Control system and method of an automatic lifting mechanism and intelligent lamp

Abstract

The application discloses a control system and method of an automatic lifting mechanism and an intelligent lamp, and relates to the technical field of motor control. 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 motor control instructions according to adjustment instructions and the current position. The instruction execution module is configured to generate driving signals according to the motor control instructions and control the motor assembly according to the driving signals. The motor assembly comprises 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. The application realizes accurate and stable lifting and rotation control of the controlled object, can dynamically adapt to control strategies in different scenes, guarantees the stability and accuracy of the movement of the controlled object, and can flexibly respond to changes in control requirements.

Description

Technical Field

[0001] This invention relates to the field of motor control technology, specifically to a control system, method, and intelligent lighting fixture for an automatic lifting mechanism. Background Technology

[0002] The working principle of automatic lifting lighting fixtures mainly relies on the coordinated action of components such as motors, transmission devices, control systems, and safety devices. When it is necessary to adjust the height of the lighting fixture, the user can issue a command through a remote control or control panel. After receiving the command, the control system will start the motor and convert the rotational power into lifting motion through the transmission device (such as a gearbox, shaft, wires, etc.), thereby realizing the raising and lowering of the lighting fixture.

[0003] Existing automatic lifting mechanisms mainly focus on the design of mechanical structures and the development of control systems. Although some progress has been made in these areas, they still fall short in terms of precise position control and the integration of intelligent adjustment mechanisms. In particular, due to the lack of dynamic adaptability to different application scenarios, existing automatic lifting mechanisms have relatively simple control strategies and cannot effectively solve the adjustment needs under different modes. This often leads to unsatisfactory system performance under high loads or complex environments. Summary of the Invention

[0004] The purpose of this invention is to provide a control system, method, and intelligent lighting fixture for an automatic lifting mechanism, which improves the control accuracy, stability, and adaptability of the automatic lifting mechanism by integrating intelligent control technology.

[0005] In a first aspect, the present invention provides a control system for an automatic lifting mechanism, comprising a displacement sensing component, a data processing module, an instruction execution module, and a motor component;

[0006] The displacement sensing component is configured to acquire the current position of the controlled object; the current position includes a first lifting position, a second lifting position, and a rotation angle.

[0007] The data processing module is configured to configure motor control commands based on adjustment commands and the current position; the adjustment commands include 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 commands include a first mode control command and a second mode control command.

[0008] The instruction execution module is configured to generate a drive signal according to a motor control instruction, and control the motor assembly according to the drive signal.

[0009] The motor assembly includes a first motor, a second motor, and a third motor; the first and second motors are used to control the lifting and lowering motion of the controlled object, and the third motor is used to control the horizontal rotational motion of the controlled object.

[0010] As a preferred embodiment, the data processing module includes a pattern matching module, a first pattern processing module, and a second pattern processing module;

[0011] The pattern matching module is used to parse the adjustment command to obtain the pattern status identifier, target position, and target speed; if the pattern status identifier is a first pattern identifier, the target position is transmitted to the first pattern processing module; if the pattern status identifier is a second pattern identifier, the target speed is transmitted to the second pattern processing module.

[0012] The first mode processing module responds to the target position, calculates the position deviation based on the target position and the current position, and generates a first mode control command based on the position deviation and the target velocity;

[0013] The second mode processing module responds to the target speed and generates a second mode control command based on the target speed.

[0014] As a preferred embodiment, the first mode processing module includes a deviation calculation unit, a first closed-loop control unit, and a second closed-loop control unit.

[0015] The deviation calculation unit is used to calculate the first lifting position deviation, the second lifting position deviation, and the rotation angle deviation based on the target position and the current position.

[0016] The first closed-loop control unit is used to generate a first motor target speed command based on the first lifting position deviation, and to generate a second motor target speed command based on the second lifting position deviation;

[0017] The second closed-loop control unit is used to generate a third motor control command based on the rotation angle deviation.

[0018] As a preferred embodiment, the first closed-loop control unit adopts a dual-closed-loop PID control structure, including a high-level outer loop and a synchronous inner loop;

[0019] The height outer ring uses the average of the first and second lifting position deviations as input to obtain the lifting speed reference value;

[0020] The inner synchronous loop uses the difference between the first and second lifting position deviations as input to obtain the first synchronous compensation speed value.

