous inner loop uses the difference between the first lifting position deviation and the second lifting position deviation as input to obtain a first synchronous compensation speed value.

5. The control system of the automatic lifting mechanism according to claim 4, characterized in that: The lifting speed reference value is expressed as: ； ； in, is the reference value of lifting speed; Indicates the first lifting position, Indicates the second lifting position; Indicates the target height; , and are respectively the proportional coefficient, integral coefficient and differential coefficient of the height outer loop of the first closed-loop control unit; The first synchronous compensation speed value is expressed as: ； ； in, is the first synchronous compensation speed value; and They are respectively the proportional coefficient and the integral coefficient of the synchronous inner loop of the first closed-loop control unit.

6. The control system of the automatic lifting mechanism according to claim 3, characterized in that: The second closed-loop control unit adopts a double closed-loop PID control structure, including a rotation angle outer loop and a speed inner loop; The rotation angle outer ring uses the rotation angle deviation as input to obtain the target angular velocity; The speed inner loop uses the current angular velocity as input to obtain the output torque of the third motor.

7. The control system of the automatic lifting mechanism according to claim 2, characterized in that: The second mode processing module includes an instruction parsing unit, a synchronization control unit and a dynamic speed regulation unit; The instruction parsing unit is used to set the target rotation speeds of the first motor, the second motor and the third motor according to the target speed; The synchronous control unit is configured to output a second synchronous compensation speed value of the first motor or the second motor according to the difference when the difference between the first lifting position and the second lifting position is greater than a preset threshold; The dynamic speed regulation unit is used to adjust the target speed in real time according to the second synchronous compensation speed value or the external disturbance and transmit it to the instruction parsing unit.

8. The control system of the automatic lifting mechanism according to claim 1, characterized in that: The instruction execution module includes a relay group, a drive circuit and a protection module; The relay group is used to convert the motor control instruction transmitted by the data processing module into a PWM control signal; The driving circuit is used to convert the PWM control signal into a driving signal; The protection module is used to receive the current detection signal of the motor and the position deviation of the displacement sensor component, and output an emergency braking signal according to the current detection signal and the position deviation.

9. A control method for an automatic lifting mechanism, characterized in that: A control system for implementing an automatic lifting mechanism as claimed in any one of claims 1 to 8, comprising the following steps: Acquire the current position of the controlled object; the current position includes a first lifting position, a second lifting position and a rotation angle; In response to the received adjustment instruction, a motor control instruction is configured according to the adjustment instruction and the current position; the adjustment instruction includes a mode state identifier, a target position and a target speed; the target position includes a target height and a target rotation angle; the mode state identifier includes a first mode identifier and a second mode identifier; the motor control instruction includes a first mode control instruction and a second mode control instruction; A drive signal is generated according to the motor control instruction, and the motor component is controlled according to the drive signal.

10. An intelligent lamp, characterized in that: It includes a lamp body, a lifting mechanism and a control unit; the control unit includes a processor and a memory, the memory is used to store computer program codes, the computer program codes include computer instructions, and when the processor executes the computer instructions, the control unit adopts a control system of an automatic lifting mechanism described in any one of 1 to 8 to control the lifting mechanism.

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