Load following optimization method, device and equipment for electric scissors in follow-up stage

Abstract

The invention provides a load following optimization method, device and equipment for electric scissors in a follow-up stage, relates to the technical field of electric scissors and is applied to an electric scissors control system, the electric scissors control system comprises motor equipment and a load following processing module, and the optimization method comprises the following steps: when the electric scissors are in the follow-up stage, the load following processing module is connected with the motor equipment; obtaining given input data and current output data; error data are determined according to given input data and current output data, judgment is carried out according to the error data and a preset threshold value, when the error data are larger than the preset threshold value, the given input data and current rotating speed data of motor equipment are analyzed and processed through a load following processing module, and a final adjustment strategy is obtained. And the motor equipment is controlled based on the final adjustment strategy. According to the method, the given input data and the current output data are compared in real time, adjustment is carried out according to the error data, the shearing action of the electric shears more accurately meets the expectation of a user, and the shearing precision is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electric scissors, in particular to a load following optimization method, device and equipment for electric scissors in a follow-up stage. BACKGROUND

[0002] In the application field of electric scissors, the existing control technology has some limitations. The traditional electric scissors control system usually only controls according to the position loop, speed loop and current loop, and lacks real-time sensitive response to load changes. This control method may cause motor overload, stall or unsatisfactory shearing effect when facing uneven material thickness or load mutation. For example, when shearing thicker or higher hardness materials, the motor load may suddenly increase, and the traditional system may not be able to adjust the output power in time, resulting in motor overload or even damage. On the contrary, when shearing thinner materials, there may be excess output power, causing energy waste. In addition, the traditional control method is difficult to accurately adjust the shearing force and speed according to the real-time operation intention of the user, affecting the shearing accuracy and user experience. Therefore, the existing technology has deficiencies in adapting to different load conditions, responding to user operations in real time and optimizing shearing effect, and there is an urgent need for a load following optimization method that can effectively solve these problems. SUMMARY

[0003] The present application solves one or more of the above-mentioned related technical problems.

[0004] To solve the above problems, the present application provides a load following optimization method, device and equipment for electric scissors in a follow-up stage.

[0005] In a first aspect, the present application provides a load following optimization method for electric scissors in a follow-up stage, applied to an electric scissors control system, the electric scissors control system comprising a motor device and a load following processing module, the optimization method comprising: When the electric scissors are in the follow-up stage, obtaining given input data and current output data; determining error data according to the given input data and the current output data, and judging according to the error data and a preset threshold, when the error data is greater than the preset threshold, analyzing and processing the given input data and the current speed data of the motor device through the load following processing module to obtain a final adjustment strategy, and controlling the motor device based on the final adjustment strategy.

[0006] Optionally, the given input data comprises a desired shearing force degree and a desired shearing speed, the current output data comprises a current shearing force degree and a current shearing speed, the error data comprises a force degree error and a shearing speed error, and the preset threshold comprises a force degree threshold and a shearing speed threshold; the determining of the error data according to the given input data and the current output data comprises: determining the force degree error according to the desired shearing force degree and the current shearing force degree; determining the shearing speed error according to the desired shearing speed and the current shearing speed.

[0007] Optionally, the analyzing and processing of the given input data and the current rotating speed data of the motor device by the load following processing module to obtain the final adjustment strategy comprises: obtaining a current difference of the motor device in a unit time, and comparing the current difference of the motor device in the unit time with a preset current difference to obtain a first comparison result; based on the first comparison result, analyzing and processing the given input data and the current rotating speed data of the motor device by the load following processing module to obtain the final adjustment strategy.

[0008] Optionally, the analyzing and processing of the given input data and the current rotating speed data of the motor device by the load following processing module to obtain the final adjustment strategy based on the first comparison result comprises: when the current difference of the motor device in the unit time is greater than or equal to the preset current difference, obtaining a rotating speed difference of the motor device in the unit time, and comparing the rotating speed difference of the motor device in the unit time with a preset rotating speed difference to obtain a second comparison result; based on the second comparison result, analyzing and processing the given input data and the current rotating speed data of the motor device by the load following processing module to obtain the final adjustment strategy.

