Control method and control device of movement mechanism and air treatment equipment

Abstract

The invention discloses a control method and a control device of a movement mechanism and air treatment equipment, which are beneficial to improving the vacant position phenomenon of an operating part in the operating process. The movement mechanism comprises a running part, a first driving mechanism and a second driving mechanism; the first driving mechanism comprises a first motor, and the second driving mechanism comprises a second motor; the control method comprises the following steps: before an operating part reaches a virtual position, controlling a first motor and a second motor to drive the operating part in a first motion mode until the matching state of the operating part with a first driving mechanism and a second driving mechanism reaches a set virtual position prevention matching state; the angular velocity omega1 of the first motor is different from the angular velocity omega2 of the second motor in the first motion mode; based on the fact that the matching state of the operation part and the first driving mechanism and the matching state of the operation part and the second driving mechanism reach the set anti-clearance matching state, the first motor and the second motor are controlled to rotate at the same angular speed omega3, so that the operation part can rotate along with the first motor and the second motor and rotate beyond the clearance position.

Description

Technical Field

[0001] This application relates to, but is not limited to, the field of air handling equipment technology, specifically to a control method, control device, and air handling equipment for a motion mechanism. Background Technology

[0002] Some moving parts employ a dual-drive mechanism, meaning both ends of the rotating shaft of the part have drive mechanisms providing driving force. However, due to unavoidable assembly gaps, the moving parts exhibit play during large-angle operation. For example, in related technologies, some air handling equipment uses a dual-motor drive for the air guide plate, meaning both ends of the air guide plate have motors providing driving force. However, due to unavoidable assembly gaps, the air guide plate exhibits play during operation (such as sudden large-angle swing), affecting the user experience. Summary of the Invention

[0003] The technical problem to be solved by this application is to provide a control method, control device and air treatment equipment for a motion mechanism, which is beneficial to improving the misalignment phenomenon of moving parts during operation.

[0004] This application provides a control method for a motion mechanism, characterized in that the motion mechanism includes a rotating component and a first drive mechanism and a second drive mechanism connected to the rotating component; the rotating component is configured to rotate under the drive of the first drive mechanism and the second drive mechanism, and can pass through a false position during rotation; the first drive mechanism includes at least a first motor, and the second drive mechanism includes at least a second motor; the control method includes: Before the operating component reaches the virtual position, the first motor and the second motor are controlled to drive the operating component in a first motion mode until the cooperation state between the operating component and the first drive mechanism and the second drive mechanism reaches the set anti-virtual cooperation state; in the first motion mode, the angular velocity ω1 of the first motor and the angular velocity ω2 of the second motor are different. Based on the cooperation state between the operating component and the first and second drive mechanisms to achieve the set anti-false-position cooperation state, the first motor and the second motor are controlled to rotate at the same angular velocity ω3, so that the operating component can rotate together with the first motor and the second motor and pass through the false position.

[0005] The control method for the motion mechanism provided in this application eliminates the practice of always synchronously rotating the first motor and the second motor. By making the first motor and the second motor rotate at different speeds, the cooperation state between the moving part and the first drive mechanism and the second drive mechanism reaches a set anti-misalignment cooperation state. In the anti-misalignment cooperation state, it is difficult for the moving part to rotate relative to the first drive mechanism and the second drive mechanism. Therefore, the first motor and the second motor rotate at the same angular velocity, so that the moving part can rotate together and smoothly pass through the misalignment position, thereby helping to improve the misalignment phenomenon of the moving part during operation.

[0006] Based on the above technical solution, the following improvements can be made to this application.

[0007] In an exemplary embodiment, in the step of until the cooperation state between the operating component and the first drive mechanism and the second drive mechanism reaches the set anti-false-position cooperation state, based on the set phase difference Δα generated between the first motor and the second motor, it is determined that the cooperation state between the operating component and the first drive mechanism and the second drive mechanism has reached the set anti-false-position cooperation state.

[0008] In an exemplary embodiment, the virtual angle that the operating component can generate during operation is α, |α-△α|≤αs, where αs is a set angle threshold and αs>0°.

[0009] In one exemplary embodiment, the control method further includes: After the rotating component passes the virtual position, the first motor and the second motor are controlled to drive the rotating component in a second motion mode until the operating component and the first drive mechanism and the second drive mechanism reach a set synchronous drive engagement state. In the second motion mode, the angular velocity ω4 of the first motor and the angular velocity ω5 of the second motor are different.

[0010] In an exemplary embodiment, in the step of until the operating component and the first drive mechanism and the second drive mechanism reach a set synchronous drive engagement state, it is determined that the operating component and the first drive mechanism and the second drive mechanism have reached the set synchronous drive engagement state based on the absence of a phase difference between the first motor and the second motor.

[0011] In an exemplary embodiment, ω1 is a fixed value or a non-fixed value, ω2 is a fixed value or a non-fixed value, ω3 is a fixed value or a non-fixed value, ω4 is a fixed value or a non-fixed value, and ω5 is a fixed value or a non-fixed value. Wherein, the average value of ω1 > the average value of ω2, the average value of ω4 < the average value of ω5, ω2 ≥ 0, ω4 ≥ 0; or, the average value of ω1 < the average value of ω2, the average value of ω4 > the average value of ω5 ≥ 0, ω1 ≥ 0, ω5 ≥ 0.

[0012] In one exemplary embodiment, the control method further includes: Based on the fact that the operating component and the first and second drive mechanisms have reached a set synchronous drive engagement state, the first motor and the second motor are controlled to rotate at the same angular velocity ω6.

[0013] In one exemplary embodiment, ω6 is a fixed value or a non-fixed value; and / or, ω6 = ω3.

[0014] In one exemplary embodiment, the control method further includes: During the process of the rotating component rotating toward the virtual position, before controlling the first motor and the second motor to drive the rotating component in the first motion mode, the first motor and the second motor are controlled to rotate at the same angular velocity ω0.

