Swing driving control device and method and baby dining seat rocking chair

Abstract

The invention discloses a swing driving control device and method and an infant dining seat rocking chair, the driving device comprises an MCU control panel and a motor driving mechanism, the MCU control panel is used for setting and controlling the starting time of the motor driving mechanism, and the method comprises the following steps: adding an ADC voltage sampling circuit in a motor driving circuit, acquiring voltages at two ends of the motor through an ADC sampling circuit of the MCU to obtain a counter electromotive force voltage of the motor; detecting the zero point of the counter electromotive force voltage of the motor by using a comparator, sampling and calculating the current swing amplitude when the motor swings to the limit position and the counter electromotive force voltage of the motor crosses the zero point; calculating an energy gap of the next period according to the obtained current swing amplitude and the target swing amplitude; obtaining a linear relation between the energy gap and pulse time, and obtaining the pulse time required by each unit of energy gap; and calculating the pulse time applied in the next half period according to the pulse time required by each unit energy gap. The driving structure is simple, the operation reliability is higher, and the cost is lower.

Description

Technical Field

[0001] The present invention relates to a swing drive control device and method, in particular to a swing drive control device and method and an infant dining seat rocking chair, belonging to the field of swing control. Background Art

[0002] Existing automatic swings and rocking chairs are generally driven by motors to rock the rocking parts. The rocking resonance controller requires special sensors to achieve rocking frequency, phase tracking and rocking amplitude control, which is costly. Summary of the Invention

[0003] To address the above-mentioned problems, embodiments of the present application provide a swing drive control device and method, which achieves swing frequency, phase tracking, and swing amplitude control without using sensors.

[0004] An embodiment of the present application provides a control method for a swing drive device, wherein the drive device includes an MCU control board and a motor drive mechanism, wherein the MCU control board is used to set and control the start time of the motor drive mechanism, and the method includes: An ADC voltage sampling circuit is added to the motor drive circuit, and the ADC sampling circuit of the MCU collects the voltage across the motor to obtain the motor back electromotive force voltage; The comparator is used to detect the zero point of the motor back electromotive force voltage. Every time the motor swings to the extreme position, the motor back electromotive force voltage crosses the zero point, and the current swing amplitude is sampled and calculated. Calculate the energy gap of the next cycle based on the current swing amplitude and target swing amplitude; Obtaining a linear relationship between the energy gap and the pulse time to obtain the pulse time required for each unit energy gap; The pulse time applied in the next half cycle is calculated based on the pulse time required per unit energy gap.

[0005] In one embodiment, at each swing limit position, when the back electromotive force passes through zero, sampling and calculating the current swing amplitude further includes: The speed-amplitude relationship modeling is to indirectly measure the swing amplitude through the motor back electromotive force voltage and establish the mathematical relationship between the motor back electromotive force and the swing amplitude θ current =K1⋅V BEMF ; θ curren is the swing amplitude, V BEMF is the motor back electromotive force voltage, K1 is a comprehensive constant that needs to be calibrated experimentally; Method for obtaining comprehensive constant K1 through experimental calibration: Measure the corresponding motor back electromotive force voltage at multiple known swing amplitudes; Fitting θ by the least squares methodcurrent With V BEMF The linear relationship between , find K1.

[0006] In one embodiment, the energy gap of the next cycle is calculated based on the current swing amplitude and the target swing amplitude. The formula for calculating the energy gap is: is the energy gap, L is the pendulum length (the distance from the rocking chair's rotation axis to the center of gravity), m is the rocking chair's mass, g is the acceleration due to gravity, and θ is the gravitational acceleration. current Current swing amplitude, θ target Target swing amplitude.

[0007] In one embodiment, obtaining the linear relationship between the energy gap and the pulse time to obtain the pulse time required per unit energy gap includes: The linear relationship between the energy gap ΔE and the pulse time tpulse is established through experiments: t pulse =k²⋅ΔE Where k2 is the pulse time required per unit energy gap.