[0009] Optionally, the analyzing and processing of the given input data and the current rotating speed data of the motor device by the load following processing module to obtain the final adjustment strategy based on the second comparison result comprises: when the rotating speed difference of the motor device in the unit time is less than the preset rotating speed difference, obtaining a current duty cycle, and determining first power adjustment data according to the current duty cycle, the desired shearing force degree, the desired shearing speed and the current rotating speed data, and reducing the current output power of the motor device according to the first power adjustment data as the final adjustment strategy; when the rotating speed difference of the motor device in the unit time is greater than or equal to the preset rotating speed difference, determining second power adjustment data according to the current duty cycle, the expected shearing force, the expected shearing speed and the current rotating speed data, and reducing the current output power of the motor device according to the second power adjustment data as the final adjustment strategy; The adjustment rate when adjusted by the second power adjustment data is greater than the adjustment rate when adjusted by the second power adjustment data.

[0010] Optionally, the load following optimization method of the electric scissors in the follow-up stage further comprises: When the current difference in the unit time is less than the preset current difference, and the rotating speed difference in the unit time is greater than the preset rotating speed difference; determining power adjustment data according to the current duty cycle, the expected shearing force, the expected shearing speed and the current rotating speed data, and increasing the current output power of the motor device according to the power adjustment data as the final adjustment strategy.

[0011] In a second aspect, the present application provides a load following optimization device of electric scissors in a follow-up stage, applied to an electric scissors control system, the electric scissors control system comprising a motor device and a load following processing module, and the optimization device comprising: a collection unit configured to acquire given input data and current output data when the electric scissors are in a follow-up stage; a processing unit configured to determine error data according to the given input data and the current output data, and judge the error data against a preset threshold value, a control unit configured to, based on the judgment result, analyze and process the given input data and current rotating speed data of the motor device through the load following processing module to obtain a final adjustment strategy, and control the motor device based on the final adjustment strategy.

[0012] In a third aspect, the present application provides a load following optimization device of electric scissors in a follow-up stage, comprising a memory and a processor; the memory is configured to store a computer program; and the processor is configured to, when executing the computer program, implement the load following optimization method of electric scissors in a follow-up stage as described in the first aspect.

[0013] In a fourth aspect, the present application provides a computer readable storage medium, the storage medium storing a computer program, and when the computer program is executed by a processor, the load following optimization method of electric scissors in a follow-up stage as described in the first aspect is implemented.

[0014] The load following optimization method, device and equipment of electric scissors in a follow-up stage have the following advantages: First, when the electric shears are in the follow-up phase, the given input data and current output data are acquired. The given input data reflects the user's desired shearing action and force, including the desired shearing force and desired shearing speed; the current output data reflects the current actual shearing state of the electric shears.

[0015] The error data is determined based on the given input data and the current output data. The error data is then compared to a preset threshold. For example, if all relative errors are less than or equal to the set threshold, the difference is considered small, and significant adjustments may not be necessary; if any relative error is greater than the threshold, the difference is considered large, and further analysis is required.

[0016] Based on the judgment results, the load following processing module analyzes and processes the given input data and the current speed data of the motor to obtain the final adjustment strategy. This strategy may include data such as the power adjustment rate per unit time.

[0017] Finally, the motor is controlled based on the final adjustment strategy. For example, the adjustment strategy is converted into a specific PWM signal duty cycle setting, and a PWM signal is generated and output to the motor drive circuit to achieve precise control of the motor's output power.

[0018] This invention improves cutting accuracy by comparing given input data and current output data in real time and adjusting based on error data, making the electric shears' cutting action more precisely match user expectations. The load-following processing module can quickly respond to load changes and adjust the motor output power in a timely manner, ensuring the electric shears maintain good cutting performance even under sudden large loads, enhancing dynamic response capabilities. When the load suddenly increases, rapidly reducing the output power prevents motor overload; when the motor is about to stall, rapidly increasing the output power helps restore speed, avoiding motor damage and extending motor life. The optimized control system can adjust the cutting force and speed in real time, making the cutting process smoother and more natural, improving the user experience. Simultaneously, the reasonable adjustment strategy makes the motor operate more stably under different loads, reducing system fluctuations and enhancing system stability. This optimization method allows the electric shears to adapt to the cutting needs of materials of different materials and thicknesses, expanding its application range and improving versatility. Precise control of motor output power avoids energy waste, improves energy utilization efficiency, and reduces energy consumption. Attached Figure Description

[0019] Figure 1 This is a flowchart illustrating a load following optimization method for electric shears during the follow-up phase according to an embodiment of the present invention. Figure 2 This is a schematic diagram of the structure of an electric shears control system according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the load following optimization device for electric scissors in the follow-up stage according to an embodiment of the present invention; Figure 4 This is a schematic diagram of a load following optimization device for electric scissors in the follow-up stage according to an embodiment of the present invention. Detailed Implementation

[0020] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Although some embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the accompanying drawings and embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of protection of the present invention.

