Method, device and system for controlling brush motor

Abstract

The invention discloses a method, a device and a system for controlling a brush motor. The method comprises the following steps: acquiring a target distance of target equipment moving from an initial position to a target position; calling a preset trajectory generation algorithm to process the target distance to obtain an expected position sequence, an expected speed sequence and an expected acceleration sequence; acquiring real-time current of the brush motor, and generating a real-time control signal of the brush motor according to the real-time current, the expected position sequence, the expected speed sequence and the expected acceleration sequence; and controlling the brush motor to move according to the real-time control signal so as to drive the target equipment to move. According to the method, the target distance is converted into the expected position sequence, the target distance is discretized into the smooth track, sudden change is avoided, the operation stability is improved, the real-time current of the brush motor is added in the generation of the real-time control signal, the real-time control signal can be dynamically generated according to the real-time load state of the brush motor, and the response capability is improved.

Description

Technical Field

[0001] This application relates to the field of motor control technology, and in particular to a control method, device and system for a brushed motor. Background Technology

[0002] A brushed motor is a type of DC motor that achieves mechanical commutation through brushes and a commutator. It consists of a stator, rotor, brushes, and commutator. Its working principle is based on the interaction of electromagnetic fields. The brushes and commutator work together to change the direction of the current, causing the rotor windings to rotate continuously in the stator's magnetic field.

[0003] Currently, in existing brushed motor applications, fixed-parameter PID (Proportion-Integral-Differential) control algorithms are commonly used. However, fixed-parameter PID struggles to balance the system's rapid response capability with stable operation. Under light loads, excessive gain can easily cause oscillations, while under heavy loads, insufficient gain can lead to sluggish response. Furthermore, when a step-like target position is directly input, it can easily trigger system oscillations and even overshoot.

[0004] Therefore, PID control algorithms with fixed parameters are prone to problems such as poor response capability and poor operational stability. Summary of the Invention

[0005] The main objective of this application is to propose a control method, device, and system for brushed motors, aiming to solve the problems of poor response capability and poor operational stability.

[0006] To achieve the above objectives, this application proposes a control method for a brushed motor, used to control the brushed motor to drive the movement of a target device. The control method for the brushed motor includes: Obtain the target distance between the initial position and the target position of the target device; The target distance is processed by calling a preset trajectory generation algorithm to obtain the desired position sequence, desired velocity sequence, and desired acceleration sequence; The real-time current of the brushed motor is obtained, and a real-time control signal for the brushed motor is generated based on the real-time current, the desired position sequence, the desired velocity sequence, and the desired acceleration sequence. The brushed motor is controlled to move according to the real-time control signal, so as to drive the target device to move.

[0007] In some embodiments, the step of invoking a preset trajectory generation algorithm to process the target distance to obtain a desired position sequence, a desired velocity sequence, and a desired acceleration sequence includes: Obtain the maximum speed, maximum acceleration, and control cycle of the brushed motor; A motion trajectory is generated based on the maximum speed, the maximum acceleration, and the target distance, wherein the motion trajectory includes an acceleration segment, a constant speed segment, and a deceleration segment; A trapezoidal velocity curve is generated based on the acceleration segment, the constant speed segment, and the deceleration segment, wherein the trapezoidal velocity curve is a curve of velocity changing with time; Based on the control cycle and the trapezoidal velocity curve, the motion trajectory is discretized to obtain the desired position sequence, desired velocity sequence and desired acceleration sequence.

[0008] In some embodiments, the step of discretizing the motion trajectory based on the control cycle and the trapezoidal velocity curve to obtain a desired position sequence, a desired velocity sequence, and a desired acceleration sequence includes: The total motion time corresponding to the trapezoidal velocity curve is divided into several discrete moments according to the control cycle. For each discrete moment, the desired velocity and the desired acceleration for that discrete moment are generated based on the trapezoidal velocity curve. The desired position at the discrete time is generated based on the discrete time, the desired velocity, and the control cycle; Arrange the expected position, expected velocity, and expected acceleration at each discrete moment in chronological order to obtain the expected position sequence, the expected velocity sequence, and the expected acceleration sequence.

[0009] In some embodiments, acquiring the real-time current of the brushed motor and generating a real-time control signal for the brushed motor based on the real-time current, the desired position sequence, the desired velocity sequence, and the desired acceleration sequence includes: Obtain the real-time current of the brushed motor, and determine the discrete time corresponding to the current time as the target discrete time; Determine the desired velocity, the desired acceleration, and the desired position of the target at the discrete time; Obtain a preset velocity proportional gain and a preset acceleration proportional gain, and calculate the product of the desired velocity at the target discrete moment and the preset velocity proportional gain as the target desired velocity, and calculate the product of the desired acceleration at the target discrete moment and the preset acceleration proportional gain as the target desired acceleration. The real-time control signal is generated based on the real-time current, the target desired velocity, the target desired acceleration, and the target desired position at discrete moments.