[0015] In one exemplary embodiment, ω0 is a fixed value or a non-fixed value; and / or, ω0 = ω3.

[0016] In an exemplary embodiment, the rotating component is configured to reciprocate under the drive of the first driving mechanism and the second driving mechanism. The virtual position traversed by the rotating component during forward rotation is denoted as the first virtual position; the virtual position traversed by the rotating component during reverse rotation is denoted as the second virtual position; the first virtual position and the second virtual position are different; the control method further includes: Before starting the first motor and / or the second motor, determine the rotation direction of the operating component; The corresponding virtual position is determined according to the rotation direction of the operating component; wherein, based on the rotation direction of the operating component being the positive direction, the virtual position is the first virtual position; based on the rotation direction of the operating component being the negative direction, the virtual position is the second virtual position.

[0017] In one exemplary embodiment, the operating component can pass through multiple different dummy positions during unidirectional operation; In the step of controlling the first motor and the second motor to drive the operating component in a first motion mode before the operating component reaches the virtual position, the virtual position is the virtual position that is closest to the current position in the current rotation direction of the operating component; In the step of controlling the first motor and the second motor to rotate at the same angular velocity ω3 so that the moving component can rotate together with the first motor and the second motor and pass through the virtual position, the virtual position is the virtual position closest to the current position in the current rotation direction of the moving component.

[0018] This application also provides a control device, including a processor and a memory storing a computer program, wherein the processor executes the computer program to implement the steps of the control method as described in any of the above embodiments.

[0019] This application also provides an air handling device, including the control device as described in the above embodiments and at least one of the aforementioned motion mechanisms.

[0020] In one exemplary embodiment, the operating component is a wind deflector, and the motion mechanism is a wind deflector mechanism. Attached Figure Description

[0021] Figure 1 This application provides structural schematic diagrams of a motion mechanism for some embodiments, wherein the motion mechanism is an air guide mechanism; Figure 2 for Figure 1 A schematic diagram illustrating the principle and structure of one motion process of the motion mechanism shown. Figure 3 for Figure 1 A schematic diagram illustrating the principle and structure of another motion process of the motion mechanism shown; Figure 4 for Figure 3 A magnified schematic diagram of the local structure; Figure 5 A flowchart illustrating the control method of a motion mechanism provided in some embodiments of this application; Figure 6 A flowchart illustrating the control method of a motion mechanism provided in some embodiments of this application; Figure 7 A flowchart illustrating a control method for a motion mechanism provided in one embodiment of this application; Figure 8 This is a schematic diagram of the first state of the air guide mechanism provided in an embodiment of this application, wherein the air guide plate is located in the first position; Figure 9 This is a schematic diagram of the first state of the air guide mechanism provided in an embodiment of this application, wherein the air guide plate is located in the second position; Figure 10 This is a schematic diagram of the first state of the air guide mechanism provided in an embodiment of this application, wherein the air guide plate is located in the third position; Figure 11This is a schematic diagram of the first state of the air guide mechanism provided in an embodiment of this application, wherein the air guide plate is located in the fourth position; Figure 12 This is a schematic diagram of the first state of the air guide mechanism provided in an embodiment of this application, wherein the air guide plate is located in the fifth position; Figure 13 for Figure 8 A partially enlarged structural diagram; Figure 14 for Figure 9 A partially enlarged structural diagram; Figure 15 for Figure 10 A partially enlarged structural diagram; Figure 16 for Figure 11 A partially enlarged structural diagram; Figure 17 for Figure 12 A partially enlarged structural diagram.

[0022] Figures 1 to 4 as well as Figures 8 to 17 The list of components represented by each number is as follows: 1 First motor, 2 Second motor, 3 Moving parts, 4 Air guide plate, 5 Air outlet. Detailed Implementation

[0023] The principles and features of this application are described below with reference to the accompanying drawings. The examples given are only for explaining this application and are not intended to limit the scope of this application.

[0024] This application provides a method for controlling a motion mechanism. For example... Figure 1 As shown, the motion mechanism includes a rotating component 3 and a first drive mechanism and a second drive mechanism connected to the rotating component 3. The rotating component 3 is configured to rotate under the drive of the first drive mechanism and the second drive mechanism, and during rotation, it can pass through a play position, such as... Figure 2 and Figure 3 As shown. The first drive mechanism and the second drive mechanism can be connected to both ends of the operating component 3, respectively. Alternatively, the first drive mechanism can be connected to a part in the middle of the operating component 3 instead of the ends. Similarly, the second drive mechanism can be connected to a part in the middle of the operating component 3 instead of the ends.

[0025] like Figure 1As shown, the first drive mechanism includes at least a first motor 1. The second drive mechanism includes at least a second motor 2. The transmission ratio between the first motor 1 and the moving part 3 is i1, and the transmission ratio between the second motor 2 and the moving part 3 is i2, where i1 = i2. The first motor 1 can be, but is not limited to, a stepper motor. The second motor 2 can be, but is not limited to, a stepper motor. The relative positions of the first motor 1 and the second motor 2 are not limited; the first motor 1 can be on the left and the second motor 2 on the right, or the first motor 1 can be on the right and the second motor 2 on the left.

[0026] In conventional technology, the first motor 1 and the second motor 2 always rotate synchronously, so that the moving part 3 can rotate together under the combined drive of the first motor 1 and the second motor 2. However, due to the assembly gaps between the components and between the internal parts of the motors, the moving part 3 cannot always move precisely with the first motor 1 and the second motor 2. Instead, it may move at certain positions (such as near the gravity equilibrium position of the moving part 3, where the gravity equilibrium position refers to the position where the plane defined by the center of gravity of the moving part 3 and the axis of rotation of the moving part 3 is vertical). Figure 2 and Figure 3 As shown, a relatively large rotation will occur.