[0008] In one embodiment, the step of obtaining K2 includes: The first step is to calibrate the damping energy loss ΔE through a free decay experiment, which further includes: Record the swing amplitudes θ1, θ2, …, θ for N consecutive cycles n+1 ; Calculate the average energy gap ΔE per cycle: m is the equivalent mass, g is the acceleration due to gravity, and L is the pendulum length; The second step is to conduct pulse response calibration test to test the corresponding swing amplitude increment and energy gap ΔE under different tpulse; The third step is to perform linear regression on the data tpulse and ΔE to obtain K2.

[0009] In one embodiment, the seat rocking amplitude is maintained constant by calculating the pulse time applied in the next half cycle and setting the motor gear. Specifically, the motor has N gears, N takes values of 0, 1, 2, 3, and 4, and each gear represents a motor switching mode. The seat rocking amplitude is dynamically controlled by controlling the motor forward rotation time and the motor stop time per unit time to ensure that the seat rocking amplitude remains constant.

[0010] In one embodiment, each gear position represents a motor switching mode further comprising: Initial setting: set the motor forward rotation time to M milliseconds and the motor stop time to P milliseconds. At this time, the motor gear is 1.

[0011] When the motor switches from gear 1 to gear 2, the motor switches T1 times every second. The motor operation control method is as follows: The motor forward rotation time increases by S milliseconds each time from M milliseconds, and the motor stop time decreases by S milliseconds each time from P milliseconds; At the T1 time, the motor rotates forward for M+ST1, and stops for P-ST1. This is the 2nd gear position.

[0012] When the motor is switched from level 2 to level 3, the motor is switched T2 times every second. The motor operation control method is as follows: The motor forward rotation time increases by S milliseconds each time from M+ST1, and the motor stop time decreases by S milliseconds each time from P-ST1 milliseconds; At the T2 time, the motor rotates forward for M+ST1+ST2, and stops for P-ST1-ST2. At this time, the motor is in the 3rd gear.

[0013] The present application also provides a swing drive device, which includes an MCU control board and a motor drive mechanism. The MCU control board is used to set and control the start time of the motor drive mechanism. An ADC voltage sampling circuit is added to the motor drive circuit, and the voltage across the motor is collected by the ADC sampling circuit of the MCU to obtain the motor back electromotive force voltage; The comparator is used to detect the zero point of the motor back EMF voltage at each swing limit position. At this time, the motor back EMF voltage crosses the zero point, and the current swing amplitude is sampled and calculated; The MCU control board calculates the energy gap of the next cycle based on the current swing amplitude and target swing amplitude; The MCU control board obtains the pulse time required for each unit energy gap based on the obtained linear relationship between the energy gap and the pulse time; The MCU control board calculates the pulse time applied in the next half cycle based on the pulse time required for each unit energy gap.

[0014] The present application also provides a swing, comprising the above-mentioned swing drive control device.

[0015] The present application also provides an infant dining rocking chair, which includes the rocking drive control device described above.

[0016] At least one of the above technical solutions adopted in the embodiments of the present application can achieve the following beneficial effects: The baby dining rocker driven by the swing drive device of the present invention does not need to use sensorless measurement of swing angle and angular velocity, thus saving costs. The patented drive structure of the present invention is simple, has higher operational reliability, and is lower in cost, and is worthy of promotion. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings: Figure 1 A schematic flow chart of a driving method for a swing driving device according to an embodiment of the present application is shown.

[0018] Figure 2 The invention relates to a baby dining rocking chair which adopts the rocking drive device of the present application. DETAILED DESCRIPTION

[0019] To make the purpose, technical solutions, and advantages of this application more clear, the technical solutions of this application will be clearly and completely described below in conjunction with the specific embodiments of this application and the corresponding drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0020] The following describes in detail the technical solutions provided by various embodiments of the present application in conjunction with the accompanying drawings.

[0021] Existing automatic swings and rocking chairs are generally driven by motors to rock the rocking parts. The rocking resonance controller requires special sensors to achieve rocking frequency, phase tracking and rocking amplitude control, which is costly.

[0022] The present application discloses a swing drive device and a control method, and an infant dining seat rocking chair. The infant dining seat rocking chair driven by the swing drive device of the present application does not need to use a sensorless method to measure the swing angle and angular velocity, thereby saving costs.