[0021] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0022] The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to"; the term "based on" means "at least partially based on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; and the term "optionally" means "optional embodiments". Definitions of other terms will be given in the following description. It should be noted that the concepts of "first," "second," etc., mentioned in this invention are used only to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies.

[0023] It should be noted that the terms "a" and "a plurality of" used in this invention are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0024] The names of the messages or information exchanged between the multiple devices in the embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of these messages or information.

[0025] To address the problems existing in the aforementioned related technologies, embodiments of the present invention provide a method, apparatus, and device for optimizing load following during the follow-up phase of electric scissors.

[0026] like Figure 1As shown in the figure, an embodiment of the present invention provides a load following optimization method for electric shears during the follow-up stage, which is applied to an electric shears control system. The electric shears control system includes a motor device and a load following processing module. The optimization method includes: Step S100: When the electric scissors are in the follow-up stage, acquire the given input data and the current output data.

[0027] Specifically, such as Figure 2 As shown, the electric shears control system also includes a position loop, a speed loop, and a current loop.

[0028] The trigger input data of the electric shears (including the desired cutting force and desired position data) is an analog signal. This analog signal is converted to a digital signal via an AD (analog-to-digital) converter. The converted data is typically 8-bit unsigned data. This 8-bit unsigned data is then position-scaled per unit, converting it to a per-unit value based on the motor speed. This links the trigger position to the motor speed for subsequent control loop processing.

[0029] The desired shearing speed can be calculated using the desired position data. This can be achieved by performing time difference analysis on the trigger position data, specifically by calculating the time interval and position change between two consecutive trigger position data acquisitions, thereby obtaining the trigger pull speed.

[0030] The calculated trigger pull speed is combined with the position loop output to generate the desired shear speed data. The position loop output itself is also based on a per-unit value of the rotational speed, obtained by processing the trigger position data.

[0031] In the actual shearing force data acquisition process, a force sensor can be installed at the shearing point of the electric shears to measure the actual shearing force in real time. The force sensor converts the measured force into an electrical signal.

[0032] The force signal is normalized to a per-unit value, converting it into data within the same per-unit range as the desired shear force for comparison.

[0033] Speed ​​sensors, such as encoders, can be installed on motor equipment to monitor the motor's speed in real time. The speed sensor outputs a pulse or voltage signal proportional to the motor speed. The speed sensor's output signal is then converted to per-unit data. This typically involves converting the speed signal to a value within the same per-unit range as the desired shear rate for comparison.

[0034] By accurately acquiring and transforming given input data, the system can accurately reflect the user's cutting intentions, including requirements for cutting force, position, and speed. Simultaneously, accurate acquisition and standardization of current output data aids in the control system's comparison and judgment, thereby improving the overall accuracy of the electric shears control system. Accurate acquisition of given input and current output data provides a reliable basis for subsequent error calculation and adjustment strategies, enabling the load-following processing module to precisely match the motor's output power according to the actual load conditions and user expectations, thus optimizing the cutting effect.

[0035] Step S200: Determine error data based on the given input data and the current output data, and make a judgment based on the error data and a preset threshold.

[0036] Specifically, first, it is necessary to calculate the error or relative error between the given input data and the current output data. The relative error is a metric that measures the difference between the output data and the expected input, and its calculation formula is as follows: ; For electric shears, it may be necessary to calculate the relative errors in multiple dimensions such as shearing force, operating mode, and shearing speed.

[0037] One or more preset thresholds are used to determine whether the error is within an acceptable range. These thresholds can be set according to the performance and usage requirements of the electric shears. The calculated relative error is compared with the preset thresholds. If the relative error in all dimensions is less than the preset threshold, the current output is considered close to the expected input, and no significant adjustment is required.

[0038] However, if the relative error in any dimension exceeds the preset threshold, it is considered that there is a large deviation, and further analysis of the cause is required, along with corresponding adjustment measures.

[0039] By precisely calculating and comparing errors, the system ensures that the electric shears' cutting action more accurately meets the user's expectations, thereby improving cutting precision. When a significant deviation between output and input is detected, the system can react quickly and adjust the motor's output power in a timely manner, allowing the electric shears to maintain good cutting performance even under sudden large loads. For example, when the load suddenly increases, rapidly reducing the output power can prevent motor overload; when the motor is about to stall, rapidly increasing the output power can help the motor recover its speed, preventing damage from overload or stall and extending motor life. By precisely controlling the output power of the motor equipment, unnecessary energy waste is avoided, energy utilization efficiency is improved, and energy consumption is reduced.