[0010] In some embodiments, generating the real-time control signal based on the real-time current, the target desired velocity, the target desired acceleration, and the target desired position at discrete moments includes: The real-time acceleration of the brushed motor and the actual position of the target device are obtained. The real-time load torque of the brushed motor is determined based on the real-time current and the real-time acceleration. The position proportional gain and position integral gain are determined based on the real-time load torque. The target position error is obtained by calculating the difference between the expected position and the actual position of the target at discrete moments. A real-time position control signal is generated based on the position proportional gain, the position integral gain, and the target position error; The real-time control signal is generated based on the real-time position control signal, the target desired velocity, and the target desired acceleration.

[0011] In some embodiments, controlling the brushed motor to move according to the real-time control signal includes: The real-time control signal is converted into the real-time current input parameter of the brushed motor; Current is input to the brushed motor according to the real-time current input parameters.

[0012] This application further proposes a control device for a brushed motor, the control device for the brushed motor comprising: The acquisition unit is used to acquire the target distance between the initial position and the target position of the target device. The processing unit is used to call a preset trajectory generation algorithm to process the target distance and obtain the desired position sequence, desired velocity sequence and desired acceleration sequence; A generation unit is used to acquire the real-time current of the brushed motor and generate a real-time control signal for the brushed motor based on the real-time current, the desired position sequence, the desired velocity sequence, and the desired acceleration sequence. The control unit is used to control the movement of the brushed motor according to the real-time control signal, so as to drive the target device to move.

[0013] In some embodiments, the processing unit is specifically used for: Obtain the maximum speed, maximum acceleration, and control cycle of the brushed motor; A motion trajectory is generated based on the maximum speed, the maximum acceleration, and the target distance, wherein the motion trajectory includes an acceleration segment, a constant speed segment, and a deceleration segment; A trapezoidal velocity curve is generated based on the acceleration segment, the constant speed segment, and the deceleration segment, wherein the trapezoidal velocity curve is a curve of velocity changing with time; Based on the control cycle and the trapezoidal velocity curve, the motion trajectory is discretized to obtain the desired position sequence, desired velocity sequence and desired acceleration sequence.

[0014] In some embodiments, the generation unit is specifically used for: Obtain the real-time current of the brushed motor, and determine the discrete time corresponding to the current time as the target discrete time; Determine the desired velocity, the desired acceleration, and the desired position of the target at the discrete time; Obtain a preset velocity proportional gain and a preset acceleration proportional gain, and calculate the product of the desired velocity at the target discrete moment and the preset velocity proportional gain as the target desired velocity, and calculate the product of the desired acceleration at the target discrete moment and the preset acceleration proportional gain as the target desired acceleration. The real-time control signal is generated based on the real-time current, the target desired velocity, the target desired acceleration, and the target desired position at discrete moments.

[0015] This application further proposes a control system for a brushed motor, the control system comprising a brushed motor, a target device, and the aforementioned control device for the brushed motor.

[0016] The technical solution of this application converts the target distance between the initial position and the target position into a desired position sequence, a desired velocity sequence, and a desired acceleration sequence. Then, it generates a real-time control signal for the brushed motor based on the real-time current of the brushed motor, the desired position sequence, the desired velocity sequence, and the desired acceleration sequence, and then controls the movement of the brushed motor through the real-time control signal. By converting the target distance into a desired position sequence, the target distance is discretized into a smooth trajectory, avoiding abrupt changes and improving operational stability. Furthermore, by incorporating the real-time current of the brushed motor into the generation of the real-time control signal, the real-time control signal can be dynamically generated based on the real-time load state of the brushed motor, thus improving the response capability. Attached Figure Description

[0017] Figure 1 This is a flowchart illustrating an embodiment of the brushed motor control method of this application; Figure 2 This is a flowchart illustrating another embodiment of the brushed motor control method of this application; Figure 3 This is a flowchart illustrating another embodiment of the brushed motor control method of this application; Figure 4This is a flowchart illustrating another embodiment of the brushed motor control method of this application; Figure 5 This is a flowchart illustrating another embodiment of the brushed motor control method of this application; Figure 6 This is a flowchart illustrating another embodiment of the brushed motor control method of this application; Figure 7 This is a schematic diagram of the structure of the control device for the brushed motor according to the embodiments of this application. Detailed Implementation

[0018] The solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments in this application, and not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0019] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0020] It should also be noted that when a component is referred to as "fixed to" or "set on" another component, it can be directly on the other component or an intervening component can be present simultaneously. When a component is referred to as "connected to" another component, it can be directly connected to the other component or an intervening component can be present simultaneously.

[0021] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined as "first" or "second" explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. If the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed in this application.