[0023] The infant dining rocker disclosed in this application is primarily comprised of three components: 1. Mainboard control unit 2. Motor deceleration and torque-increasing drive unit 3. Forward and backward rocking of the dining table rocker frame. The control board primarily utilizes the MCU to control the DC motor's single-phase power-up and operating time. While the main body is connected to the frame and bearing weight, the angle of forward and backward movement cannot be precisely controlled. However, the motor's unidirectional operation allows for excellent and simple control of the forward and backward rocking amplitude. The motor's reduction gearbox provides a simpler, less forward and backward push-free operation, enhancing the natural feel of the rocker's forward and backward rocking. Furthermore, the rocker provides a naturally falling rocking experience when rocked at different angles.

[0024] The MCU's power-up sequence is a 5ms power-up followed by a 5ms pause, which then increases. Once the motor reaches a certain amplitude in one direction, the chair naturally slides down along its central axis due to the chair's weight and the rocking amplitude. Once the motor's rocking amplitude reaches the preset time, the chair enters a stable, timed, unidirectional power-up sequence: unidirectional power-up, stop, slide, unidirectional power-up, stop, slide, and so on. The motor's gearbox, powered by the motor, rotates at a reduced speed through a gearbox. This gearbox drives the central axis to exert force on the main body's swing arm. This unidirectional motor rotation drives the gearbox, which, in turn, drives the central fixed axis. This fixed axis, in turn, receives power from the gearbox, driving its swing arm forward and backward, causing the main body to rock back and forth. After the main body carries its weight, the main frame achieves a well-organized and natural back-and-forth rocking effect when the motor is powered on and off.

[0025] Main frame: The frame is opened to connect to the seat cradle. The fulcrum of the seat cradle is similar to a triangle with the left and right sides supported and the center point vertically downward.

[0026] This solution uses a sensorless amplitude control method. If the swing amplitude is maintained constant, according to energy balance control, the swing amplitude is positively correlated with the input energy. Since the swing amplitude is determined by the balance between the motor input energy and the system energy consumption (friction, air resistance, etc.), the amplitude is controlled by adjusting the energy injected per cycle to compensate for the system energy consumption. A swinging load (such as a swing arm) generates a back electromotive force during movement, and its frequency and phase are synchronized with the mechanical motion.

[0027] The swing state needs to be indirectly inferred from motor characteristics (such as back EMF and current) and the energy input needs to be adjusted dynamically. The swing amplitude is positively correlated with the input energy, and the amplitude is controlled by adjusting the energy injected per cycle.

[0028] In the case where the motor is a DC motor, the control method of the swing drive device of the present application is as follows: Figure 1 As shown, the driving device includes an MCU control board and a motor drive mechanism. The MCU control board is used to set and control the start time of the motor drive mechanism. The specific implementation steps are as follows: S10: Add an ADC voltage sampling circuit to the motor drive circuit, and use the ADC sampling circuit of the MCU to collect the voltage across the motor to obtain the motor back electromotive force voltage.

[0029] S20: Use the comparator to detect the zero point of the motor back electromotive force voltage. Every time the motor swings to the extreme position, the back electromotive force voltage passes through the zero point, and the current swing amplitude is sampled and calculated.

[0030] Each time the motor swings to its limit (i.e. the point where the speed is zero), a short pulse of fixed width and voltage is applied to the motor to provide constant energy to compensate for the damping loss.

[0031] When a direction switch is detected, a forward / reverse voltage pulse of a fixed duration (e.g. 12V, 100ms) is immediately applied. The details are as follows: The speed-amplitude relationship modeling is to indirectly measure the swing amplitude through the motor back electromotive force voltage and establish the mathematical relationship between the motor back electromotive force and the swing amplitude θ current =K1⋅V BEMF ; θ curren is the swing amplitude, V BEMF is the motor back electromotive force voltage, K1 is a comprehensive constant that needs to be calibrated experimentally; Method for obtaining comprehensive constant K1 through experimental calibration: Measure the corresponding motor back electromotive force voltage at multiple known swing amplitudes; Fitting θ by the least squares method current With V BEMF The linear relationship between , find K1.