[0021] As a preferred embodiment, the reference value for the lifting speed is expressed as follows:

[0022] ;

[0023] ;

[0024] in, This is the reference value for acceleration and deceleration speed; Indicates the first lifting / lowering position. Indicates the second lifting position; Indicates the target altitude; , and These are the proportional coefficient, integral coefficient, and derivative coefficient of the outer ring of the first closed-loop control unit, respectively.

[0025] The first synchronous compensation speed value is expressed as:

[0026] ;

[0027] ;

[0028] in, This is the first synchronous compensation speed value; and These are the proportional coefficient and integral coefficient of the synchronization inner loop of the first closed-loop control unit, respectively.

[0029] As a preferred embodiment, the second closed-loop control unit adopts a dual-closed-loop PID control structure, including an outer loop for rotation angle and an inner loop for speed.

[0030] The outer ring of the rotation angle uses the rotation angle deviation as input to obtain the target angular velocity;

[0031] The speed inner loop uses the current angular velocity as input to obtain the output torque of the third motor.

[0032] As a preferred embodiment, the second mode processing module includes an instruction parsing unit, a synchronization control unit, and a dynamic speed regulation unit;

[0033] 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.

[0034] The synchronization control unit is configured to output a second synchronization compensation speed value of the first motor or the second motor based on the difference when the difference between the first lifting position and the second lifting position is greater than a preset threshold.

[0035] The dynamic speed control unit is used to adjust the target speed in real time according to the second synchronous compensation speed value or external disturbances and transmit it to the instruction parsing unit.

[0036] As a preferred embodiment, the instruction execution module includes a relay group, a drive circuit, and a protection module;

[0037] The relay group is used to convert the motor control commands transmitted by the data processing module into PWM control signals.

[0038] The driving circuit is used to convert the PWM control signal into a driving signal;

[0039] 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 based on the current detection signal and the position deviation.

[0040] Secondly, the present invention also provides a control method for an automatic lifting mechanism, used to implement a control system for an automatic lifting mechanism as described above, comprising the following steps:

[0041] Obtain the current position of the controlled object; the current position includes a first lifting position, a second lifting position, and a rotation angle;

[0042] In response to a received adjustment command, a motor control command is configured based on the adjustment command and the current position; the adjustment command 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 command includes a first mode control command and a second mode control command.

[0043] Drive signals are generated based on motor control commands, and motor components are controlled based on the drive signals.

[0044] Thirdly, the present invention also provides an intelligent lighting fixture, including a lighting fixture body, a lifting mechanism, and a control unit; the control unit includes a processor and a memory, the memory being used to store computer program code, the computer program code including computer instructions, and when the processor executes the computer instructions, the control unit uses a control system for an automatic lifting mechanism as described above to control the lifting mechanism.

[0045] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0046] The control system of the automatic lifting mechanism of this invention achieves precise and stable lifting and rotation control of the controlled object through displacement sensing components, a data processing module, an instruction execution module, and a motor assembly. Furthermore, the data processing module can dynamically adapt to control strategies in different scenarios to generate motor control instructions through mode state identifiers. This allows it to adapt to different modes and ensure accurate control of lifting height and rotation angle, guaranteeing both the smoothness and precision of the controlled object's movement while flexibly responding to changes in control requirements.

[0047] In the first mode processing module of this invention, the first closed-loop control unit coordinates the operation of the first and second motors through a height outer loop and a synchronization inner loop. The height outer loop utilizes the average value of the lifting position deviation to ensure overall lifting accuracy. The synchronization inner loop processes the difference in lifting position deviation to generate a compensation speed, achieving motor synchronization to avoid tilting and improve the stability of the lifting process. The second closed-loop control unit generates control commands for the third motor based on the rotation angle deviation to ensure that the system can promptly reflect the deviation and make appropriate corrections during rotation operations, ensuring the accuracy of the rotation angle. This invention, by combining precise deviation calculation and dual closed-loop PID control, effectively improves the stability, synchronization, and accuracy of multi-degree-of-freedom motion control, thereby improving the overall performance of the automatic lifting and rotation mechanism.