[0022] This application proposes a control method for a brushed motor, referring to... Figure 1 and Figure 7 , Figure 1 This is a flowchart illustrating an embodiment of the brushed motor control method of this application. Figure 7This is a schematic diagram of the structure of the brushed motor control device according to an embodiment of the present application. In some embodiments, the brushed motor control method is used to control the brushed motor to drive the target device to move. The brushed motor control method includes: Step S110: Obtain the target distance between the initial position and the target position of the target device; Step S120: Call the preset trajectory generation algorithm to process the target distance and obtain the desired position sequence, desired velocity sequence and desired acceleration sequence; Step S130: Obtain the real-time current of the brushed motor, and generate a real-time control signal for the brushed motor based on the real-time current, desired position sequence, desired velocity sequence and desired acceleration sequence. Step S140: Control the brushed motor to move according to the real-time control signal, so as to drive the target device to move.

[0023] In this embodiment, as Figure 1 and Figure 7 As shown, the brushed motor control method can be applied to a brushed motor control device. The brushed motor control system includes a brushed motor, a target device, and a brushed motor control device; that is, the brushed motor control device can be configured within the brushed motor control system to execute the brushed motor control method and control the brushed motor to drive the target device. In this embodiment, the execution entity of the method steps is the control device.

[0024] Understandably, the target device can include devices such as dexterous hands and robotic arms. In particular, a dexterous hand can include multiple fingers, each equipped with a brushed motor. The brushed motors can be controlled to move each finger from an initial position to a target position to complete the corresponding task. For example, if the task is to grasp a target object, the target position can be on the surface of the target object. The brushed motors can then be controlled to move each finger from its initial position to the target position to grasp the target object.

[0025] In this embodiment, a dexterous hand is used as the target device. A brushed motor control method is used to control the dexterous hand to grasp the target object. The brushed motor control device can be connected to a host computer. When the user wants to control the dexterous hand to grasp the target object, the host computer can send a grasping command to the control device. The grasping command can include the location of the target object and the grasping parameters.

[0026] When the control device receives a grasping command, it can determine the location of the target object based on the command, thus determining the target position. The control device can also acquire the initial position of the target device. This initial position can be the location of the target device when the control device receives the grasping command. For example, the target device may also include a positioning module. The control device can acquire the real-time position of the dexterous hand through the positioning module. When the control device receives the grasping command, it can acquire the current position of the dexterous hand through the positioning module and use this position as the initial position. The control device can also determine the target position by parsing the grasping command.

[0027] After acquiring the initial and target positions, the control device can calculate the target distance between the initial and target positions. For example, the target distance can be obtained by calculating the difference between the target and initial positions.

[0028] After obtaining the target distance, the control device can call a preset trajectory generation algorithm to process the target distance, obtaining the desired position sequence, desired velocity sequence, and desired acceleration sequence. For example, the control device can process the target distance by calling the preset trajectory generation algorithm, thereby dividing the target distance of a large step length into multiple desired positions of smaller steps, and then obtaining the desired position sequence based on the multiple desired positions of smaller steps. Furthermore, it can calculate the desired velocity and desired acceleration corresponding to each desired position of a smaller step length; obtain the desired velocity sequence based on the desired velocity corresponding to the multiple desired positions of smaller steps, and obtain the desired acceleration sequence based on the desired acceleration corresponding to the multiple desired positions of smaller steps.

[0029] The control device can also acquire the real-time current of the brushed motor, and then generate a real-time control signal for the brushed motor based on the real-time current, desired position sequence, desired velocity sequence, and desired acceleration sequence. For example, the brushed motor can be equipped with a current sensor, and the control device can acquire the real-time current of the brushed motor through the current sensor. After obtaining the real-time current, the control device can dynamically generate a real-time control signal for the brushed motor based on the real-time current, desired position sequence, desired velocity sequence, and desired acceleration sequence.

[0030] After generating a real-time control signal, the control device can control the brushed motor to move, thereby driving the target equipment to move.

[0031] The technical solution of this application converts the target distance between the initial position and the target position into a desired position sequence, a desired velocity sequence, and a desired acceleration sequence. Then, it generates a real-time control signal for the brushed motor based on the real-time current of the brushed motor, the desired position sequence, the desired velocity sequence, and the desired acceleration sequence, and then controls the movement of the brushed motor through the real-time control signal. By converting the target distance into a desired position sequence, the target distance is discretized into a smooth trajectory, avoiding abrupt changes and improving operational stability. Furthermore, by incorporating the real-time current of the brushed motor into the generation of the real-time control signal, the real-time control signal can be dynamically generated based on the real-time load state of the brushed motor, thus improving the response capability.