[0040] Step S300: When the error data is greater than the preset threshold, the load following processing module analyzes and processes the given input data and the current speed data of the motor to obtain the final adjustment strategy, and controls the motor based on the final adjustment strategy.

[0041] Specifically, when the error data exceeds the preset threshold, the load following processing module first analyzes the error data to determine which parameters (such as shear force or speed) deviate significantly from the user's expected values.

[0042] Collect the current operating current and speed data of the motor (electrical equipment). This data is crucial for determining the motor's load status.

[0043] By observing changes in current and speed, one can determine the motor's load condition. For example, an increase in current may indicate an increased load, while a decrease in speed may indicate that the motor is overloaded or about to stall.

[0044] Based on load conditions and user expectations, a corresponding adjustment strategy is formulated. This may include increasing or decreasing the motor's output power, or adjusting the shearing speed and force. The adjustment strategy is then converted into duty cycle adjustment of the PWM signal. The PWM signal is the primary means of controlling motor speed and torque; by changing the duty cycle, the motor's output power can be precisely controlled. The adjusted PWM signal is sent to the motor drive circuit to achieve precise control of the motor. This will make the motor's operating state closer to the user's expectations, while optimizing the shearing effect.

[0045] By adjusting the motor output in real time, the system ensures that the shearing action more precisely meets user expectations, improving shearing accuracy. The system can quickly respond to load changes and adjust the motor output in a timely manner, allowing the electric shears to maintain good shearing performance under different loads. For example, it rapidly reduces output power when the load suddenly increases to prevent motor overload; and rapidly increases output power when the motor is about to stall to avoid motor damage, thereby extending motor life. Furthermore, by precisely controlling the motor output power, unnecessary energy waste is avoided, improving energy efficiency and reducing energy consumption. This makes the shearing process smoother and more natural, enhancing the user's operating experience and satisfaction. In addition, the system allows the electric shears to better adapt to the shearing needs of materials of different materials and thicknesses, expanding the applicability of the electric shears and improving their versatility.

[0046] In this embodiment, firstly, when the electric shears are in the follow-up phase, given input data and current output data are acquired. The given input data reflects the user's desired cutting action and force, including the desired cutting force and desired cutting speed; the current output data reflects the current actual cutting state of the electric shears.

[0047] The error data is determined based on the given input data and the current output data. The error data is then compared to a preset threshold. For example, if all relative errors are less than or equal to the set threshold, the difference is considered small, and significant adjustments may not be necessary; if any relative error is greater than the threshold, the difference is considered large, and further analysis is required.

[0048] Based on the judgment results, the load following processing module analyzes and processes the given input data and the current speed data of the motor to obtain the final adjustment strategy. This strategy may include data such as the power adjustment rate per unit time.

[0049] Finally, the motor is controlled based on the final adjustment strategy. For example, the adjustment strategy is converted into a specific PWM signal duty cycle setting, and a PWM signal is generated and output to the motor drive circuit to achieve precise control of the motor's output power.

[0050] This embodiment improves cutting accuracy by comparing given input data and current output data in real time and adjusting based on error data, making the electric shears' cutting action more precisely match user expectations. The load-following processing module can quickly respond to load changes and adjust the motor output power in a timely manner, ensuring the electric shears maintain good cutting performance even under sudden large loads, enhancing dynamic response capabilities. When the load suddenly increases, rapidly reducing the output power prevents motor overload; when the motor is about to stall, rapidly increasing the output power helps restore speed, avoiding motor damage and extending motor life. The optimized control system can adjust the cutting force and speed in real time, making the cutting process smoother and more natural, improving the user experience. Simultaneously, the reasonable adjustment strategy makes the motor operate more stably under different loads, reducing system fluctuations and enhancing system stability. This optimization method allows the electric shears to adapt to the cutting needs of materials of different materials and thicknesses, expanding its application range and improving versatility. Precise control of motor output power avoids energy waste, improves energy utilization efficiency, and reduces energy consumption.

[0051] Optionally, the given input data includes the desired shear force and the desired shear velocity, the current output data includes the current shear force and the current shear velocity, the error data includes force error and shear velocity error, and the preset threshold includes a force threshold and a shear velocity threshold; determining the error data based on the given input data and the current output data includes: The force error is determined based on the expected shear force and the current shear force; The shear rate error is determined based on the desired shear rate and the current shear rate.