[0048] In the second mode processing module of this embodiment, the instruction parsing unit sets the target speeds of the first motor, the second motor, and the third motor according to the target speed to achieve precise speed control; the synchronization control unit outputs the second synchronization compensation speed value of the first motor or the second motor according to the difference between the first lifting position and the second lifting position when the difference is greater than a preset threshold, realizing the synchronization adjustment between the two motors and ensuring the synchronization of the equipment in dynamic scenarios; the dynamic speed adjustment unit adjusts the target speed in real time according to the second synchronization compensation speed value or external disturbances and transmits it to the instruction parsing unit, realizing timely response to dynamic changes, thereby maintaining speed stability and dynamic response efficiency. Attached Figure Description

[0049] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0050] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, those skilled in the art can obtain other drawings based on these drawings without creative effort.

[0051] Figure 1 This is a schematic diagram of the control system of an automatic lifting mechanism provided in this embodiment.

[0052] Figure 2 This is a schematic diagram of the data processing module provided in Embodiment 1;

[0053] Figure 3 This is a schematic diagram of the structure of the first mode processing module provided in this embodiment;

[0054] Figure 4This is a schematic diagram of the structure of the second mode processing module provided in this embodiment.

[0055] Figure 5 This is a flowchart illustrating a control method for an automatic lifting mechanism provided in Embodiment 2.

[0056] Figure 6 This is a structural schematic diagram of the intelligent lighting fixture provided in Embodiment 3. Detailed Implementation

[0057] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not 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 effort are within the scope of protection of the present invention.

[0058] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0059] Furthermore, the use of terms such as "first" and "second" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" and "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0060] Automatic lifting lighting fixtures are widely used in various locations requiring high-altitude lighting due to their flexibility and efficiency. For example:

[0061] Factories and workshops: In factories and workshops, automatic lifting light fixtures can easily adjust the lighting height to meet the lighting needs of different work areas and equipment.

[0062] Gymnasiums and sports fields: In gymnasiums and sports fields, automatic lifting lights can adjust the lighting angle and height according to the needs of competitions or training to ensure good lighting effects.

[0063] Outdoor lighting: In outdoor locations such as squares, parks, and roads, automatic lifting lights can easily raise and lower lighting equipment, improving lighting efficiency and safety.

[0064] Home lighting: In the home, it can be used for dining room chandeliers, living room lights, ceiling lights, etc. Automatic lifting lights can easily raise and lower and adjust lighting equipment, improve lighting efficiency, and combine intelligence and safety.

[0065] The working principle of automatic lifting lighting fixtures mainly relies on the coordinated action of components such as motors, transmission devices, control systems, and safety devices. When it is necessary to adjust the height of the lighting fixture, the user can issue a command through a remote control or control panel. After receiving the command, the control system will start the motor and convert the rotational power into lifting motion through the transmission device (such as a gearbox, shaft, wires, etc.), thereby realizing the raising and lowering of the lighting fixture.

[0066] Existing automatic lifting mechanisms primarily focus on the design of mechanical structures and the development of control systems. While some progress has been made in these areas, they still fall short in terms of precise position control and the integration of intelligent adjustment mechanisms. In particular, due to a lack of dynamic adaptability to different application scenarios, existing automatic lifting mechanisms rely on relatively simple control strategies, failing to effectively address adjustment needs under different modes. This often results in unsatisfactory system performance under high loads or complex environments. These problems mainly stem from simple control algorithms, untimely sensor feedback, and insufficient motor control precision.

[0067] In view of the above problems, there is an urgent need to propose a control system, method and intelligent lighting fixture for automatic lifting mechanism. It is particularly important to integrate intelligent control technology to improve the control accuracy, stability and adaptability of automatic lifting mechanism.

[0068] The specific embodiments of the present invention will be described in detail below:

[0069] Example 1:

[0070] like Figure 1 As 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;

[0071] The displacement sensing component is configured to acquire the current position of the controlled object; the current position includes a first lifting position, a second lifting position, and a rotation angle.

[0072] The data processing module is configured to configure motor control commands based on adjustment commands and the current position; the adjustment commands include 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 commands include a first mode control command and a second mode control command.