[0032] Reference Figure 2 , Figure 2 This is a flowchart illustrating another embodiment of the brushed motor control method of this application. In some embodiments, the aforementioned invocation of a preset trajectory generation algorithm to process the target distance and obtain a desired position sequence, a desired velocity sequence, and a desired acceleration sequence includes: Step S150: Obtain the maximum speed, maximum acceleration, and control cycle of the brushed motor; Step S151: Generate a motion trajectory based on the maximum speed, maximum acceleration and target distance, wherein the motion trajectory includes an acceleration segment, a constant speed segment and a deceleration segment; Step S152: Generate a trapezoidal velocity curve based on the acceleration segment, the constant speed segment, and the deceleration segment, wherein the trapezoidal velocity curve is a curve of velocity changing with time; Step S153: Based on the control period and trapezoidal velocity curve, the motion trajectory is discretized to obtain the desired position sequence, desired velocity sequence and desired acceleration sequence.

[0033] In this embodiment, as Figure 2As shown, when the control device executes step S120, it can first acquire the maximum speed, maximum acceleration, and control cycle of the brushed motor. The maximum speed and maximum acceleration of the brushed motor can be obtained from the factory calibration test performed on the brushed motor. The control cycle of the brushed motor can be determined based on the computing power and sampling frequency of the control device. For example, the brushed motor control system can also include a memory. When the user adapts the brushed motor to the brushed motor control system, the maximum speed and maximum acceleration of the brushed motor can be entered into the memory. The control device can then obtain the maximum speed and maximum acceleration of the brushed motor by reading from the memory. The control device can also determine the control cycle of the brushed motor based on its own computing power and sampling frequency. Of course, the maximum speed, maximum acceleration, and control cycle of the brushed motor can also be user-defined. The user sets the maximum speed, maximum acceleration, and control cycle of the brushed motor and then inputs them into the control device. In this case, the control device can also acquire the maximum speed, maximum acceleration, and control cycle of the brushed motor.

[0034] Furthermore, the control device can set the maximum speed and maximum acceleration of the brushed motor according to the length of the target distance. For example, the user can set the maximum speed and maximum acceleration according to the length of the target distance to prevent the inability to plan acceleration, constant speed, and deceleration segments when the target distance is short.

[0035] After obtaining the maximum speed and maximum acceleration of the brushed motor, the control device can generate a motion trajectory based on the maximum speed, maximum acceleration, and target distance. This trajectory includes an acceleration segment, a constant speed segment, and a deceleration segment. For example, the control device can plan a trajectory for the target distance based on the maximum speed and maximum acceleration. This trajectory planning can be divided into three segments: the first segment of the target distance is planned as an acceleration segment, the middle segment as a constant speed segment, and the last segment as a deceleration segment, thus obtaining the motion trajectory.

[0036] After obtaining the acceleration, constant speed, and deceleration segments, the control device can generate a trapezoidal velocity curve based on these segments. This trapezoidal velocity curve represents the change in velocity over time. For example, the control device can connect the velocity changes over time in each segment of the acceleration, constant speed, and deceleration segments to obtain the trapezoidal velocity curve.

[0037] After obtaining the trapezoidal velocity curve, the control device can discretize the motion trajectory based on the control period and the trapezoidal velocity curve to obtain the desired position sequence, desired velocity sequence, and desired acceleration sequence. For example, the control device can divide the trapezoidal velocity curve according to the control period, and then map the divided trapezoidal velocity curve to the motion trajectory, thereby discretizing the motion trajectory to obtain the desired position sequence, desired velocity sequence, and desired acceleration sequence.

[0038] Reference Figure 3 , Figure 3 This is a flowchart illustrating another embodiment of the brushed motor control method of this application. In some embodiments, the aforementioned discrete processing of the motion trajectory based on the control cycle and trapezoidal velocity curve to obtain the desired position sequence, desired velocity sequence, and desired acceleration sequence includes: Step S160: Divide the total motion time corresponding to the trapezoidal velocity curve into several discrete moments according to the control cycle. Step S161: For each discrete time moment, generate the desired velocity and desired acceleration at the discrete time moment based on the trapezoidal velocity curve. Step S162: Generate the desired position at the discrete time based on the discrete time, desired velocity, and control period; Step S163: Arrange the expected position, expected velocity, and expected acceleration at each discrete moment in chronological order to obtain the expected position sequence, expected velocity sequence, and expected acceleration sequence.

[0039] In this embodiment, as Figure 3 As shown, when the control device executes step S153, it can first divide the total motion time corresponding to the trapezoidal velocity curve into several discrete moments according to the control cycle. The control device can divide the total motion time corresponding to the trapezoidal velocity curve into several discrete moments according to the control cycle. For example, the control device can divide the total motion time corresponding to the trapezoidal velocity curve according to the duration of the control cycle, dividing one discrete moment for each control cycle, until the total motion time is completely divided, thus obtaining several discrete moments.