[0052] Specifically, the desired shearing force is the shearing force expected by the user, typically set by the operator through the electric shears' control interface. The desired shearing speed is the shearing speed expected by the user, which may be set by the operator or automatically calculated based on the shearing force. The current shearing force is the actual shearing force applied by the electric shears, measured in real-time by a force sensor. The current shearing speed is the actual shearing speed of the electric shears, measured in real-time by a speed sensor.

[0053] The formula is calculated based on the expected shear force and the current shear force, and is as follows: ; The formula is calculated based on the desired shear rate and the current shear rate: ; The preset force error threshold is used to determine whether the force error is within an acceptable range.

[0054] A preset shear rate error threshold is used to determine whether the shear rate error is within an acceptable range.

[0055] The calculated force error and shear speed error are compared with the corresponding thresholds to determine whether the motor output needs to be adjusted.

[0056] By accurately calculating and comparing errors, the cutting action of the electric shears is ensured to more precisely meet the user's expectations, thereby improving cutting accuracy.

[0057] Optionally, the step of analyzing and processing the given input data and the current speed data of the motor through the load following processing module to obtain the final adjustment strategy includes: The current difference of the motor equipment per unit time is obtained, and the current difference per unit time is compared with a preset current difference to obtain a first comparison result; Based on the first comparison result, the load following processing module analyzes and processes the given input data and the current speed data of the motor to obtain the final adjustment strategy.

[0058] Optionally, based on the first comparison result, the load following processing module analyzes and processes the given input data and the current speed data of the motor to obtain the final adjustment strategy, including: When the current difference per unit time is greater than or equal to the preset current difference, the speed difference of the motor equipment per unit time is obtained, and the speed difference per unit time is compared with the preset speed difference to obtain a second comparison result; Based on the second comparison result, the load following processing module analyzes and processes the given input data and the current speed data of the motor to obtain the final adjustment strategy.

[0059] Specifically, the load following processing module first obtains the change in current of the motor equipment per unit time (e.g., within 1 second), i.e., the current difference. This is achieved by comparing the current value at the current moment with that at the previous moment.

[0060] The current difference obtained per unit time is compared with a preset current difference threshold. The preset current difference threshold is set based on the motor's rated current and safe operating range.

[0061] If the current difference per unit time is greater than or equal to the preset current difference, it indicates that the motor may be facing a large load change. At this time, the load following processing module further obtains the speed difference of the motor equipment per unit time.

[0062] The obtained speed difference per unit time is compared with a preset speed difference threshold. The preset speed difference threshold is set based on the motor's rated speed and the allowable speed fluctuation range.

[0063] Based on the second comparison result (i.e., the comparison result of the speed difference per unit time with the preset speed difference), the load following processing module performs comprehensive analysis and processing on the given input data and the current speed data of the motor equipment to formulate the final adjustment strategy. This may include adjusting the output power of the motor, changing the shearing speed or force, etc.

[0064] By monitoring and adjusting the motor output in real time, the system ensures that the shearing action precisely matches the user's expectations, thereby improving shearing accuracy. It can quickly respond to load changes and adjust the motor output promptly, ensuring that the electric shears maintain excellent shearing performance under different load conditions. When a sudden increase in load is detected, the system quickly reduces the output power to prevent motor overload; conversely, when the motor is on the verge of stalling, the system can quickly increase the output power to avoid motor damage, thus extending its service life. Furthermore, by precisely controlling the motor output power, the system avoids unnecessary energy waste, improves energy efficiency, and reduces energy consumption. This makes the shearing process smoother and more natural, significantly improving the user's operating experience and satisfaction.

[0065] Optionally, based on the second comparison result, the load following processing module analyzes and processes the given input data and the current speed data of the motor to obtain the final adjustment strategy, including: When the speed difference per unit time is less than the preset speed difference The current duty cycle is obtained, and first power adjustment data is determined based on the current duty cycle, the desired shear force, the desired shear speed, and the current rotational speed data. The final adjustment strategy is to reduce the current output power of the motor based on the first power adjustment data. When the speed difference per unit time is greater than or equal to the preset speed difference The second power adjustment data is determined based on the current duty cycle, the desired shear force, the desired shear speed, and the current rotational speed data, and the final adjustment strategy is to reduce the current output power of the motor equipment based on the second power adjustment data. The adjustment rate when adjusting using the second power adjustment data is greater than the adjustment rate when adjusting using the second power adjustment data.

