An adaptive control method for a micromotor system

Abstract

The application relates to an adaptive control method of a micro motor system. After receiving a target action instruction, the method determines a target action direction, a target end position and a starting judgment reference of an action piece of an execution mechanism, and sets a reference starting section of a target action starting stage; a starting driving signal is output in the reference starting section, running feedback parameters of the micro motor are collected, a rotation establishment index and a blocking load index are generated; when the rotation establishment index does not satisfy an effective rotation condition and the blocking load index satisfies a blocking abnormal condition, whether the current abnormality belongs to an end position contact state is judged according to whether a target action process is located in an end position window; if not, blocking release control is executed and a recovery verification section is entered, and according to the changes of a verification rotation establishment index and a verification blocking load index, the current abnormality is identified as a recoverable stuck or a real locked rotation. Therefore, the identification accuracy of the blocking source of the micro motor is improved.

Description

Technical Field

[0001] This application relates to the field of micro motors, and more particularly to an adaptive control method for a micro motor system. Background Technology

[0002] Miniature motors, due to their small size, fast response, and ease of integration, are widely used in small actuators to drive push rods, sliders, valve cores, latches, grippers, gear transmissions, or other moving parts to perform actions such as extending, retracting, opening, closing, locking, and unlocking. Because these actuators typically have limited installation space, it is inconvenient to install additional high-precision position sensors, force sensors, or torque sensors in the system. Therefore, the controller usually needs to determine the operating status of the miniature motor and its actuator based on feedback information such as current, voltage, back electromotive force, ripple, temperature, or running time during the motor's operation.

[0003] Existing micro motor control methods typically determine that the micro motor is in an overload, jammed, or stalled state when they detect an increase in motor current, a decrease in speed, a weakening of back electromotive force, abnormal ripple, a response time exceeding a preset range, or a failure to complete the action within a predetermined time. They then further execute control actions such as increasing drive output, reversing the release, reducing drive output, or shutting down for protection. These methods can achieve a certain degree of abnormal protection, preventing the micro motor from continuously operating under significant overcurrent or stall conditions.

[0004] However, in scenarios where micro-motors drive small actuators, the normal clamping resistance generated when the actuator approaches the target end position, static friction during the start-up phase, normal heavy load, recoverable jamming, and actual stall can all manifest as increased current, abnormal ripple, weakened back EMF, or delayed start-up response. Existing methods, relying solely on single feedback anomalies or simple thresholds for judgment, can easily misjudge end-position contact as jamming or stall, leading to insufficient motion retention; conversely, they may misjudge non-end-position jamming or actual stall as normal end-position contact or ordinary heavy load, causing continuous driving of the micro-motor and increasing the risk of end-position impact, motor overheating, and damage to the transmission structure. Therefore, it is necessary to provide an adaptive control method suitable for micro-motor systems to more accurately distinguish different sources of resistance and execute matching control strategies under conditions of limited sensor configuration. Summary of the Invention

[0005] The purpose of this application is to provide an adaptive control method for a micro motor system that can identify the source of resistance in a micro motor and perform matched control.

[0006] According to one aspect of this application, an adaptive control method for a micro motor system is provided, comprising: Receive the target action command, and determine the target action direction, target end position, and start-up judgment criterion of the actuator driven by the micro motor according to the target action command; Set a reference start segment for the start phase of the target action based on the target action direction and the start determination criterion; Within the reference start-up segment, a start-up drive signal corresponding to the target movement direction is output to the micro motor, so that the micro motor drives the actuator to move toward the target end position; Within the reference start-up segment, the operating feedback parameters of the micro motor are collected, and a rotation establishment index and a damping load index are generated based on the operating feedback parameters and the start-up judgment benchmark. The rotation establishment index is determined based on at least two of the current ripple formation state, back EMF recovery state, and start-up response delay. The damping load index is determined based on at least two of the start-up current rising state, start-up current peak deviation state, and high current continuous state. When the rotation establishment index does not meet the effective rotation condition and the blocking load index meets the blocking abnormal condition, it is determined whether the current abnormality belongs to the end contact state based on whether the target action process corresponding to the target action instruction is located in the end window corresponding to the target end position. If the current anomaly does not belong to the terminal contact state, the micro motor is controlled to perform a blocking release control, and the recovery verification section is entered after the blocking release control. Within the recovery verification segment, the operational feedback parameters are re-acquired, and verification rotation establishment index and verification stagnation load index are generated based on the re-acquired operational feedback parameters. Based on the improvement of the verified rotation establishment index relative to the rotation establishment index, and the decrease of the verified stall load index relative to the stall load index, the current anomaly is identified as either recoverable jamming or true stall.