[0040] For each discrete moment, the control device can generate the desired velocity and desired acceleration for that discrete moment based on the trapezoidal velocity curve. For example, for each discrete moment, the control device can determine the position of that discrete moment on the trapezoidal velocity curve, and then generate the desired velocity and desired acceleration for that discrete moment based on that position.

[0041] After obtaining the desired velocity and desired acceleration at discrete moments, the control device can generate the desired position at discrete moments based on the discrete moment, desired velocity, and control period.

[0042] The control device can also arrange the desired positions at each discrete moment in time order to obtain a desired position sequence; arrange the desired velocities at each discrete moment in time order to obtain a desired velocity sequence; and arrange the desired accelerations at each discrete moment in time order to obtain a desired acceleration sequence.

[0043] Here, several discrete moments are defined as n discrete moments, where n is a positive integer; the formulas for generating the desired velocity, desired acceleration, and desired position at each discrete moment include: , ; , or ; , ; in, This represents the desired velocity at the k-th discrete time, and the corresponding value is selected based on whether the k-th discrete time is in an acceleration phase, a constant velocity phase, or a deceleration phase. , Indicates the control period. This represents the product of the k-th discrete time step and the control period, where k ranges from 0 to n. Indicates the maximum acceleration. Indicates the maximum speed. This represents the sum of all control cycles during the acceleration phase. This represents the sum of all control cycles within the constant velocity segment. This represents the expected acceleration at the k-th discrete time, and the corresponding value is selected based on whether the k-th discrete time is in the acceleration phase, the constant velocity phase, or the deceleration phase. , This represents the expected position at the k-th discrete time. Indicates the initial position.

[0044] Wherein, when the k-th discrete time is in the acceleration phase, When the k-th discrete moment is in the uniform velocity segment, When the k-th discrete time is in the deceleration phase, .

[0045] When the k-th discrete time is in the acceleration phase When the k-th discrete moment is in the uniform velocity segment, When the k-th discrete time is in the deceleration phase, .

[0046] Wherein, the desired position sequence is .

[0047] The desired velocity sequence is .

[0048] The desired acceleration sequence is .

[0049] Reference Figure 4 ,Figure 4 This is a flowchart illustrating another embodiment of the brushed motor control method of this application. In some embodiments, the aforementioned acquisition of the real-time current of the brushed motor and the generation of a real-time control signal for the brushed motor based on the real-time current, the desired position sequence, the desired velocity sequence, and the desired acceleration sequence include: Step S170: Obtain the real-time current of the brushed motor and determine the discrete time corresponding to the current time as the target discrete time; Step S171: Determine the desired velocity, desired acceleration, and desired position of the target at discrete time points. Step S172: Obtain the preset velocity proportional gain and the preset acceleration proportional gain, and calculate the product of the desired velocity at the target discrete time and the preset velocity proportional gain as the target desired velocity, and calculate the product of the desired acceleration at the target discrete time and the preset acceleration proportional gain as the target desired acceleration. Step S173: Generate a real-time control signal based on the real-time current, target desired velocity, target desired acceleration, and target desired position at discrete moments.

[0050] In this embodiment, as Figure 4 As shown, when executing step S130, the control device can first acquire the real-time current of the brushed motor. The control device can acquire the real-time current of the brushed motor. For example, the brushed motor can be equipped with a current sensor, and the control device can collect the real-time current of the brushed motor through the current sensor. The control device can also determine the discrete time corresponding to the current time as the target discrete time.

[0051] Once the control device determines the target discrete time, it can then determine the desired velocity, desired acceleration, and desired position at that target discrete time. For example, the control device can determine the desired velocity from the desired velocity sequence, the desired acceleration from the desired acceleration sequence, and the desired position from the desired position sequence.

[0052] The control device can also acquire a preset speed proportional gain and a preset acceleration proportional gain, and then calculate the product of the desired speed at the target discrete time and the preset speed proportional gain as the target desired speed, and calculate the product of the desired acceleration at the target discrete time and the preset acceleration proportional gain as the target desired acceleration.

[0053] The formulas for calculating the target desired velocity and the target desired acceleration are as follows: ; ; in, Indicates the target desired speed. Indicates the preset speed proportional gain. Represents the expected velocity of the target at discrete moments. Indicates the target expected acceleration. Indicates the preset acceleration proportional gain. It represents the expected acceleration of the target at discrete moments.

[0054] After obtaining the real-time current, target desired velocity, target desired acceleration, and target desired position at discrete moments, the control device can generate a real-time control signal based on the real-time current, target desired velocity, target desired acceleration, and target desired position at discrete moments.