[0027] For example: Figure 2 As shown, when the rotation axis of the rotating component 3 is located at the lower part of the rotating component 3, taking the rotation of the rotating component 3 from right to left as an example, when the rotating component 3 rotates to a position near the left side of the gravity equilibrium position, the torque generated by the gravity of the rotating component 3 is equal to the torque generated by the friction force inside the motion mechanism (the corresponding position at this time is the virtual position of the rotating component 3). The rotating component 3 will suddenly swing to the left in a large manner under the action of gravity (i.e., generate virtual position) until it again blocks the first and second drive mechanisms. Similarly, when the rotating component 3 rotates in the opposite direction (i.e., from left to right), the virtual position is located near the right side of the gravity equilibrium position. Therefore, the virtual position is related to the rotation direction of the rotating component 3. In this case, the virtual position is located downstream of the gravity equilibrium position, and the angle α0 between the virtual position and the gravity equilibrium position can be recorded as the virtual position initiation angle.

[0028] Or, such as Figure 3As shown, when the rotation axis of the rotating component 3 is located at the top of the rotating component 3, taking the rotation of the rotating component 3 from left to right as an example, when the rotating component 3 rotates to a position near the left side of the gravity equilibrium position, the torque generated by the gravity of the rotating component 3 is equal to the torque generated by the friction force inside the motion mechanism (the corresponding position at this time is the virtual position of the rotating component 3). The rotating component 3 will suddenly stop (i.e., a virtual position is generated), while the two motors will continue to rotate until the first drive mechanism and the second drive mechanism again abut against the rotating component 3 (rotation angle β, from the left side wall of the motor shaft abutting against the air guide plate 4 to the right side wall of the motor shaft abutting against the air guide plate 4), thus enabling the rotating component 3 to continue rotating. Similarly, when the rotating component 3 rotates in the opposite direction (i.e., from right to left), the virtual position is located near the right side of the gravity equilibrium position. Therefore, the virtual position is related to the rotation direction of the rotating component 3.

[0029] The vacant position of the moving component 3 can be determined through testing during the experiment or through empirical observation. The vacant angle that the moving component 3 can produce can also be determined through testing during the experiment or through empirical observation.

[0030] To address the aforementioned misalignment problem, this application embodiment improves the control method for the motion mechanism.

[0031] Among them, such as Figure 5 As shown, the control methods include: Step S204: Before the moving component reaches the false position, control the first motor and the second motor to drive the moving component in a first motion mode until the cooperation state between the moving component and the first drive mechanism and the second drive mechanism reaches the set anti-false position cooperation state (e.g., Figure 15 and Figure 16 (As shown); Under the first motion mode, the angular velocity ω1 of the first motor is different from the angular velocity ω2 of the second motor; Step S206: Based on the cooperation state between the moving part and the first drive mechanism and the second drive mechanism to reach the set anti-misalignment cooperation state, control the first motor and the second motor to rotate at the same angular velocity ω3, so that the moving part can rotate synchronously with the first drive mechanism and the second drive mechanism in the anti-misalignment cooperation state, and make the moving part pass through the misalignment position.

[0032] During the rotation of the rotating component 3 towards the virtual position, due to the non-synchronous rotation of the first motor 1 and the second motor 2, a phase difference is generated between them, which in turn generates a phase difference between the first drive mechanism and the second drive mechanism. Specifically, the drive mechanism positioned further forward (i.e., the drive mechanism corresponding to the faster-rotating motor) will drive the rotating component 3 to rotate forward, while the drive mechanism positioned further back (i.e., the drive mechanism corresponding to the slower-rotating motor) will rotate relative to the rotating component 3 and come into contact with it. Thus, the first drive mechanism and the second drive mechanism abut against the rotating component 3 in opposite directions, effectively "clamping" the rotating component 3. Furthermore, the assembly gaps within both the first and second drive mechanisms gradually decrease due to the speed difference between the first motor 1 and the second motor 2, ultimately reaching a state where relative rotation between the rotating component 3 and the first and second drive mechanisms is difficult (e.g., ...). Figure 15 and Figure 16 As shown in the figure, the three components are in a coordinated state that achieves the set anti-misalignment state, which helps to prevent the moving component 3 from swinging significantly relative to the first drive mechanism and the second drive mechanism during operation.

[0033] Therefore, the control method for the motion mechanism provided in this application eliminates the practice of always synchronously rotating the first motor 1 and the second motor 2. By making the first motor 1 and the second motor 2 rotate at different speeds, the cooperation state between the moving part and the first drive mechanism and the second drive mechanism reaches a set anti-misalignment cooperation state. In the anti-misalignment cooperation state, it is difficult for the moving part 3 to rotate relative to the first drive mechanism and the second drive mechanism. Therefore, the first motor 1 and the second motor 2 rotate at the same angular velocity, so that the moving part 3 can rotate together and smoothly pass through the misalignment position, thereby helping to improve the misalignment phenomenon of the moving part 3 during operation.

[0034] Step S204 can be performed during the rotation of the moving component 3 towards the false position, that is, the moving component 3 has already started rotating, and this step is performed during the rotation of the moving component 3. Alternatively, step S204 can also be performed before the moving component 3 starts rotating, that is, before the moving component starts rotating, the cooperation state of the moving component 3 with the first drive mechanism and the second drive mechanism (hereinafter referred to as the cooperation state of the three) is adjusted to the set anti-false position cooperation state, and then the moving component is driven to rotate.

[0035] Therefore, during the operation of the rotating component 3, the coordination state of the three components can only maintain the anti-misalignment coordination state for a portion of the process. When a single motor is sufficient to support the entire operation of the rotating component 3, the coordination state of the three components can also maintain the anti-misalignment coordination state throughout the entire process.