[0032] In a sensorless DC motor-driven rocking chair system, the speed-amplitude relationship modeling is to indirectly measure the swing speed through back electromotive force (Back-EMF) and establish a mathematical relationship between it and the swing amplitude.

[0033] The maximum swing speed vmax and the swing amplitude θ current (radians) relationship: vmax=L⋅ω⋅θ current in: L: Pendulum length (the distance from the rocking chair's rotation axis to the center of gravity).

[0034] ω=g / L: natural angular frequency of the system (g is the acceleration due to gravity).

[0035] The relationship between back electromotive force BEMF and motor speed ωmotor: VBEMF=ke⋅ωmotor ke is the motor back electromotive force constant (unit: V / (rad / s)), which can be obtained from the motor manual or calibrated through experiments.

[0036] The steps for modeling the speed-amplitude relationship are as follows: Measuring Back EMF vs. Swing Speed Experimental data collection: Manually push the rocking chair and record the peak back EMF at different amplitudes (using the ADC to sample the voltage across the motor).

[0037] At the same time, use external tools (such as camera + marker) to measure the actual swing amplitude θ current .

[0038] Calibrated speed-back EMF relationship: The relationship between the oscillation speed vmax and the motor speed ωmotor depends on the transmission ratio (e.g., gearbox). For direct drive, ωmotor = vmax / r (r is the motor shaft radius).

[0039] Through linear fitting, we get: VBEMF=k⋅vmax+c (c is the offset, which can be ignored) Build an amplitude-velocity model In the simple pendulum model, the relationship between the maximum velocity vmax and the amplitude θmax (radians) is: L: Pendulum length (the distance from the axis of rotation to the center of gravity).

[0040] Simplified model: θmax=K1⋅VBEMF (K1 is a comprehensive constant and requires experimental calibration) Experimental calibration constant K1: At multiple known amplitudes θmax (such as 10°, 20°, and 30°), measure the corresponding VBEMF peak values.

[0041] Use the least squares method to fit the linear relationship between θmax and VBEMF and calculate K1.

[0042] In another scenario of the present application, changes in the weight or position of the child will change the pendulum length L and the damping coefficient, requiring recalibration of K. New ω and K are fitted through multiple swing attenuation experiments.

[0043] Using back-EMF calibration and a simple pendulum model, a linear velocity-amplitude relationship can be established. In practical applications, dynamic adjustment of model parameters based on experimental data is required, and real-time compensation for damping losses (e.g., energy pulse methods) must be implemented in the control algorithm.

[0044] When amplitude decay is detected, a fixed energy pulse is applied at the swing direction switching point (when velocity is zero). System damping (friction, air resistance) can cause amplitude decay, requiring real-time energy adjustment, dynamically adjusted based on the recent amplitude decay rate.

[0045] S30, calculating the energy gap of the next cycle based on the obtained current swing amplitude and target swing amplitude. The formula for calculating the energy gap is: is the energy gap, L is the pendulum length (the distance from the rocking chair's rotation axis to the center of gravity), m is the rocking chair's mass, g is the acceleration due to gravity, and θ is the gravitational acceleration. current Current swing amplitude, θ target Target swing amplitude.

[0046] S40, obtaining a linear relationship between the energy gap and the pulse time, and obtaining the pulse time required for each unit energy gap includes: The linear relationship between the energy gap ΔE and the pulse time tpulse is established through experiments: t pulse =k²⋅ΔE Where k2 is the pulse time required per unit energy gap.

[0047] In the present application, the swing direction switching point is detected, and when the back electromotive force passes through zero (the speed is zero), it is determined to be the amplitude peak point.

[0048] Calculate the energy gap: Compare the current amplitude θcurrent with the target amplitude θtarget: S50, calculating the pulse time applied in the next half cycle according to the pulse time required for each unit energy gap.

[0049] If ΔE > 0: Apply a pulse in the next half cycle with a duration of tpulse = k2⋅ΔE (k2 is the calibration factor). The pulse direction is the same as the current swing direction.