[0055] Reference Figure 5 , Figure 5 This is a flowchart illustrating another embodiment of the brushed motor control method of this application. In some embodiments, the aforementioned generation of a real-time control signal based on real-time current, target desired speed, target desired acceleration, and target desired position at discrete moments includes: Step S180: Obtain the real-time acceleration of the brushed motor and the actual position of the target device; Step S181: Determine the real-time load torque of the brushed motor based on the real-time current and real-time acceleration. Step S182: Determine the position proportional gain and position integral gain based on the real-time load torque; Step S183: Calculate the difference between the expected position and the actual position of the target at discrete time to obtain the target position error; Step S184: Generate a real-time position control signal based on the position proportional gain, position integral gain, and target position error; Step S185: Generate a real-time control signal based on the real-time position control signal, the target desired velocity, and the target desired acceleration.

[0056] In this embodiment, as Figure 5 As shown, when executing step S173, the control device can first acquire the real-time acceleration of the brushed motor and the actual position of the target device. The control device can also acquire the real-time acceleration of the brushed motor and the actual position of the target device. For example, the control system of the brushed motor can also include an encoder and a Hall sensor, and the control device can acquire the real-time acceleration of the brushed motor through the encoder and Hall sensor. The target device can also include a positioning module. The control device can acquire the real-time position of the target device through the positioning module.

[0057] The control device can also determine the real-time load torque of the brushed motor based on the real-time current and real-time acceleration; and then determine the position proportional gain and position integral gain based on the real-time load torque.

[0058] The control device can also calculate the difference between the desired position and the actual position of the target at discrete moments to obtain the target position error; then generate a real-time position control signal based on the position proportional gain, position integral gain and target position error; finally generate a real-time control signal based on the real-time position control signal, the target desired velocity and the target desired acceleration.

[0059] The formula for generating the real-time control signal includes: ; ; ; ; ; ; in, This indicates the real-time load torque. This represents the torque constant of the brushed motor. This represents the real-time current. Indicates the moment of inertia. This refers to the real-time acceleration. This indicates the positional proportional gain. Indicates the original position scaling gain. For the preset increment function, This represents the position integral gain. This represents the integral gain at the original position. For the preset decreasing function, This indicates the target position error. This represents the desired position of the target at discrete time points. Indicates the actual location, This refers to the real-time position control signal. This represents the differential gain at the original position. This refers to the real-time control signal. This indicates the target desired speed. This indicates the desired acceleration of the target.

[0060] in, For the preset increment function, The preset decreasing function, preset increasing function, and preset decreasing function can be set according to actual conditions. When an increase in load torque is detected, the position proportional gain is increased. Increase rigidity while reducing position integral gain To avoid low-frequency oscillations. When a decrease in load torque is detected, reduce... ,improve This enhances steady-state accuracy.

[0061] Reference Figure 6 , Figure 6 This is a flowchart illustrating another embodiment of the brushed motor control method of this application. In some embodiments, the aforementioned control of the brushed motor movement based on a real-time control signal includes: Step S190: Convert the real-time control signal into the real-time current input parameter of the brushed motor; Step S191: Input current to the brushed motor according to the real-time current input parameters.

[0062] In this embodiment, as Figure 6 As shown, when the control device executes step S140, it can first convert the real-time control signal into real-time current input parameters for the brushed motor. The control device can convert the real-time control signal into real-time current input parameters for the brushed motor; for example, the control device can first clarify the physical meaning of the real-time control signal, and then perform range conversion and amplitude limiting on the real-time control signal based on this physical meaning, thereby obtaining real-time current input parameters suitable for the drive circuit.

[0063] Once the control device receives the real-time current input parameters, it can adjust the output current of the drive circuit according to the current input parameters, and finally send the current to the brushed motor to drive the brushed motor to move.

[0064] The technical solution of this application converts the target distance between the initial position and the target position into a desired position sequence, a desired velocity sequence, and a desired acceleration sequence. Then, it generates a real-time control signal for the brushed motor based on the real-time current of the brushed motor, the desired position sequence, the desired velocity sequence, and the desired acceleration sequence, and then controls the movement of the brushed motor through the real-time control signal. By converting the target distance into a desired position sequence, the target distance is discretized into a smooth trajectory, avoiding abrupt changes and improving operational stability. Furthermore, by incorporating the real-time current of the brushed motor into the generation of the real-time control signal, the real-time control signal can be dynamically generated based on the real-time load state of the brushed motor, thus improving the response capability.

[0065] This application further proposes a control device for a brushed motor, referring to... Figure 7 , Figure 7 This is a schematic diagram of the structure of the control device for a brushed motor according to an embodiment of this application. In some embodiments, the control device for the brushed motor includes: The acquisition unit 300 is used to acquire the target distance between the target device's initial position and the target position. The processing unit 310 is used to call a preset trajectory generation algorithm to process the target distance and obtain the desired position sequence, desired velocity sequence and desired acceleration sequence; The generation unit 320 is used to acquire the real-time current of the brushed motor and generate a real-time control signal for the brushed motor based on the real-time current, the desired position sequence, the desired speed sequence and the desired acceleration sequence. The control unit 330 is used to control the movement of the brushed motor according to the real-time control signal so as to drive the target device to move.