[0036] It is worth noting that the number of drive mechanisms included in the motion mechanism is not limited to two; it can also include three, four, or more. In other words, the motion mechanism can also include a third drive mechanism, and even a fourth, fifth, or more drive mechanisms. Each drive mechanism can include one motor. Regardless of the number of drive mechanisms, as long as two of the motors (i.e., the first motor and the second motor) rotate at different speeds to achieve the set anti-misalignment engagement state between the moving part and the first and second drive mechanisms, while the control method of the other motors remains unchanged (e.g., always maintaining the same speed), a state in which relative rotation between the moving part 3 and all the drive mechanisms is difficult to occur can be achieved. Then, by making all the motors rotate at the same speed, the moving part can smoothly rotate through the misalignment position, thus solving the misalignment problem of the moving part.

[0037] Of course, there can also be three or more motors (i.e., at least the first motor and the second motor). By rotating at different speeds, the moving parts and multiple drive mechanisms can reach the set anti-misalignment engagement state. Then, all the motors can rotate at the same speed, so that the moving parts can smoothly pass through the misalignment position and solve the misalignment problem of the moving parts.

[0038] In some exemplary embodiments, such as Figures 1 to 4 As shown, the first driving mechanism is the first motor 1. The first motor 1 is directly connected to the operating component 3 and directly applies driving force to the operating component 3. The assembly gap inside the first motor 1 and the assembly gap between the first motor 1 and the operating component 3 may cause the operating component 3 to produce a false position, which may affect the false position angle that the operating component 3 can produce.

[0039] Alternatively, the first drive mechanism may also include a first transmission mechanism connected between the first motor 1 and the operating component 3. The first transmission mechanism may be, but is not limited to, a gear transmission mechanism. In this case, the assembly gap inside the first motor 1, the assembly gap between the first motor 1 and the first transmission mechanism, the assembly gap inside the first transmission mechanism, and the assembly gap between the first transmission mechanism and the operating component 3 may all cause the operating component 3 to have a play, and may all affect the play angle that the operating component 3 can produce.

[0040] In some exemplary embodiments, such as Figure 4 As shown, the second drive mechanism is the second motor 2. The second motor 2 is directly connected to the operating component 3 and directly applies driving force to the operating component 3. The assembly gap inside the second motor 2 and the assembly gap between the second motor 2 and the operating component 3 may cause the operating component 3 to produce play, which may affect the play angle that the operating component 3 can produce.

[0041] Alternatively, the second drive mechanism may also include a second transmission mechanism connected between the second motor 2 and the operating component 3. The second transmission mechanism may be, but is not limited to, a gear transmission mechanism. In this case, the assembly gap inside the second motor 2, the assembly gap between the second motor 2 and the second transmission mechanism, the assembly gap inside the second transmission mechanism, and the assembly gap between the second transmission mechanism and the operating component 3 may all cause the operating component 3 to have a play, and may all affect the play angle that the operating component 3 can produce.

[0042] In some exemplary embodiments, the rotating component 3 is configured to reciprocate under the drive of the first drive mechanism and the second drive mechanism. The virtual position traversed by the rotating component 3 during forward rotation is denoted as the first virtual position. The virtual position traversed by the rotating component 3 during reverse rotation is denoted as the second virtual position. The first virtual position and the second virtual position are different. One of the forward and reverse directions is clockwise, and the other is counterclockwise.

[0043] As for the amplitude of the forward rotation and the amplitude of the reverse rotation of the operating part 3, they can be the same or different. The trajectories of the forward and reverse rotation can completely overlap, completely not overlap, or partially overlap.

[0044] For example, the operating component 3 is configured to reciprocate between a first limit position and a second limit position under the drive of the first drive mechanism and the second drive mechanism. The virtual position traversed by the operating component 3 during its movement from the first limit position to the second limit position is denoted as the first virtual position. The virtual position traversed by the operating component 3 during its movement from the second limit position to the first limit position is denoted as the second virtual position. The first virtual position and the second virtual position are different.

[0045] Control methods also include: Before starting the first motor 1 and / or the second motor 2, determine the rotation direction of the rotating component 3; The corresponding virtual position is determined according to the rotation direction of the operating component 3; wherein, if the rotation direction of the operating component 3 is positive (e.g., the direction from the first limit position to the second limit position), the virtual position is the first virtual position; if the rotation direction of the operating component 3 is negative (e.g., the direction from the second limit position to the first limit position), the virtual position is the second virtual position.

[0046] Based on the previous explanation of the causes of the virtual position problem and combined with... Figure 2 and Figure 3It is known that the vacancy position is related to the rotation direction of the rotating component 3. Therefore, before starting the first motor 1 and / or the second motor 2, it is necessary to first determine the rotation direction of the rotating component 3, and determine the correct vacancy position according to the rotation direction of the rotating component 3, so as to ensure that the cooperation state between the rotating component 3 and the first drive mechanism and the second drive mechanism can reach the set anti-vacancy cooperation state before the correct vacancy position.

[0047] In some exemplary embodiments, the operating component 3 can pass through multiple different dummy positions during unidirectional operation. Therefore, in the above scheme, the number of first dummy positions can be one or more, and the number of second dummy positions can also be one or more.

[0048] In the step of controlling the first motor 1 and the second motor 2 to rotate at angular velocities ω1 and ω2 respectively before the operating component 3 reaches the virtual position, the virtual position is the virtual position closest to the current position in the current rotation direction of the operating component 3.

[0049] In the step of controlling the first motor 1 and the second motor 2 to rotate at the same angular velocity ω3 so that the rotating component 3 can rotate together with the first motor 1 and the second motor 2 and pass through the virtual position, the virtual position is the virtual position closest to the current position in the current rotation direction of the rotating component 3.

[0050] In other words, in steps S204 and S206, the vacant positions are the closest vacant positions to the current position in the current rotation direction of the rotating component 3. Furthermore, before the rotating component 3 reaches each vacant position, the cooperation state between the rotating component 3 and the first drive mechanism and the second drive mechanism (hereinafter referred to as the cooperation state of the three) can achieve the set anti-vacant cooperation state, so that the rotating component 3 can smoothly pass through all vacant positions in the current rotation direction.