[0066] Specifically, when the speed difference per unit time is less than the preset speed difference, the current duty cycle is first obtained. This is a key parameter of the PWM signal, used to adjust the motor's output power. The specific value of the duty cycle reflects the motor's current operating state: a higher duty cycle usually corresponds to higher output power, and vice versa.

[0067] Based on the current duty cycle, desired shear force, desired shear rate, and current rotational speed data, the first power adjustment data is calculated. This calculation process is relatively complex and requires analysis of multiple parameters. When the speed difference per unit time is greater than or equal to the preset speed difference, the second power adjustment data is calculated based on the current duty cycle, the desired shearing force, the desired shearing speed, and the current speed data. Furthermore, regarding the adjustment rate during the adjustment process, the adjustment rate is greater when the speed difference per unit time is greater than or equal to the preset speed difference, which is greater than the rate when the speed difference per unit time is less than the preset speed difference. That is, when the current difference is large but the speed difference is small, the output power is reduced slowly, while when both the current difference and the speed difference are large, the output power is reduced rapidly.

[0068] The system needs to consider the user's desired shearing force and speed, which are typically set by the operator through a control panel or other interface. It also needs to consider the current rotational speed of the motor, usually monitored in real-time by a speed sensor. A predefined algorithm or formula is used to synthesize this data to determine an appropriate power adjustment range. For example, the system might calculate an adjustment coefficient based on the difference between the current rotational speed and the desired shearing speed, as well as the current duty cycle, to adjust the motor's output power.

[0069] Based on the calculated initial power regulation data, the final adjustment strategy is to reduce the current output power of the motor. This means that the system will correspondingly reduce the electrical energy supplied to the motor, thereby reducing its output power.

[0070] Optionally, determining the first power adjustment data based on the current duty cycle, the desired shear force, the desired shear rate, and the current rotational speed data includes: The power adjustment coefficient is determined based on the current duty cycle, the desired shear force, the desired shear speed, and the current rotational speed data. The first power adjustment data is determined based on the power adjustment coefficient and the current duty cycle.

[0071] In some embodiments, it is assumed that the current duty cycle is 50%, meaning that the high-level time of the current PWM signal is 50% of the entire cycle. Expected shear force: Assuming the expected shear force is 70% (per unit). Expected shear speed: Assuming the expected shear speed is 60% (per unit). Current speed data: Assuming the current speed is 55% (per unit). Preset speed difference threshold: Assuming the preset speed difference threshold is 10%.

[0072] ; Since the speed difference is 5%, which is less than the preset speed difference threshold of 10%, it is necessary to reduce the current output power of the motor equipment based on the first power adjustment data.

[0073] Determining the power regulation coefficient: In real control systems, the power regulation coefficient is usually a multi-dimensional function that considers multiple factors. For example: Power regulation coefficient = ; Here, the current rotational speed data is obtained through the item. This directly affects the power regulation coefficient. Assuming... Substitute the data to calculate: ; ; Based on the calculated first power adjustment data, the current output power of the motor is reduced by 0.68%. This can be achieved by reducing the duty cycle of the PWM signal. .

[0074] Similarly, the second power adjustment data is calculated in the same way as the first power adjustment data, but the adjustment rate is different.

[0075] By setting two different power adjustment data and their corresponding adjustment rates, the system can respond appropriately under different conditions: when the speed difference is small, the first power adjustment data is used for fine adjustment to ensure cutting accuracy and stability; when the speed difference is large, the second power adjustment data is used to quickly reduce the power, responding promptly to load changes and avoiding motor overload or damage. The rapid adjustment function of the second power adjustment data effectively prevents the motor from overloading due to sudden load increases, reducing wear and potential damage caused by overload, thereby extending the motor's service life. Furthermore, by rationally adjusting the motor output power, the system reduces unnecessary energy consumption. When the load changes, the system can quickly adapt and operate stably, improving overall work efficiency. This strategy allows the electric shears to better adapt to the cutting needs of materials of different materials and thicknesses, expanding the applicability of the electric shears and improving the user's operating experience and satisfaction. In summary, by comprehensively considering multiple parameters, the system can more accurately adjust the motor output power, ensuring that the cutting action meets user expectations, adjusting the power promptly when the load changes, preventing motor overload or damage, extending motor life, avoiding unnecessary energy waste, improving energy utilization efficiency, and reducing energy consumption.