[0066] In some embodiments, the processing unit 310 is specifically used for: Obtain the maximum speed, maximum acceleration, and control cycle of the brushed motor; The motion trajectory is generated based on the maximum speed, maximum acceleration, and target distance. The motion trajectory includes an acceleration segment, a constant speed segment, and a deceleration segment. A trapezoidal velocity curve is generated based on the acceleration, constant speed, and deceleration phases, where the trapezoidal velocity curve is the curve of velocity changing with time. Based on the control period and trapezoidal velocity curve, the motion trajectory is discretized to obtain the desired position sequence, desired velocity sequence, and desired acceleration sequence.

[0067] In some embodiments, when the processing unit 310 performs discrete processing on the motion trajectory based on the control cycle and trapezoidal velocity curve to obtain the desired position sequence, desired velocity sequence, and desired acceleration sequence, it is specifically used for: The total motion time corresponding to the trapezoidal velocity curve is divided into several discrete moments according to the control cycle. For each discrete moment, the desired velocity and desired acceleration at the discrete moment are generated based on the trapezoidal velocity curve. The desired position at the discrete moment is generated based on the discrete moment, the desired velocity, and the control period. Arrange the desired position, desired velocity, and desired acceleration at each discrete moment in chronological order to obtain the desired position sequence, desired velocity sequence, and desired acceleration sequence.

[0068] In some embodiments, the generating unit 320 is specifically used for: Obtain the real-time current of the brushed motor and determine the discrete time corresponding to the current time as the target discrete time; Determine the desired velocity, desired acceleration, and desired position of the target at discrete time points; Obtain the preset velocity proportional gain and the preset acceleration proportional gain, and calculate the product of the desired velocity at the target discrete time and the preset velocity proportional gain as the target desired velocity, and calculate the product of the desired acceleration at the target discrete time and the preset acceleration proportional gain as the target desired acceleration. Real-time control signals are generated based on real-time current, target desired velocity, target desired acceleration, and target desired position at discrete moments.

[0069] In some embodiments, the generation unit 320 is specifically used to generate a real-time control signal based on the real-time current, the target desired velocity, the target desired acceleration, and the target discrete-time desired position when performing the following: Obtain the real-time acceleration of the brushed motor and the actual position of the target device; The real-time load torque of the brushed motor is determined based on the real-time current and real-time acceleration. The position proportional gain and position integral gain are determined based on the real-time load torque. The target position error is obtained by calculating the difference between the expected position and the actual position of the target at discrete moments. Real-time position control signals are generated based on position proportional gain, position integral gain, and target position error; Real-time control signals are generated based on real-time position control signals, target desired velocity, and target desired acceleration.

[0070] In some embodiments, the control unit 330 is specifically used for: Convert the real-time control signal into the real-time current input parameter of the brushed motor; Current is input to the brushed motor based on real-time current input parameters.

[0071] This application further proposes a control system for a brushed motor. In some embodiments, the control system for the brushed motor includes a brushed motor, a target device, and the aforementioned control device for the brushed motor.

[0072] The above description is only a part or preferred embodiment of this application. Neither the text nor the drawings should limit the scope of protection of this application. All equivalent structural transformations made using the content of this application's specification and drawings under the overall concept of this application, or direct / indirect applications in other related technical fields, are included within the scope of protection of this application.

Claims

1. A control method for a brushed motor, used to control the brushed motor to drive the movement of a target device, characterized in that, The control method for the brushed motor includes: Obtain the target distance between the initial position and the target position of the target device; The target distance is processed by calling a preset trajectory generation algorithm to obtain the desired position sequence, desired velocity sequence, and desired acceleration sequence; The real-time current of the brushed motor is obtained, and a real-time control signal for the brushed motor is generated based on the real-time current, the desired position sequence, the desired velocity sequence, and the desired acceleration sequence. The brushed motor is controlled to move according to the real-time control signal, so as to drive the target device to move.

2. The control method for a brushed motor according to claim 1, characterized in that, The process of invoking a preset trajectory generation algorithm to process the target distance yields a desired position sequence, a desired velocity sequence, and a desired acceleration sequence, including: Obtain the maximum speed, maximum acceleration, and control cycle of the brushed motor; A motion trajectory is generated based on the maximum speed, the maximum acceleration, and the target distance, wherein the motion trajectory includes an acceleration segment, a constant speed segment, and a deceleration segment; A trapezoidal velocity curve is generated based on the acceleration segment, the constant speed segment, and the deceleration segment, wherein the trapezoidal velocity curve is a curve of velocity changing with time; Based on the control cycle and the trapezoidal velocity curve, the motion trajectory is discretized to obtain the desired position sequence, desired velocity sequence and desired acceleration sequence.