[0051] In some exemplary embodiments, in the step of until the cooperation state between the operating component 3 and the first drive mechanism and the second drive mechanism reaches the set anti-false-position cooperation state, based on the set phase difference Δα generated between the first motor 1 and the second motor 2, it is determined that the cooperation state between the operating component 3 and the first drive mechanism and the second drive mechanism has reached the set anti-false-position cooperation state.

[0052] When the phase difference between the first motor 1 and the second motor 2 reaches the set phase difference Δα, the first drive mechanism and the second drive mechanism abut against the rotating component 3 in opposite directions, thereby "clamping" the rotating component 3. The assembly gap inside the first drive mechanism and the assembly gap inside the second drive mechanism are also gradually reduced to a negligible level, thereby achieving a state in which it is difficult for the rotating component 3 to rotate relative to the first drive mechanism and the second drive mechanism.

[0053] The phase difference Δα can be determined based on the detection during the experiment or through experience.

[0054] In some exemplary embodiments, the virtual angle that the operating component 3 can generate during operation is α, |α-△α|≤αs, where αs is a set angle threshold and αs>0°.

[0055] The misalignment angle that the moving component 3 can generate during operation is determined by the combined effect of the various assembly gaps inside the motion mechanism, and ultimately needs to be canceled out by the phase difference between the first motor 1 and the second motor 2. Therefore, when α = Δα, it indicates that the various assembly gaps inside the motion mechanism are exactly canceled out, thus preventing the moving component 3 from generating misalignment.

[0056] When α > Δα and α - Δα ≤ αs, it indicates that the assembly gap inside the motion mechanism has not been completely eliminated. At this time, the moving part 3 can still have a small amount of misalignment, but since the amplitude is small, it can hardly be observed and therefore can be ignored.

[0057] When α < Δα and Δα - α ≤ αs, it indicates that the assembly clearance inside the motion mechanism is completely eliminated, which can prevent the moving part 3 from having any misalignment. However, at this time, the moving part 3 will form a state similar to an interference fit with the first drive mechanism and the second drive mechanism, which may cause the moving part 3 to undergo a small torsional deformation, but it is almost unobservable and can be ignored.

[0058] The value of αs can be reasonably set according to factors such as the size and rotation amplitude of the rotating component 3. For example, αs ≤ 3°, such as 1°, 2°, 3°, etc.

[0059] In some exemplary embodiments, such as Figure 6 As shown, the control method also includes: Step S208: After the rotating component has passed the false position, control the first motor and the second motor to drive the rotating component in a second motion mode until the operating component and the first drive mechanism and the second drive mechanism reach the set synchronous drive engagement state (e.g., Figure 13 , Figure 14 , Figure 17 As shown in the figure, the angular velocity ω4 of the first motor is different from the angular velocity ω5 of the second motor in the second motion mode.

[0060] This allows the subsequent operating component 3 to rotate under the combined drive of the first motor 1 and the second motor 2, reducing the load on individual motors and thus extending their service life. Furthermore, this ensures that the first motor 1 and the second motor 2 eventually synchronize, shutting down in the same position (which is also the initial state of the first motor 1 and the second motor 2 when the operating component 3 rotates in the opposite direction). This makes the initial / final states of the first motor 1 and the second motor 2 more consistent, simplifying the electrical control program.

[0061] In other embodiments, the control method may also exclude step S208.

[0062] In some exemplary embodiments, in the step of until the operating component 3 and the first drive mechanism and the second drive mechanism reach the set synchronous drive engagement state, it is determined that the operating component 3 and the first drive mechanism and the second drive mechanism have reached the set synchronous drive engagement state based on the fact that there is no phase difference between the first motor 1 and the second motor 2.

[0063] Since the erroneous angle generated by the rotating component 3 during operation must ultimately be canceled out by the phase difference between the first motor 1 and the second motor 2, when there is no phase difference between the first motor 1 and the second motor 2, it indicates that the first motor 1 and the second motor 2 have returned to a synchronized state and can synchronously drive the rotating component 3 to rotate, that is, the cooperation state of the three has reached the set synchronous driving cooperation state.

[0064] In some exemplary embodiments, ω1 is a fixed value or a non-fixed value, ω2 is a fixed value or a non-fixed value, ω3 is a fixed value or a non-fixed value, ω4 is a fixed value or a non-fixed value, and ω5 is a fixed value or a non-fixed value.

[0065] Where the average value of ω1 is greater than the average value of ω2, the average value of ω4 is less than the average value of ω5, and ω2 ≥ 0, ω4 ≥ 0. Alternatively, the average value of ω1 is less than the average value of ω2, the average value of ω4 is greater than the average value of ω5 and ≥ 0, and ω1 ≥ 0, ω5 ≥ 0.

[0066] In other words, in step S204, the first motor 1 can rotate at a constant speed or a non-constant speed; the second motor 2 can also rotate at a constant speed or a non-constant speed, as long as there is a speed difference between the average speed of the first motor 1 and the average speed of the second motor 2, so that the motion mechanism can achieve the set anti-misalignment engagement state. Furthermore, the relatively slower-rotating motor can remain stationary, i.e., its speed can be 0.

[0067] In step S206, the first motor 1 and the second motor 2 can rotate at a constant speed or at a non-consistent speed, as long as they rotate at the same speed.

[0068] In step S208, the first motor 1 can rotate at a constant speed, rotate at a non-constant speed, or not rotate at all (i.e., the angular velocity ω2 is 0); the second motor 2 can rotate at a constant speed or rotate at a non-constant speed, as long as there is a speed difference between the average speed of the first motor 1 and the average speed of the second motor 2, so that the motion mechanism can achieve the set synchronous drive coordination state. Furthermore, the relatively slower rotating motor can remain stationary, i.e., its speed can be 0.