[0073] The instruction execution module is configured to generate a drive signal according to a motor control instruction, and control the motor assembly according to the drive signal.

[0074] The motor assembly includes a first motor, a second motor, and a third motor; the first and second motors are used to control the lifting and lowering motion of the controlled object, and the third motor is used to control the horizontal rotational motion of the controlled object.

[0075] The displacement sensing component includes a first displacement sensor, a second displacement sensor, and an angle encoder; the first displacement sensor is used to obtain the first lifting position of the controlled object, the second displacement 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.

[0076] In this embodiment, the first and second motors control the vertical lifting motion of the controlled object. They are respectively connected to ball screws or linear actuators at both ends of the controlled object (such as a lamp), achieving lifting displacement through rotation. The two motors work in coordination to ensure smooth and precise lifting motion. The third motor controls the rotational motion of the controlled object in the horizontal plane. The third motor is connected to a rotating component (such as a rotary gear), controlling the rotation angle of the controlled object through rotation. The displacement sensing component 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, measuring and feeding back the first lifting position; the second displacement sensor is installed on the lifting channel controlled by the second motor, measuring and feeding back the second lifting position to provide accurate current position, ensuring synchronization of the two motors and smooth lifting motion. An angle encoder is connected to the rotating mechanism of the third motor, detecting and feeding back rotation angle data to achieve accurate horizontal rotation control.

[0077] The above motors and sensors form a closed-loop control system. The data processing module continuously adjusts the motor control commands and optimizes the motion path based on real-time displacement and rotation angle to achieve precise control. The motor components respond to the drive signals and adjust in real time to ensure the controlled object moves according to the preset trajectory and speed.

[0078] The control system of the automatic lifting mechanism of this invention achieves precise and stable lifting and rotation control of the controlled object through displacement sensing components, a data processing module, an instruction execution module, and a motor assembly. Furthermore, the data processing module can dynamically adapt to control strategies in different scenarios to generate motor control instructions through mode state identifiers. This allows it to adapt to different modes and ensure accurate control of lifting height and rotation angle, guaranteeing both the smoothness and precision of the controlled object's movement while flexibly responding to changes in control requirements.

[0079] Furthermore, such as Figure 2As shown, the data processing module includes a pattern matching module, a first pattern processing module, and a second pattern processing module.

[0080] The pattern matching module is used to parse the adjustment command to obtain the pattern status identifier, target position, and target speed; if the pattern status identifier is a first pattern identifier, the target position is transmitted to the first pattern processing module; if the pattern status identifier is a second pattern identifier, the target speed is transmitted to the second pattern processing module.

[0081] The first mode processing module responds to the target position, calculates the position deviation based on the target position and the current position, and generates a first mode control command based on the position deviation and the target velocity;

[0082] The second mode processing module responds to the target speed and generates a second mode control command based on the target speed.

[0083] In the above data processing, the adjustment command is denoted as... The current position is recorded as Where S represents ; Indicates the target location, including the target height. and target rotation angle ; Indicates the target speed; Indicates the first lifting / lowering position. Indicates the second lifting position. Current rotation angle.

[0084] In this embodiment, the control strategy is adapted by using mode state identifiers (first mode / second mode), and motor control commands adapted to different scenarios are generated by combining target position, target speed and real-time sensor data. The purpose of the first mode is to move the controlled object (such as a lamp) precisely to a specified position; the purpose of the second mode is to control the controlled object to move continuously at a target speed of a preset speed (such as periodic lifting and rotation); it is suitable for dynamic tracking or scene switching (such as exhibit following in exhibition mode).

[0085] Furthermore, such as Figure 3 As 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 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 command based on the first lifting position deviation and a second motor target speed command based on the second lifting position deviation. The second closed-loop control unit is used to generate a third motor control command based on the rotation angle deviation.

[0086] Wherein, the first lifting position deviation is the difference between the current first lifting position and the target height, the second lifting position deviation is the difference between the current second lifting position and the target height, and the rotation angle deviation is the difference between the current rotation angle and the target rotation angle.

[0087] The first mode processing module in this embodiment calculates the deviation values ​​of each degree of freedom based on the target position and the current position, providing input for closed-loop control. Specifically, to ensure synchronization between the first and second lifting positions controlled by the first and second motors, it is necessary to generate target speed commands for the first and second motors based on the lifting position deviation and synchronization deviation.