[0007] In one specific embodiment, the start-up determination criteria include a rotation establishment determination criteria and a resistance load determination criteria; The rotation establishment criterion includes at least two of the following: a current ripple formation criterion corresponding to the current ripple formation state, a back EMF recovery criterion corresponding to the back EMF recovery state, and a start-up response delay criterion corresponding to the start-up response delay. The hindering load criterion includes at least two of the following: a start-up current rise criterion corresponding to the start-up current rise state, a start-up current peak deviation criterion corresponding to the start-up current peak deviation state, and a high-current continuity criterion corresponding to the high-current continuity state. Wherein, when the states corresponding to the rotation establishment criterion in the current ripple formation state, the back EMF recovery state, and the start-up response delay all satisfy their respective criters, the rotation establishment index satisfies the effective rotation condition. When the states corresponding to the hindering load criterion in the start-up current rise state, the start-up current peak deviation state, and the high-current continuity state all satisfy their respective criters, the hindering load index satisfies the hindering anomaly condition.

[0008] In one specific embodiment, setting a reference start segment for the start phase of the target action based on the target action direction and the start determination reference includes: The output direction of the start drive signal is determined based on the target action direction; The start-up strength range, start-up duration range, and feedback sampling window of the start-up drive signal are determined based on the start-up determination criteria. The period during which the start drive signal is output in the output direction after the target action begins, and which is within the range of the start duration, is defined as the reference start segment; The feedback sampling window is a sampling time interval located within the baseline start segment, and the running feedback parameters are collected within the feedback sampling window.

[0009] In one specific embodiment, the operational feedback parameters include a current feedback sequence, a back electromotive force (EMF) feedback sequence, and corresponding sampling time information acquired during the reference start-up segment. The current ripple formation state is determined based on whether periodic fluctuations occur in the current feedback sequence, and the formation time or continuity of the periodic fluctuations. The back EMF recovery state is determined based on the recovery amplitude, recovery time, or recovery duration of the back EMF feedback sequence relative to the start-up determination benchmark. The start-up response delay is determined based on the time between outputting the start-up drive signal and the current ripple formation state or the back EMF recovery state satisfying the corresponding benchmark. The start-up current rise state is determined based on the current rise change in the current feedback sequence after the start of the reference start-up segment. The start-up current peak deviation state is determined based on the deviation of the start-up current peak value in the current feedback sequence relative to the start-up determination benchmark. The high current sustained state is determined based on the continuous state of the current feedback sequence within the high current range determined by the start-up determination criterion.

[0010] In one specific embodiment, generating the rotation establishment index based on the operational feedback parameters and the start-up determination criterion includes: The current ripple formation state, the back electromotive force recovery state, and the state involved in determining the rotation establishment index in the start-up response delay are compared with the corresponding start-up determination criteria, respectively. When all the states involved in determining the rotation establishment index meet the corresponding start-up judgment criteria, it is determined that the rotation establishment index meets the valid rotation condition. When at least one of the states involved in determining the rotation establishment index fails to meet the corresponding start-up judgment criterion, it is determined that the rotation establishment index does not meet the valid rotation condition.

[0011] In one specific embodiment, generating the hindering load index based on the operational feedback parameters and the startup determination criterion includes: The states involved in determining the load resistance index during the rising start current state, the peak deviation of start current state, and the continuous high current state are compared with the corresponding start-up judgment criteria. When the states of the hindered load indicators all meet the corresponding start-up criteria, the hindered load indicators are determined to meet the hindered abnormal conditions. When at least one of the states involved in determining the hindered load index does not meet the corresponding start-up judgment criterion, it is determined that the hindered load index does not meet the hindered abnormal condition.