[0050] In each swing, the energy consumed by damping ΔE must be compensated by the motor pulse. The pulse energy Epulse should meet the following requirements: Epulse=V⋅I⋅tpulse≈ΔE, (V is the driving voltage, I is the average current, and tpulse is the pulse time) The pulse is applied at the extreme position where the velocity is zero and is directly converted into potential energy, avoiding interference with the swing dynamics.

[0051] In this application, the steps for obtaining K2 include: The first step is to calibrate the damping energy loss ΔE through a free decay experiment, which further includes: Record the swing amplitude θ1,θ for N consecutive cycles 2,…,θn+1 ; Calculate the average energy gap ΔE per cycle: m is the equivalent mass, g is the acceleration due to gravity, and L is the pendulum length; The second step is to conduct pulse response calibration test to test the corresponding swing amplitude increment and energy gap ΔE under different tpulse; The third step is to perform linear regression on the data tpulse and ΔE to obtain K2.

[0052] Increase the load (e.g. +2kg), repeat the calibration, and observe the changing trend of etpulse.

[0053] If the load changes frequently, tpulse can be adjusted dynamically according to the current: tpulse=V⋅ImeasuredΔE.

[0054] This application ensures that the seat rocking amplitude remains unchanged by calculating the pulse time applied in the next half cycle and by setting the motor gear. Specifically, the motor has N gears, N takes values of 0, 1, 2, 3, 4, and each gear represents a motor switching mode. The seat rocking amplitude is dynamically controlled by controlling the motor forward rotation time and the motor stop time per unit time to ensure that the seat rocking amplitude remains unchanged.

[0055] Each gear represents a motor switching mode further including: Initial setting: set the motor forward rotation time to M milliseconds and the motor stop time to P milliseconds. At this time, the motor gear is 1.

[0056] When the motor switches from gear 1 to gear 2, the motor switches T1 times every second. The motor operation control method is as follows: The motor forward rotation time increases by S milliseconds each time from M milliseconds, and the motor stop time decreases by S milliseconds each time from P milliseconds; At the T1 time, the motor rotates forward for M+ST1, and stops for P-ST1. This is the 2nd gear position.

[0057] When the motor is switched from level 2 to level 3, the motor is switched T2 times every second. The motor operation control method is as follows: The motor forward rotation time increases by S milliseconds each time from M+ST1, and the motor stop time decreases by S milliseconds each time from P-ST1 milliseconds; At the T2 time, the motor rotates forward for M+ST1+ST2, and stops for P-ST1-ST2. At this time, the motor is in the 3rd gear.