[0069] In some exemplary embodiments, such as Figure 6 As shown, the control method also includes: Step S210: Based on the cooperative state between the operating component and the first drive mechanism and the second drive mechanism, a set synchronous drive cooperative state is achieved, and the first motor and the second motor are controlled to rotate at the same angular velocity ω6.

[0070] This allows the subsequent rotating component 3 to rotate under the combined drive of the first motor 1 and the second motor 2, which helps reduce the load on a single motor and thus improves the service life of the first motor 1 and the second motor 2.

[0071] In some embodiments, ω6 is a fixed value or a non-fixed value. Therefore, in step S210, the first motor 1 and the second motor 2 can rotate at a constant speed or at a non-consistent speed, as long as they rotate at the same speed.

[0072] In some embodiments, ω6 = ω3. Therefore, in steps S206 and S210, the rotational speeds of the first motor 1 and the second motor 2 are the same, which is beneficial for the rotating component 3 to rotate at a relatively uniform speed throughout the entire operation.

[0073] In other embodiments, ω6 and ω3 may not be equal. The control method may also exclude step S210.

[0074] In some exemplary embodiments, such as Figure 6 As shown, the control method also includes: Step S202: During the process of rotating component 3 to the virtual position, before controlling the first motor 1 and the second motor 2 to drive the rotating component in the first motion mode, control the first motor 1 and the second motor 2 to rotate at the same angular velocity ω0.

[0075] In this way, before the motion mechanism switches to the anti-misalignment state, the rotating part 3 can rotate under the joint drive of the first motor 1 and the second motor 2, which helps to reduce the load on a single motor and thus helps to improve the service life of the first motor 1 and the second motor 2.

[0076] In some embodiments, ω0 is a fixed value or a non-fixed value. Therefore, in step S202, the first motor 1 and the second motor 2 can rotate at a constant speed or at a non-consistent speed, as long as they rotate at the same speed.

[0077] In some embodiments, ω0 = ω3. Therefore, in step S206 and step S202, the rotational speeds of the first motor 1 and the second motor 2 are the same, which is beneficial for the rotating component 3 to rotate at a relatively uniform speed throughout the entire operation.

[0078] In other embodiments, ω0 and ω3 may not be equal. The control method may also exclude step S202.

[0079] In cases where the rotating component 3 has multiple dummy positions in a unidirectional rotation direction, the control method may or may not include the steps S202, S208, and S210 mentioned above, depending on the angle range between two adjacent dummy positions.

[0080] In other words, the coordination state of the three components can reach the set anti-false-position coordination state before reaching the first false position, and remain there until passing the last false position. Alternatively, the coordination state of the three components can be adjusted between adjacent false positions, but adjusted back to the set anti-false-position coordination state before reaching the next false position.

[0081] In some exemplary embodiments, the operating component 3 is an air guide plate 4, and the motion mechanism is an air guiding mechanism. Of course, the operating component 3 is not limited to the air guide plate 4, and can also be a revolving door, roller shutter door, etc.

[0082] An embodiment is described below with reference to the accompanying drawings.

[0083] In this embodiment, such as Figures 1 to 4 , Figures 8 to 17 As shown, the motion mechanism is a wind guide mechanism, the rotating component 3 is a wind guide plate 4, the first drive mechanism is a first motor 1, and the second drive mechanism is a second motor 2.

[0084] like Figure 7 As shown, the control method for the air guide mechanism includes: Step S302: Before the air guide plate reaches the virtual position from the initial position, control the first motor and the second motor to rotate at the same angular velocity ω0.

[0085] In step S302, both the first motor 1 and the second motor 2 rotate by a first predetermined angle α1, and the air guide plate 4 rotates by a second predetermined angle α2. Therefore, the cumulative rotation angle of the first motor 1 is α1, the cumulative rotation angle of the second motor 2 is α1, and the air guide plate 4 rotates from the first position to the second position (i.e., from position 8 to...). Figure 9(position), the cumulative rotation angle of the air guide plate 4 is α2.

[0086] Step S304: During the process of the air guide plate rotating to the virtual position, based on the fact that both the first motor and the second motor have accumulated rotation of the first set angle α1, the first motor and the second motor are controlled to rotate at angular velocities ω1 and ω2 respectively, until the cooperation state between the air guide plate and the first motor and the second motor reaches the set anti-virtual cooperation state; ω1>ω2.

[0087] In step S304, the first motor 1 and the second motor 2 rotate by a third predetermined angle α3 and a fourth predetermined angle α4, respectively, while the air guide plate 4 rotates by a fifth predetermined angle α5, where α5 = α3. Therefore, the cumulative rotation angle of the first motor 1 is α1 + α3, the cumulative rotation angle of the second motor 2 is α1 + α4, and the air guide plate 4 rotates from the second position to the third position (i.e., from position 9 to...). Figure 10 (position), the cumulative rotation angle of the air guide plate 4 is α2+α5.

[0088] Step S306: Based on the cooperation state between the air guide plate and the first motor and the second motor to achieve the set anti-misalignment cooperation state, control the first motor and the second motor to rotate at the same angular velocity ω3, so that the air guide plate and the first motor and the second motor can rotate synchronously in the anti-misalignment cooperation state, and make the air guide plate 4 pass through the misalignment position.

[0089] In step S306, based on the set phase difference Δα between the first motor 1 and the second motor 2, it is determined that the cooperation state between the operating component 3 and the first and second drive mechanisms has reached the set anti-misalignment cooperation state. Δα = the misalignment angle that the operating component 3 can generate during operation is α. Both the first motor 1 and the second motor 2 rotate by a sixth set angle α6, and the air guide plate 4 rotates by a seventh set angle α7, where α7 = α6. Therefore, the cumulative rotation angle of the first motor 1 is α1 + α3 + α6, the cumulative rotation angle of the second motor 2 is α1 + α4 + α6, and the air guide plate 4 rotates from the third position to the fourth position (i.e., from position 10 to...). Figure 11 The position (passing through the virtual position), the cumulative rotation angle of the air guide plate 4 is α2+α5+α7.