[0012] In one specific embodiment, determining whether the current anomaly belongs to an endpoint contact state based on whether the target action process corresponding to the target action instruction is located within the endpoint window corresponding to the target endpoint includes: The target action process is determined based on at least one of the following: the execution start time of the target action command, the cumulative driving duration of the micro motor, the cumulative number of driving signals, and the cumulative number of current ripples. The endpoint window is determined based on the historical arrival process range or preset arrival process range corresponding to the target endpoint; When the target action process is within the endpoint window, the current anomaly is taken as an endpoint contact candidate state; When the target action process is outside the endpoint window, it is determined that the current abnormality does not belong to the endpoint contact state.

[0013] In one specific embodiment, after selecting the current anomaly as a candidate state for end-point contact, the method further includes: Based on the continuously collected operation feedback parameters within the end window, determine the changing trends of the stagnation load index and the rotation establishment index within the end window; When the resistance load index shows an increasing trend within the end window and the rotation establishment index shows a decreasing trend within the end window, it is determined that the current abnormality belongs to the end contact state. When the resistance load index does not show an increasing trend within the end position window, or the rotation establishment index does not show a decreasing trend within the end position window, it is determined that the current abnormality does not belong to the end position contact state.

[0014] In one specific embodiment, the resistive release control includes short-time reverse release control or forward and reverse micro-motion release control. When executing the short-time reverse release control, a release drive signal opposite to the target movement direction is output to the micro-motor, causing the actuator to generate a release displacement in a direction away from the target end position. When executing the forward and reverse micro-motion release control, a micro-motion drive signal corresponding to the target movement direction and a release drive signal opposite to the target movement direction are alternately output to the micro-motor, causing the actuator to reciprocate micro-motions between the direction toward the target end position and the direction away from the target end position.

[0015] In one specific embodiment, based on the improvement of the verified rotation establishment index relative to the rotation establishment index and the decline of the verified stall load index relative to the stall load index, the current anomaly is identified as recoverable stall or true stall, including: When the verification rotation establishment index improves relative to the rotation establishment index and the verification resistance load index decreases relative to the resistance load index, the current anomaly is identified as recoverable jamming, and the micro motor is controlled to continue executing the action corresponding to the target action command. When the verified rotation establishment index does not improve relative to the rotation establishment index, or the verified stall load index does not decrease relative to the stall load index, the current anomaly is identified as the real stall, and the micro motor is controlled to perform current limiting shutdown protection. When the micro motor completes the action corresponding to the target action command and is not identified as a real stall, the start-up judgment benchmark is updated according to the running feedback parameters corresponding to the action. When the micro motor fails to complete the action corresponding to the target action command, or is identified as a true stall, the operation feedback parameters corresponding to that action shall not be updated to the normal baseline.

[0016] Therefore, this application sets a reference start segment at the beginning of the target action and generates rotation recovery characteristics and load jamming characteristics based on the operating feedback parameters collected within the reference start segment. When abnormal rotation recovery and abnormal load jamming are detected, the target action process and end position window are combined to determine whether it is an end position contact state. In the non-end position contact state, jamming release control and recovery verification are performed. In this way, end position contact, recoverable jamming and real stall can be distinguished when the micro motor feedback abnormalities are similar. The micro motor can enter holding control, continue to execute the target action or current limiting shutdown protection according to different jamming sources, reducing the risk of end position misjudgment, false shutdown, overdrive, motor overheating and actuator damage. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 A flowchart of an adaptive control method for a micro motor system; Figure 2 This is a logic block diagram of an adaptive control method for a micro motor system.