3. The control method for a brushed motor according to claim 2, characterized in that, The step of discretizing the motion trajectory based on the control cycle and the trapezoidal velocity curve to obtain the desired position sequence, desired velocity sequence, and desired acceleration sequence includes: The total motion time corresponding to the trapezoidal velocity curve is divided into several discrete moments according to the control cycle. For each discrete moment, the desired velocity and the desired acceleration for that discrete moment are generated based on the trapezoidal velocity curve. The desired position at the discrete time is generated based on the discrete time, the desired velocity, and the control cycle; Arrange the desired position, desired velocity, and desired acceleration at each discrete moment in chronological order to obtain the desired position sequence, the desired velocity sequence, and the desired acceleration sequence.

4. The control method for a brushed motor according to claim 3, characterized in that, The step of acquiring the real-time current of the brushed motor and generating a real-time control signal for the brushed motor based on the real-time current, the desired position sequence, the desired velocity sequence, and the desired acceleration sequence includes: Obtain the real-time current of the brushed motor, and determine the discrete time corresponding to the current time as the target discrete time; Determine the desired velocity, the desired acceleration, and the desired position of the target at the discrete time; Obtain a preset velocity proportional gain and a preset acceleration proportional gain, and calculate the product of the desired velocity at the target discrete moment and the preset velocity proportional gain as the target desired velocity, and calculate the product of the desired acceleration at the target discrete moment and the preset acceleration proportional gain as the target desired acceleration; The real-time control signal is generated based on the real-time current, the target desired velocity, the target desired acceleration, and the target desired position at discrete moments.

5. The control method for a brushed motor according to claim 4, characterized in that, The step of generating the real-time control signal based on the real-time current, the target desired velocity, the target desired acceleration, and the target desired position at discrete moments includes: The real-time acceleration of the brushed motor and the actual position of the target device are obtained. The real-time load torque of the brushed motor is determined based on the real-time current and the real-time acceleration. The position proportional gain and position integral gain are determined based on the real-time load torque. The target position error is obtained by calculating the difference between the expected position and the actual position of the target at discrete moments. A real-time position control signal is generated based on the position proportional gain, the position integral gain, and the target position error; The real-time control signal is generated based on the real-time position control signal, the target desired velocity, and the target desired acceleration.

6. The control method for a brushed motor according to claim 1, characterized in that, The step of controlling the brushed motor to move according to the real-time control signal includes: The real-time control signal is converted into the real-time current input parameter of the brushed motor; Current is input to the brushed motor according to the real-time current input parameters.

7. A control device for a brushed motor, characterized in that, The control device for the brushed motor includes: The acquisition unit is used to acquire the target distance between the initial position and the target position of the target device. The processing unit is used to call a preset trajectory generation algorithm to process the target distance and obtain the desired position sequence, desired velocity sequence and desired acceleration sequence; A generation unit is used to acquire the real-time current of the brushed motor and generate a real-time control signal for the brushed motor based on the real-time current, the desired position sequence, the desired velocity sequence, and the desired acceleration sequence. The control unit is used to control the movement of the brushed motor according to the real-time control signal, so as to drive the target device to move.

8. The control device for a brushed motor according to claim 7, characterized in that, The processing unit is specifically used for: Obtain the maximum speed, maximum acceleration, and control cycle of the brushed motor; A motion trajectory is generated based on the maximum speed, the maximum acceleration, and the target distance, wherein the motion trajectory includes an acceleration segment, a constant speed segment, and a deceleration segment; A trapezoidal velocity curve is generated based on the acceleration segment, the constant speed segment, and the deceleration segment, wherein the trapezoidal velocity curve is a curve of velocity changing with time; Based on the control cycle and the trapezoidal velocity curve, the motion trajectory is discretized to obtain the desired position sequence, desired velocity sequence and desired acceleration sequence.

9. The control device for a brushed motor according to claim 8, characterized in that, The generation unit is specifically used for: Obtain the real-time current of the brushed motor, and determine the discrete time corresponding to the current time as the target discrete time; Determine the desired velocity, the desired acceleration, and the desired position of the target at the discrete time; Obtain a preset velocity proportional gain and a preset acceleration proportional gain, and calculate the product of the desired velocity at the target discrete moment and the preset velocity proportional gain as the target desired velocity, and calculate the product of the desired acceleration at the target discrete moment and the preset acceleration proportional gain as the target desired acceleration; The real-time control signal is generated based on the real-time current, the target desired velocity, the target desired acceleration, and the target desired position at discrete moments.

10. A control system for a brushed motor, characterized in that, The control system of the brushed motor includes a brushed motor, a target device, and a control device for the brushed motor according to any one of claims 7-9.

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