[0088] 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 uses the average of the first lifting position deviation and the second lifting position deviation as input to obtain the lifting speed reference value; the synchronization inner loop uses the difference between the first lifting position deviation and the second lifting position deviation as input to obtain the first synchronization compensation speed value.

[0089] The reference value for the acceleration / deceleration speed is expressed as follows:

[0090] ;

[0091] ;

[0092] in, This is the reference value for acceleration and deceleration speed; Indicates the first lifting / lowering position. Indicates the second lifting position; Indicates the target altitude; , and These are the proportional coefficient, integral coefficient, and derivative coefficient of the height outer loop of the first closed-loop control unit, respectively.

[0093] The first synchronous compensation speed value is expressed as:

[0094] ;

[0095] ;

[0096] in, This is the first synchronous compensation speed value; and These are the proportional coefficient and integral coefficient of the synchronization inner loop of the first closed-loop control unit, respectively.

[0097] 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.

[0098] The target speed of the first motor is expressed as follows: The target speed of the second motor is expressed as In actual implementation, additional constraints need to be added to the control equations for the above-mentioned acceleration / deceleration reference values ​​and the first synchronous compensation speed values, including:

[0099] and Not exceeding the motor's maximum speed;

[0100] In the When the height is less than 10mm, the proportional coefficient and integral coefficient of the outer height ring are automatically reduced to prevent overshoot.

[0101] Specifically, the second closed-loop control unit adopts a dual-closed-loop PID control structure, including an outer rotation angle loop and an inner speed loop; the outer rotation angle loop uses the rotation angle deviation as input to obtain the target angular velocity; the inner speed loop uses the current angular velocity as input to obtain the output torque of the third motor;

[0102] The target angular velocity is expressed as:

[0103] ;

[0104] The output torque of the third motor is expressed as:

[0105] ;

[0106] in, Indicates rotation angle deviation; , and These are the proportional coefficient, integral coefficient, and derivative coefficient of the outer loop of the rotation angle of the second closed-loop control unit, respectively. and These are the proportional and integral coefficients for the speed inner loop of the second closed-loop control unit, respectively. In actual implementation, additional constraints need to be added to the control equations for the target angular velocity and the output torque of the third motor, including:

[0107] like >1.2ωtarget triggers dynamic braking (short-circuiting the motor windings) to achieve overspeed protection;

[0108] Set the rotation angle range according to the application scenario (e.g., -180° to +180°), and force deceleration when the range is exceeded.

[0109] In the first mode processing module of this embodiment, the first closed-loop control unit coordinates the operation of the first and second motors through a height outer loop and a synchronization inner loop. The height outer loop utilizes the average value of the lifting position deviation to ensure overall lifting accuracy. The synchronization inner loop processes the difference in lifting position deviation to generate a compensation speed, achieving motor synchronization to avoid tilting and improve the stability of the lifting process. The second closed-loop control unit generates control commands for the third motor based on the rotation angle deviation to ensure that the system can promptly reflect the deviation and make appropriate corrections during rotation operations, ensuring the accuracy of the rotation angle. This embodiment, by combining precise deviation calculation and dual closed-loop PID control, effectively improves the stability, synchronization, and accuracy of multi-degree-of-freedom motion control, thereby improving the overall performance of the automatic lifting and rotation mechanism.

[0110] Based on the foregoing, the second-mode processing module is responsible for controlling the controlled object (such as a lamp) to move continuously at a preset target speed in dynamic tracking or scene switching scenarios, rather than precisely reaching a fixed position as in the first mode. Its core objective is to achieve a balance between speed stability and dynamic response efficiency, while also considering energy consumption optimization and safety protection.

[0111] Furthermore, such as Figure 4 As shown, the second mode processing module includes an instruction parsing unit, a synchronization control unit, and a dynamic speed regulation unit.

[0112] The instruction parsing unit is used to set the target speed of the first motor, the second motor, and the third motor according to the target speed; the synchronization control unit is configured to output the second synchronization compensation speed value of the first motor or the second motor according to the difference between the first lifting position and the second lifting position when the difference is greater than a preset threshold; the dynamic speed adjustment unit is used to adjust the target speed in real time according to the second synchronization compensation speed value or external disturbance and transmit it to the instruction parsing unit.