[0090] Step S308: After the air guide plate has rotated past the virtual position, based on the first and second motors accumulating rotation by the first and second preset cumulative angles respectively, control the first and second motors to rotate at angular velocities ω4 and ω5 respectively, until the air guide plate and the first and second motors reach the set synchronous drive cooperation state, ω4 < ω5.

[0091] In step S308, the first set cumulative angle = α1 + α3 + α6, the second set cumulative angle = α1 + α4 + α6, the first motor 1 and the second motor 2 rotate by the eighth set angle α8 and the ninth set angle α9 respectively, and the air guide plate 4 rotates by the tenth set angle α10, where α10 = α9. Therefore, the cumulative rotation angle of the first motor 1 is α1 + α3 + α6 + α8, the cumulative rotation angle of the second motor 2 is α1 + α4 + α6 + α9, and the air guide plate 4 rotates from the fourth position to the fifth position (i.e., from position 11 to...). Figure 12 (position), the cumulative rotation angle of the air guide plate 4 is α2+α5+α7+α10.

[0092] Step S310: Based on the coordination state between the air guide plate and the first motor and the second motor to achieve the set synchronous drive coordination state, control the first motor and the second motor to rotate at the same angular velocity ω6.

[0093] In step S310, both the first motor 1 and the second motor 2 rotate by an eleventh predetermined angle α11, and the air guide plate 4 rotates by a twelfth predetermined angle α12, where α12 = α11. Therefore, the cumulative rotation angle of the first motor 1 is α1 + α3 + α6 + α8 + α11, the cumulative rotation angle of the second motor 2 is α1 + α4 + α6 + α9 + α11, and the air guide plate 4 rotates from the fifth position to the sixth position, with a cumulative rotation angle of α2 + α5 + α7 + α10 + α12. The sixth position is not shown in the figure; the sixth position refers to the position where the air guide plate 4 closes the lower air outlet 5.

[0094] For example, Δα=α=16°, α1=21°, α2=5°, α3=α5=19°, α4=3°, α6=α7=10°, α8=5°, α9=α10=21°.

[0095] This application also provides a control device, including a processor and a memory storing a computer program. When the processor executes the computer program, it implements the steps of any of the control methods described in the above embodiments, and thus has all the above-mentioned beneficial effects, which will not be repeated here.

[0096] The processor may be an integrated circuit chip with signal processing capabilities. The aforementioned processor can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it can also be a Digital Signal Processor (DSP), an Application-Specific Integrated Circuit (ASIC), an On-Premises Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this invention. The general-purpose processor can be a microprocessor or any conventional processor.

[0097] This application also provides an air treatment device, including a control device as described in the above embodiments and at least one motion mechanism, thus having all the above-mentioned beneficial effects, which will not be repeated here.

[0098] There are no restrictions on the types of air handling equipment, including but not limited to air conditioners, air purifiers, humidifiers, dehumidifiers, and fresh air systems.

[0099] In some exemplary embodiments, such as Figures 1 to 4 , Figures 8 to 17 As shown, the rotating component 3 is the air guide plate 4, and the motion mechanism is the air guide mechanism.

[0100] In some embodiments, the air handling unit is an air conditioner, which has a side air outlet and a bottom air outlet. There are two air guiding mechanisms configured to control the opening and closing of the side air outlet and the bottom air outlet.

[0101] The two air guiding structures can control the opening and closing of the side air outlet and the bottom air outlet respectively. Alternatively, the two air guiding mechanisms can jointly control the opening and closing of one air outlet (such as the side air outlet), while the opening and closing of the other air outlet (such as the bottom air outlet) is controlled by one of the air guiding mechanisms.

[0102] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0103] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0104] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0105] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0106] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0107] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

[0108] Or any combination thereof. If implemented in software, the functionality may be stored as one or more instructions or code on or transmitted via a computer-readable medium and executed by a hardware-based processing unit. The computer-readable medium may comprise a computer-readable storage medium corresponding to a tangible medium, such as a data storage medium, or a communication medium comprising any medium facilitating the transfer of a computer program from one place to another, such as according to a communication protocol. In this manner, a computer-readable medium may generally correspond to a non-transitory tangible computer-readable storage medium or a communication medium, such as a signal or carrier wave. The data storage medium may be any available medium accessible by one or more computers or one or more processors to retrieve instructions, code, and / or data structures for implementing the techniques described in this disclosure. Computer program products may comprise computer-readable media.

[0109] For example, and not as a limitation, such computer-readable storage media may include RAM, ROM, EEPROM, CD-ROM or other optical disc storage devices, magnetic disk storage devices or other magnetic storage devices, flash memory, or any other medium that can be used to store desired program code in the form of instructions or data structures and is accessible by a computer. Furthermore, any connection may also be referred to as a computer-readable medium. For example, if instructions are transmitted from a website, server, or other remote source using coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwave, then coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. However, it should be understood that computer-readable storage media and data storage media do not include connections, carrier waves, signals, or other transient media, but rather refer to non-transient tangible storage media. As used herein, disks and optical discs include compact optical discs (CDs), laser discs, optical discs, digital versatile optical discs (DVDs), floppy disks, or Blu-ray discs, where disks typically reproduce data magnetically, while optical discs use lasers to reproduce data optically. The above combinations should also be included within the scope of computer-readable media.

[0110] For example, instructions can be executed by one or more processors, such as one or more digital signal processors (DSPs), general-purpose microprocessors, application-specific integrated circuits (ASICs), field-programmable arrays (FPGAs), or other equivalent integrated or discrete logic circuits. Therefore, the term "processor" as used herein can refer to any of the above-described structures or any other structures suitable for implementing the techniques described herein. Additionally, in some aspects, the functionality described herein can be provided within dedicated hardware and / or software modules configured for encoding and decoding, or incorporated into combined codecs. Furthermore, the techniques can be fully implemented in one or more circuit or logic elements.