[0019] Explanation of icon numbers: 100. Micro motor system; 110. Micro motor; 120. Actuator; 121. Action component; 122. Target end position; 200. Target action command; 210. Target action direction; 220. Start-up judgment benchmark; 230. Benchmark start-up segment; 231. Start-up drive signal; 240. Operation feedback parameters; 250. Rotation establishment index; 260. Restriction load index; 270. Target action process; 271. End position window; 272. End position contact state; 280. Restriction release control; 290. Recovery verification segment; 291. Verify rotation establishment index; 292. Verify restriction load index; 293. Recoverable jamming; 294. Real stall. Detailed Implementation

[0020] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings. Preferred embodiments of this application are shown in the drawings. However, this application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of this application.

[0021] Please refer to Figure 1 - Figure 2 This application provides an adaptive control method for a micro motor system 100 according to one embodiment. The micro motor system 100 includes a micro motor 110 and an actuator 120 driven by the micro motor 110. The actuator 120 is provided with an actuating element 121 that can move, rotate, or swing under the drive of the micro motor 110. When performing a target action, the actuating element 121 moves toward the corresponding target end position 122. The actuator 120 can be a micro locking mechanism, a micro push rod mechanism, a micro valve mechanism, a flip cover opening and closing mechanism, a slider moving mechanism, or a small clamping mechanism; the actuating element 121 can be a locking tongue, a push rod, a valve core, a slider, a paddle, or a gripper; the target end position 122 can be a locking end, an unlocking end, an extended end, a retracted end, an open end, or a closed end. Thus, a clear driving and action relationship is formed between the micro motor 110, the actuator 120, the actuating element 121 and the target end position 122, so that the subsequent judgment of the end position contact state 272, the recoverable jamming 293 and the actual stall 294 has a specific mechanical object, rather than remaining at the level of simple current protection judgment.

[0022] In one specific embodiment, after receiving the target action command 200, the micro motor system 100 determines the target action direction 210, target end position 122, and start-up judgment criterion 220 of the actuator 121 according to the target action command 200. The target action direction 210 is used to determine the output direction of the start-up drive signal 231, enabling the micro motor 110 to drive the actuator 121 to move towards the target end position 122; the target end position 122 is used to determine the judgment object of the subsequent end position window 271; the start-up judgment criterion 220 is used as the basis for comparison to determine whether the micro motor 110 has established effective rotation and whether it is hindered by abnormal load at the beginning stage of the target action. Different target actions can correspond to different target action directions 210, target end positions 122, and start-up judgment criterion 220. For example, extension actions, retraction actions, locking actions, and unlocking actions can have different start-up current ranges, rotation response times, and end position arrival ranges, thereby avoiding misjudgment caused by different actions sharing the same judgment standard.

[0023] Furthermore, the micro-motor system 100 sets a reference start segment 230 for the initial stage of the target action based on the target action direction 210 and the start judgment criterion 220. The reference start segment 230 is not the complete operation stage of the target action, but rather a controlled start stage used to observe the start response of the micro-motor 110 at the start of the target action. Within the reference start segment 230, the micro-motor system 100 outputs a start drive signal 231 corresponding to the target action direction 210 to the micro-motor 110, causing the micro-motor 110 to drive the actuator 121 towards the target end position 122, while simultaneously acquiring the operating feedback parameters 240 of the micro-motor 110. The setting of the reference start segment 230 ensures that the subsequently acquired operating feedback parameters 240 originate from a relatively uniform start process, reducing the impact of initial friction, differences in action direction, and instantaneous current surges on the judgment results.

[0024] Specifically, after acquiring the operating feedback parameters 240 within the reference start-up segment 230, the micro motor system 100 generates a rotation establishment index 250 and a resistance load index 260 based on the operating feedback parameters 240 and the start-up judgment benchmark 220. The rotation establishment index 250 is determined based on at least two of the current ripple formation state, back EMF recovery state, and start-up response delay, and is used to reflect whether the micro motor 110 has formed effective rotation. The resistance load index 260 is determined based on at least two of the start-up current rise state, start-up current peak deviation state, and high current continuous state, and is used to reflect whether the micro motor 110 is subjected to abnormal load resistance during the start-up process. By generating the rotation establishment index 250 and the resistance load index 260 separately, the micro motor system 100 can determine "whether the motor has started" and "whether the load has increased abnormally" respectively, avoiding directly determining the actual stall 294 based solely on the current increase, and also avoiding misjudging the mechanical jamming of the actuator 121 based solely on short-term ripple abnormalities.