[0113] In this embodiment, the instruction parsing unit initially sets the target speeds of the first and second motors based on the received target speed. The synchronization control unit monitors the difference between the first and second lifting positions. If the difference is greater than a set threshold (e.g., 3mm), a superimposed synchronization compensation amount is generated. To distinguish it from the aforementioned first synchronization compensation speed value, this superimposed synchronization compensation amount is denoted as the second synchronization compensation speed value. The second synchronization compensation speed value can be the product of the difference between the first and second lifting positions and a preset proportional coefficient. The second synchronization compensation speed value is transmitted to the dynamic speed control unit, which adjusts the target speeds of the first and second motors based on the second synchronization compensation speed value to correct the vertical tilt phenomenon. In addition, the dynamic speed control unit is also used to receive external disturbance data (e.g., a collision causing a displacement sensing component to detect a sudden displacement change) and adjust the target speed according to the external disturbance data, for example, setting the target speed as the product of the displacement change amount and a preset proportional coefficient.

[0114] In the second mode processing module of this embodiment, the instruction parsing unit sets the target speeds of the first motor, the second motor, and the third motor according to the target speed to achieve precise speed control; the synchronization control unit outputs the second synchronization compensation speed value of the first motor or the second motor according to the difference between the first lifting position and the second lifting position when the difference is greater than a preset threshold, realizing the synchronization adjustment between the two motors and ensuring the synchronization of the equipment in dynamic scenarios; the dynamic speed adjustment unit adjusts the target speed in real time according to the second synchronization compensation speed value or external disturbances and transmits it to the instruction parsing unit, realizing timely response to dynamic changes, thereby maintaining speed stability and dynamic response efficiency.

[0115] Furthermore, the instruction execution module includes a relay group, a drive circuit, and a protection module;

[0116] The relay group is used to convert the motor control commands transmitted by the data processing module into PWM control signals.

[0117] The driving circuit is used to convert the PWM control signal into a driving signal;

[0118] 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 based on the current detection signal and the position deviation.

[0119] This embodiment uses a relay group to convert the motor control commands generated by the data processing module into PWM control signals, which can more directly match the motor's needs, thereby improving control accuracy. The drive circuit converts the PWM control signals output by the relay group into the drive signals required by the motor. The drive circuit includes a lifting drive circuit and a rotating drive circuit, which can adjust the output voltage and current according to the PWM control signals, thereby optimizing the operating state of the motor components. The protection module receives the motor's current detection signal and the position deviation of the displacement sensing component, monitoring the motor's operating state and position in real time. When abnormal current or excessive position deviation is detected, the protection module outputs an emergency braking signal to prevent motor overload or loss of position control.

[0120] Based on the above, the PWM control signal is used to control the switching elements in the drive circuit, thereby adjusting the voltage applied to the motor coils and controlling the motor's speed and torque. In the first mode, the system aims to precisely move the controlled object to a designated position. This requires high-precision position control and stable motor operation. Therefore, the PWM control signal needs to ensure that the motor receives appropriate voltage at different stages (such as acceleration, constant speed, and deceleration) to achieve smooth motion. Simultaneously, by adjusting the duty cycle of the PWM control signal, current can be precisely controlled to avoid overcurrent or undercurrent, thereby improving energy efficiency. In the second mode, the system aims to move continuously at a preset speed, such as periodic lifting and rotating. In this mode, the PWM control needs to adapt to dynamic changes, such as adjusting the PWM control signal promptly when external disturbances or position deviations are detected to maintain the target speed. The dynamic speed control unit adjusts the PWM duty cycle based on feedback to ensure the motor maintains a stable speed under different load conditions, while optimizing current usage and reducing energy waste.

[0121] In the instruction execution module of this embodiment, the switching elements in the drive circuit are adjusted by the PWM control signal, thereby controlling the speed and torque of the motor, realizing precise position control and stable operation in the first mode, as well as stable speed control and dynamic response in the second mode.