[0058] The following examples illustrate this: Motor gear: 0 gear stop 1 2 3 total 4 gears 1. Motor stop state -> Motor working state Shift from 0 to 1 Before starting work, let the motor rotate forward for 1 second The cycle motor rotates forward for 320 milliseconds and stops for 880 milliseconds, which is gear 1. Switching from gear 1 to gear 2, the forward rotation time of the logic motor increases from 320 milliseconds and stops from 880 milliseconds and decreases accordingly. The execution time per second is: {Motor forward rotation time 320 milliseconds, stop time 870 milliseconds The motor rotates forward for 330 milliseconds and stops for 860 milliseconds. Motor forward rotation time 340 ms, stop time 850 ms The motor rotates forward for 350 milliseconds and stops for 840 milliseconds. The motor rotates forward for 360 milliseconds and stops for 830 milliseconds. The motor rotates forward for 370 milliseconds and stops for 820 milliseconds. Motor forward rotation time 380 milliseconds, stop time 810 milliseconds Motor forward rotation time 390 milliseconds, stop time 800 milliseconds The motor rotates forward for 410 milliseconds and stops for 790 milliseconds. The motor rotates forward for 420 milliseconds and stops for 780 milliseconds. The cycle motor rotates forward for 420 milliseconds and stops for 780 milliseconds. This is gear 2. Switching from 2nd gear to 3rd gear, the forward rotation time of the logic motor increases from 420 milliseconds and stops from 780 milliseconds and decreases The execution time per second is: The motor rotates forward for 430 milliseconds and stops for 770 milliseconds. The motor rotates forward for 440 milliseconds and stops for 760 milliseconds. The motor rotates forward for 450 milliseconds and stops for 750 milliseconds. The motor rotates forward for 460 milliseconds and stops for 740 milliseconds. The motor rotates forward for 470 milliseconds and stops for 730 milliseconds. The motor rotates forward for 480 milliseconds and stops for 720 milliseconds. The motor rotates forward for 490 milliseconds and stops for 710 milliseconds. Motor forward rotation time 500 milliseconds, stop time 700 milliseconds The motor rotates forward for 510 milliseconds and stops for 690 milliseconds. The motor rotates forward for 520 milliseconds and stops for 680 milliseconds. The motor rotates forward for 530 milliseconds and stops for 670 milliseconds. The motor rotates forward for 540 milliseconds and stops for 660 milliseconds. The motor rotates forward for 550 milliseconds and stops for 650 milliseconds. The motor rotates forward for 560 milliseconds and stops for 640 milliseconds. The motor rotates forward for 570 milliseconds and stops for 630 milliseconds. The motor rotates forward for 580 milliseconds and stops for 620 milliseconds. The motor rotates forward for 590 milliseconds and stops for 610 milliseconds. The motor rotates forward for 600 milliseconds and stops for 600 milliseconds. The motor rotates forward for 610 milliseconds and stops for 590 milliseconds. The motor rotates forward for 620 milliseconds and stops for 580 milliseconds. The cycle motor rotates forward for 620 milliseconds and stops for 580 milliseconds. This is gear 3. The present application also provides a swing drive device, which includes an MCU control board and a motor drive mechanism. The MCU control board is used to set and control the start time of the motor drive mechanism. An ADC voltage sampling circuit is added to the motor drive circuit, and the voltage across the motor is collected by the ADC sampling circuit of the MCU to obtain the motor back electromotive force voltage; The comparator is used to detect the zero point of the motor back EMF voltage at each swing limit position. At this time, the motor back EMF voltage crosses the zero point, and the current swing amplitude is sampled and calculated; The MCU control board calculates the energy gap of the next cycle based on the current swing amplitude and target swing amplitude; The MCU control board obtains the pulse time required for each unit energy gap based on the obtained linear relationship between the energy gap and the pulse time; The MCU control board calculates the pulse time applied in the next half cycle based on the pulse time required for each unit energy gap.

[0059] The present application also provides a swing, comprising the above-mentioned swing drive control device.

[0060] This application also provides a baby dining rocking chair, see Figure 2, including the use of the aforementioned swing drive control device. Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROMs, optical storage, etc.) containing computer-usable program code.

[0061] The foregoing is merely an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A control method for a swing drive device, characterized in that: The driving device includes an MCU control board and a motor drive mechanism. The MCU control board is used to set and control the start time of the motor drive mechanism. The method includes: An ADC voltage sampling circuit is added to the motor drive circuit, and the ADC sampling circuit of the MCU collects the voltage across the motor to obtain the motor back electromotive force voltage; The comparator is used to detect the zero point of the motor back electromotive force voltage. Every time the motor swings to the extreme position, the motor back electromotive force voltage crosses the zero point, and the current swing amplitude is sampled and calculated. Calculate the energy gap of the next cycle based on the current swing amplitude and target swing amplitude; Obtaining a linear relationship between the energy gap and the pulse time to obtain the pulse time required for each unit energy gap; The pulse time applied in the next half cycle is calculated based on the pulse time required per unit energy gap.

2. The control method of the swing drive device according to claim 1, characterized in that: At each swing limit position, when the back electromotive force passes through zero, sampling and calculating the current swing amplitude further includes: The speed-amplitude relationship modeling is to indirectly measure the swing amplitude through the motor back electromotive force voltage and establish the mathematical relationship between the motor back electromotive force and the swing amplitude θ current =K1⋅V BEMF ; θ curren is the swing amplitude, V BEMF is the motor back electromotive force voltage, K1 is a comprehensive constant that needs to be calibrated experimentally; Method for obtaining comprehensive constant K1 through experimental calibration: Measure the corresponding motor back electromotive force voltage at multiple known swing amplitudes; Fitting θ by the least squares method current With V BEMF The linear relationship between , find K1.