[0076] Optionally, the load following optimization method for the electric shears during the follow-up phase further includes: When the current difference per unit time is less than the preset current difference, and the rotational speed difference per unit time is greater than the preset rotational speed difference Power adjustment data is determined based on the current duty cycle, the desired shear force, the desired shear speed, and the current rotational speed data, and the final adjustment strategy is to increase the current output power of the motor equipment based on the power adjustment data.

[0077] Specifically, when the current difference per unit time is less than the preset current difference, and the speed difference per unit time is greater than the preset speed difference, it indicates that the motor load may have suddenly decreased, leading to a drop in speed. In this case, power regulation is needed to increase the current output power of the motor equipment in order to restore and maintain stable motor operation.

[0078] The power adjustment is obtained in the same way as the calculation of the first power adjustment data described above. Based on the calculated power adjustment data, the current output power of the motor is increased. This can be achieved by increasing the duty cycle of the PWM signal. .

[0079] By promptly increasing output power when the motor speed decreases, not only can motor stall be prevented, ensuring the continuity of the shearing process, but the accuracy and quality of the shearing action can also be guaranteed by maintaining a stable motor speed. Furthermore, this strategy avoids excessive motor wear caused by excessively low speeds, thereby extending the motor's lifespan. Simultaneously, proper power adjustment helps avoid unnecessary energy waste, improves energy efficiency, makes the shearing process smoother, reduces shearing anomalies caused by speed fluctuations, and significantly enhances the user's operating experience and satisfaction. Through this adjustment strategy, electric shears can better adapt to different load changes, maintain stable shearing performance, improve work efficiency and shearing quality, while protecting the motor and extending the equipment's lifespan.

[0080] like Figure 3 As shown in the figure, an embodiment of the present invention provides a load following optimization device for electric shears during the follow-up phase, which is applied to an electric shears control system. The electric shears control system includes a motor device and a load following processing module. The optimization device includes: The data acquisition unit is used to acquire given input data and current output data when the electric shears are in the follow-up phase. The processing unit is configured to determine error data based on the given input data and the current output data, and to make a judgment based on the error data and a preset threshold. The control unit is used to analyze and process the given input data and the current speed data of the motor equipment through the load following processing module based on the judgment result, to obtain the final adjustment strategy, and to control the motor equipment based on the final adjustment strategy.

[0081] like Figure 4 As shown in the figure, an embodiment of the present invention provides a load following optimization device for electric scissors in the follow-up stage, including a memory and a processor; the memory is used to store a computer program; the processor is used to implement the load following optimization method for electric scissors in the follow-up stage as described above when the computer program is executed.

[0082] Alternatively, a load-following optimization device for electric shears during the follow-up phase includes a memory and a processor coupled to the memory; the memory is configured to store a computer program; the processor is configured to perform the following operations when the computer program is executed: When the electric shears are in the follow-up phase, acquire the given input data and the current output data; Error data is determined based on the given input data and the current output data, and a judgment is made based on the error data and a preset threshold. When the error data exceeds the preset threshold, the load following processing module analyzes and processes the given input data and the current speed data of the motor to obtain the final adjustment strategy, and controls the motor based on the final adjustment strategy.

[0083] This invention provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the load following optimization method for electric scissors in the follow-up phase as described above.

[0084] Alternatively, a non-volatile computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to perform the following operations: When the electric shears are in the follow-up phase, acquire the given input data and the current output data; Error data is determined based on the given input data and the current output data, and a judgment is made based on the error data and a preset threshold. When the error data exceeds the preset threshold, the load following processing module analyzes and processes the given input data and the current speed data of the motor to obtain the final adjustment strategy, and controls the motor based on the final adjustment strategy.

[0085] The following describes a load-following optimization device for the follow-up phase of an electric scissors, which can serve as a server or client of the present invention, and is an example of a hardware device that can be applied to various aspects of the present invention. The load-following optimization device for the follow-up phase of an electric scissors is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The load-following optimization device for the follow-up phase of an electric scissors can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0086] The load-following optimization device in the servo phase of the electric shears includes a computing unit, which can perform various appropriate actions and processes based on a computer program stored in read-only memory (ROM) or a computer program loaded from a storage unit into random access memory (RAM). The RAM can also store various programs and data required for device operation. The computing unit, ROM, and RAM are interconnected via a bus. Input / output (I / O) interfaces are also connected to the bus.

[0087] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc. In this application, the units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the embodiments of the present invention according to actual needs. Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated units can be implemented in hardware or as software functional units.