[0122] Example 2

[0123] like Figure 5 As shown, this embodiment also provides a control method for an automatic lifting mechanism, including the following steps:

[0124] 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;

[0125] S2. In response to the received adjustment command, configure motor control commands according to the adjustment command and the current position; the adjustment command 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 commands include a first mode control command and a second mode control command.

[0126] S3. Generate drive signals according to motor control instructions, and control motor components according to drive signals.

[0127] Example 3

[0128] like Figure 6 As shown, the present invention also provides an intelligent lighting fixture, including a lighting fixture body, a lifting mechanism, and a control unit; the control unit includes a processor and a memory, the memory being used to store computer program code, the computer program code including computer instructions, and when the processor executes the computer instructions, the control unit uses a control system for an automatic lifting mechanism as described above to control the lifting mechanism.

[0129] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded 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 displacement sensing components, a data processing module, an instruction execution module, and a motor assembly; The displacement sensing component is configured to acquire 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 motor control commands based on adjustment commands and the current position; the adjustment commands include 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 commands include a first mode control command and a second mode control command. The instruction execution module is configured to generate a drive signal according to a motor control instruction, and control the motor assembly according to the drive signal. The motor assembly includes a first motor, a second motor, and a third motor; the first and second motors are used to control the lifting and lowering motion of the controlled object, and the third motor is used to control the horizontal rotational motion of the controlled object. 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 command to obtain the pattern status identifier, target position, and target speed; if the pattern status identifier is a first pattern identifier, the target position is transmitted to the first pattern processing module; if the pattern status identifier is a second pattern identifier, the target speed is transmitted to the second pattern processing module. The first mode processing module responds to the target position, calculates the position deviation based on the target position and the current position, and generates a first mode control command based on the position deviation and the target velocity; The second mode processing module responds to the target speed and generates a second mode control command based on the target speed; 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 based on the target position and the current position. The first closed-loop control unit is used to generate a first motor target speed command based on the first lifting position deviation, and to generate a second motor target speed command based on the second lifting position deviation; The second closed-loop control unit is used to generate a third motor control command based on the rotation angle deviation; 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 ring uses the average of the first and second lifting position deviations as input to obtain the lifting speed reference value; The inner synchronous loop uses the difference between the first and second lifting position deviations as input to obtain the first synchronous compensation speed value. The reference value for the lifting speed is expressed as follows: ； ； in, This is the reference value for acceleration and deceleration speed; Indicates the first lifting / lowering position. Indicates the second lifting position; Indicates the target altitude; , and These are the proportional coefficient, integral coefficient, and derivative coefficient of the outer ring of the first closed-loop control unit, respectively. The first synchronous compensation speed value is expressed as: ； ； in, This is the first synchronous compensation speed value; and These are the proportional coefficient and integral coefficient of the synchronization inner loop of the first closed-loop control unit, respectively. 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. The target speed of the first motor is expressed as follows: The target speed of the second motor is expressed as .

2. The control system for the automatic lifting mechanism according to claim 1, characterized in that: The second closed-loop control unit adopts a dual closed-loop PID control structure, including an outer loop for rotation angle and an inner loop for speed. The outer ring of the rotation angle 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.

3. The control system for the automatic lifting mechanism according to claim 1, 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 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 based on the difference when the difference between the first lifting position and the second lifting position is greater than a preset threshold. The dynamic speed control unit is used to adjust the target speed in real time according to the second synchronous compensation speed value or external disturbances and transmit it to the instruction parsing unit.

4. The control system for 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 commands transmitted by the data processing module into PWM control signals. 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 sensing component, and output an emergency braking signal based on the current detection signal and the position deviation.

5. A control method for an automatic lifting mechanism, characterized in that: A control system for implementing an automatic lifting mechanism as described in any one of claims 1 to 4 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 a received adjustment command, a motor control command is configured based on the adjustment command and the current position; the adjustment command 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 command includes a first mode control command and a second mode control command. Drive signals are generated based on motor control commands, and motor components are controlled based on the drive signals.

6. A smart lighting fixture, 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 code, the computer program code includes computer instructions, and when the processor executes the computer instructions, the control unit uses a control system of an automatic lifting mechanism as described in any one of 1 to 4 to control the lifting mechanism.

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