[0111] The technical solutions of the embodiments of this disclosure can be implemented in a wide variety of devices or equipment, including wireless mobile phones, integrated circuits (ICs), or a set of ICs (e.g., chipsets). Various components, modules, or units are described in the embodiments of this disclosure to emphasize functional aspects of a device configured to perform the described techniques, but they do not necessarily need to be implemented through different hardware units. Rather, as described above, the various units can be combined in codec hardware units or provided by a collection of interoperable hardware units (including one or more processors as described above) combined with suitable software and / or firmware.

Claims

1. A control method for a motion mechanism, characterized in that, The motion mechanism includes a rotating component and a first drive mechanism and a second drive mechanism connected to the rotating component. The rotating component is configured to rotate under the drive of the first drive mechanism and the second drive mechanism and to pass through a false position during the rotation. The first drive mechanism includes at least a first motor, and the second drive mechanism includes at least a second motor; The control method includes: Before the operating component reaches the virtual position, the first motor and the second motor are controlled to drive the operating component in a first motion mode until the cooperation state between the operating component and the first drive mechanism and the second drive mechanism reaches the set anti-virtual cooperation state; in the first motion mode, the angular velocity ω1 of the first motor and the angular velocity ω2 of the second motor are different. Based on the cooperation state between the operating component and the first and second drive mechanisms to achieve the set anti-false-position cooperation state, the first motor and the second motor are controlled to rotate at the same angular velocity ω3, so that the operating component can rotate together with the first motor and the second motor and pass through the false position.

2. The control method according to claim 1, characterized in that, In the step of until the cooperation state between the operating component and the first drive mechanism and the second drive mechanism reaches the set anti-false-position cooperation state, based on the set phase difference Δα generated between the first motor and the second motor, it is determined that the cooperation state between the operating component and the first drive mechanism and the second drive mechanism has reached the set anti-false-position cooperation state.

3. The control method according to claim 2, characterized in that, The virtual angle that the operating component can generate during operation is α, |α-△α|≤αs, where αs is a set angle threshold and αs>0°.

4. The control method according to any one of claims 1 to 3, characterized in that, Also includes: After the rotating component passes the virtual position, the first motor and the second motor are controlled to drive the rotating component in a second motion mode until the operating component and the first drive mechanism and the second drive mechanism reach a set synchronous drive engagement state. In the second motion mode, the angular velocity ω4 of the first motor and the angular velocity ω5 of the second motor are different.

5. The control method according to claim 4, characterized in that, In the step of "until the operating component and the first drive mechanism and the second drive mechanism reach the set synchronous drive cooperation state", it is determined that the operating component and the first drive mechanism and the second drive mechanism have reached the set synchronous drive cooperation state based on the fact that there is no phase difference between the first motor and the second motor.

6. The control method according to claim 4, characterized in that, ω1 can be a fixed value or a non-fixed value, ω2 can be a fixed value or a non-fixed value, ω3 can be a fixed value or a non-fixed value, ω4 can be a fixed value or a non-fixed value, and ω5 can be a fixed value or a non-fixed value. Wherein, the average value of ω1 > the average value of ω2, the average value of ω4 < the average value of ω5, ω2 ≥ 0, ω4 ≥ 0; or, the average value of ω1 < the average value of ω2, the average value of ω4 > the average value of ω5 ≥ 0, ω1 ≥ 0, ω5 ≥ 0.

7. The control method according to claim 4, characterized in that, Also includes: Based on the fact that the operating component and the first and second drive mechanisms have reached a set synchronous drive engagement state, the first motor and the second motor are controlled to rotate at the same angular velocity ω6.

8. The control method according to claim 7, characterized in that, ω6 can be a fixed value or a non-fixed value; and / or, ω6 = ω3.

9. The control method according to any one of claims 1 to 3, characterized in that, Also includes: During the process of the rotating component rotating toward the virtual position, before controlling the first motor and the second motor to drive the rotating component in the first motion mode, the first motor and the second motor are controlled to rotate at the same angular velocity ω0.

10. The control method according to claim 7, characterized in that, ω0 can be a fixed value or a non-fixed value; and / or, ω0 = ω3.

11. The control method according to any one of claims 1 to 3, characterized in that, The operating component is configured to reciprocate under the drive of the first driving mechanism and the second driving mechanism. The virtual position traversed by the operating component during forward rotation is recorded as the first virtual position; the virtual position traversed by the operating component during reverse rotation is recorded as the second virtual position. The positions of the first dummy position and the second dummy position are different; The control method further includes: Before starting the first motor and / or the second motor, determine the rotation direction of the operating component; The corresponding virtual position is determined according to the rotation direction of the operating component; wherein, based on the rotation direction of the operating component being the positive direction, the virtual position is the first virtual position; based on the rotation direction of the operating component being the negative direction, the virtual position is the second virtual position.

12. The control method according to any one of claims 1 to 3, characterized in that, The operating component can pass through multiple different virtual positions during unidirectional operation; In the step of controlling the first motor and the second motor to drive the operating component in a first motion mode before the operating component reaches the virtual position, the virtual position is the virtual position that is closest to the current position in the current rotation direction of the operating component; In the step of controlling the first motor and the second motor to rotate at the same angular velocity ω3 so that the moving component can rotate together with the first motor and the second motor and pass through the virtual position, the virtual position is the virtual position closest to the current position in the current rotation direction of the moving component.

13. A control device, characterized in that, It includes a processor and a memory storing a computer program, wherein the processor executes the computer program to implement the steps of the control method as described in any one of claims 1 to 12.

14. An air handling device, characterized in that, It includes the control device as described in claim 13 and at least one of the motion mechanisms.

15. The air handling apparatus according to claim 14, characterized in that, The rotating component is a wind guide plate, and the moving mechanism is a wind guide mechanism.

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