[0088] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A load following optimization method for electric shears during the follow-up phase, characterized in that, The optimization method, applied to an electric shears control system including a motor and a load following processing module, includes: When the electric shears are in the follow-up phase, acquire the given input data and the current output data; Error data is determined based on the given input data and the current output data, and a judgment is made based on the error data and a preset threshold. When the error data exceeds the preset threshold, the load following processing module analyzes and processes the given input data and the current speed data of the motor to obtain the final adjustment strategy, and controls the motor based on the final adjustment strategy.

2. The load following optimization method for electric scissors in the follow-up stage according to claim 1, characterized in that, The given input data includes the desired shear force and the desired shear velocity; the current output data includes the current shear force and the current shear velocity; the error data includes force error and shear velocity error; and the preset threshold includes a force threshold and a shear velocity threshold. Determining the error data based on the given input data and the current output data includes: The force error is determined based on the expected shear force and the current shear force; The shear rate error is determined based on the desired shear rate and the current shear rate.

3. The load following optimization method for electric scissors in the follow-up stage according to claim 2, characterized in that, The process of analyzing and processing the given input data and the current speed data of the motor through the load following processing module to obtain the final adjustment strategy includes: The current difference of the motor equipment per unit time is obtained, and the current difference per unit time is compared with a preset current difference to obtain a first comparison result; Based on the first comparison result, the load following processing module analyzes and processes the given input data and the current speed data of the motor to obtain the final adjustment strategy.

4. The load following optimization method for electric scissors in the follow-up stage according to claim 3, characterized in that, Based on the first comparison result, the load following processing module analyzes and processes the given input data and the current speed data of the motor to obtain the final adjustment strategy, including: When the current difference per unit time is greater than or equal to the preset current difference, the speed difference of the motor equipment per unit time is obtained, and the speed difference per unit time is compared with the preset speed difference to obtain a second comparison result; Based on the second comparison result, the load following processing module analyzes and processes the given input data and the current speed data of the motor to obtain the final adjustment strategy.

5. The load following optimization method for electric shears in the follow-up stage according to claim 4, characterized in that, Based on the second comparison result, the load following processing module analyzes and processes the given input data and the current speed data of the motor to obtain the final adjustment strategy, including: When the speed difference per unit time is less than the preset speed difference The current duty cycle is obtained, and first power adjustment data is determined based on the current duty cycle, the desired shear force, the desired shear speed, and the current rotational speed data. The final adjustment strategy is to reduce the current output power of the motor based on the first power adjustment data. When the speed difference per unit time is greater than or equal to the preset speed difference The second power adjustment data is determined based on the current duty cycle, the desired shear force, the desired shear speed, and the current rotational speed data, and the final adjustment strategy is to reduce the current output power of the motor equipment based on the second power adjustment data. The adjustment rate when adjusting using the second power adjustment data is greater than the adjustment rate when adjusting using the second power adjustment data.

6. The load following optimization method for electric scissors in the follow-up stage according to claim 5, characterized in that, The step of determining the first power adjustment data based on the current duty cycle, the desired shear force, the desired shear velocity, and the current rotational speed data includes: The power adjustment coefficient is determined based on the current duty cycle, the desired shear force, the desired shear speed, and the current rotational speed data. The first power adjustment data is determined based on the power adjustment coefficient and the current duty cycle.

7. The load following optimization method for electric shears in the follow-up stage according to claim 6, characterized in that, The load following optimization method for the electric shears during the follow-up phase also includes: When the current difference per unit time is less than the preset current difference, and the rotation speed difference per unit time is greater than the preset rotation speed difference; Power adjustment data is determined based on the current duty cycle, the desired shear force, the desired shear speed, and the current rotational speed data, and the final adjustment strategy is to increase the current output power of the motor equipment based on the power adjustment data.

8. A load following optimization device for electric scissors during the follow-up phase, characterized in that, Applied to an electric shears control system, the electric shears control system includes a motor and a load following processing module, and the optimization device includes: The data acquisition unit is used to acquire given input data and current output data when the electric shears are in the follow-up phase. The processing unit is configured to determine error data based on the given input data and the current output data, and to make a judgment based on the error data and a preset threshold. The control unit is used to analyze and process the given input data and the current speed data of the motor equipment through the load following processing module based on the judgment result, to obtain the final adjustment strategy, and to control the motor equipment based on the final adjustment strategy.

9. A load-following optimization device for electric scissors during the follow-up phase, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the load following optimization method for electric scissors in the follow-up phase as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the load following optimization method for electric scissors in the follow-up phase as described in any one of claims 1 to 7.

Images