3. The control method of the swing drive device according to claim 1, wherein: The energy gap of the next cycle is calculated based on the current swing amplitude and target swing amplitude. The formula for calculating the energy gap is: is the energy gap, L is the pendulum length (the distance from the rocking chair's rotation axis to the center of gravity), m is the rocking chair's mass, g is the acceleration due to gravity, and θ is the gravitational acceleration. current Current swing amplitude, θ target Target swing amplitude.

4. The control method of the swing drive device according to claim 1, wherein: Obtaining the linear relationship between the energy gap and the pulse time, and obtaining the pulse time required per unit energy gap includes: The linear relationship between the energy gap ΔE and the pulse time tpulse is established through experiments: t pulse =k2⋅ΔE Where k2 is the pulse time required per unit energy gap.

5. The control method of the swing driving device according to claim 4, characterized in that: The steps to obtain K2 include: The first step is to calibrate the damping energy loss ΔE through a free decay experiment, which further includes: Record the swing amplitude θ1,θ for N consecutive cycles 2,…,θn+1 ; Calculate the average energy gap ΔE per cycle: m is the equivalent mass, g is the acceleration due to gravity, and L is the pendulum length; The second step is to conduct pulse response calibration test to test the corresponding swing amplitude increment and energy gap ΔE under different tpulse; The third step is to perform linear regression on the data tpulse and ΔE to obtain K2.

6. The control method of the swing drive device according to claim 1, wherein: By calculating the pulse time applied in the next half cycle and setting the motor gear, the seat rocking amplitude is ensured to remain unchanged. Specifically, the motor has N gears, N takes values of 0, 1, 2, 3, and 4, and each gear represents a motor switching mode. The seat rocking amplitude is dynamically controlled by controlling the motor forward rotation time and the motor stop time per unit time to ensure that the seat rocking amplitude remains unchanged.

7. The control method of the swing drive device according to claim 1, wherein: Each gear represents a motor switching mode further including: Initial settings: set the motor forward rotation time to M milliseconds and the motor stop time to P milliseconds. At this time, the motor gear is 1; When the motor switches from gear 1 to gear 2, the motor switches T1 times every second. The motor operation control method is as follows: The motor forward rotation time increases by S milliseconds each time from M milliseconds, and the motor stop time decreases by S milliseconds each time from P milliseconds; At the T1 time, the motor rotates forward for M+ST1, and stops for P-ST1. At this time, it is the 2nd gear position. When the motor is switched from level 2 to level 3, the motor is switched T2 times every second. The motor operation control method is as follows: The forward rotation time of the motor increases by S milliseconds each time from M+ST1, and the stop time of the motor decreases by S milliseconds each time from P-ST1 milliseconds; At the T2 time, the motor rotates forward for M+ST1+ST2, and stops for P-ST1-ST2. At this time, the motor is in the 3rd gear.

8. A swing drive device, characterized in that: The driving device includes an MCU control board and a motor drive mechanism. The MCU control board is used to set and control the start time of the motor drive mechanism. An ADC voltage sampling circuit is added to the motor drive circuit, and the voltage across the motor is collected by the ADC sampling circuit of the MCU to obtain the motor back electromotive force voltage; The comparator is used to detect the zero point of the motor back EMF voltage at each swing limit position. At this time, the motor back EMF voltage crosses the zero point, and the current swing amplitude is sampled and calculated; The MCU control board calculates the energy gap of the next cycle based on the current swing amplitude and target swing amplitude; The MCU control board obtains the pulse time required for each unit energy gap based on the obtained linear relationship between the energy gap and the pulse time; The MCU control board calculates the pulse time applied in the next half cycle based on the pulse time required for each unit energy gap.

9. A swing, characterized in that: The invention comprises adopting the swing drive control device according to claim 6.

10. A rocking chair, characterized in that: It includes the swing drive control device according to claim 6.

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