[0025] When the rotation establishment index 250 does not meet the effective rotation condition and the resistance load index 260 meets the resistance abnormal condition, it indicates that the micro motor 110 exhibits insufficient rotation establishment and abnormally high load resistance during the startup phase. This state may be caused by different reasons such as end contact, partial jamming, or actual stall. At this time, the micro motor system 100 does not directly control the micro motor 110 to stop, nor does it directly execute the resistance release control 280. Instead, it determines whether the current abnormality belongs to the end contact state 272 based on whether the target action process 270 corresponding to the target action command 200 is located within the end window 271 corresponding to the target end 122. The target action process 270 is used to indicate the progress of the action element 121 towards the target end 122 after the start of the target action, and the end window 271 is used to indicate the range of the normal approach or arrival of the action element 121 towards the target end 122. If the current anomaly occurs within the end window 271, it is more likely related to the end clamping resistance formed after the actuator 121 contacts the target end 122; if the current anomaly occurs outside the end window 271, it is more likely related to local obstruction, foreign object blockage, or transmission component jamming in the motion path.

[0026] Furthermore, if the current anomaly is not due to end-position contact state 272, the micro-motor system 100 controls the micro-motor 110 to execute the slack release control 280, and then enters the recovery verification stage 290 after the slack release control 280. The slack release control 280 is used to attempt to release the temporary resistance or local jamming experienced by the actuator 121 at the non-end-position location. The recovery verification stage 290 is used to re-observe the rotation establishment and load change of the micro-motor 110 after release. In the recovery verification stage 290, the micro-motor system 100 re-acquires the operating feedback parameters 240 and generates a verification rotation establishment index 291 and a verification slack load index 292 based on the re-acquired operating feedback parameters 240. If the verification rotation establishment index 291 is improved compared to the rotation establishment index 250 before release, and the verification slack load index 292 is lower than the slack load index 260 before release, it indicates that the rotation response of the micro-motor 110 has recovered and the load resistance has decreased after the slack release control 280, and the current anomaly can be identified as recoverable jamming 293. If the verification rotation establishment index 291 does not improve, or the verification resistance load index 292 does not decrease, it indicates that effective rotation cannot be established after release or the load remains abnormal. The current abnormality can be identified as a true stall 294. Thus, the micro motor system 100 can form a continuous judgment chain through the reference start section 230, the end window 271, and the recovery verification section 290. Under the condition of limited sensor configuration, it can distinguish between the end contact state 272, recoverable jamming 293, and true stall 294, reducing the risk of accidental shutdown, accidental release, continuous overload overheating, and damage to the actuator 120.

[0027] In one specific embodiment, the start-up determination benchmark 220 includes a rotation establishment determination benchmark and a resistance load determination benchmark. The rotation establishment determination benchmark is used to determine whether the micro motor 110 establishes effective rotation within the benchmark start-up segment 230, and the resistance load determination benchmark is used to determine whether the micro motor 110 is subjected to abnormal load resistance within the benchmark start-up segment 230. The rotation establishment determination benchmark includes at least two of the following: a current ripple formation benchmark corresponding to the current ripple formation state, a back EMF recovery benchmark corresponding to the back EMF recovery state, and a start-up response delay benchmark corresponding to the start-up response delay. The current ripple formation benchmark is used to determine whether there is a periodic current change related to the rotation of the micro motor 110 in the operating feedback parameter 240; the back EMF recovery benchmark is used to determine whether the micro motor 110 forms a back EMF change corresponding to the speed establishment after start-up; and the start-up response delay benchmark is used to determine whether the time required for the micro motor 110 to enter the effective rotation state from a stationary or low-speed state after the start-up drive signal 231 is output is within the allowable range. When the current ripple formation state, back EMF recovery state, and start-up response delay states all meet the corresponding benchmarks, the rotation establishment index 250 satisfies the effective rotation condition; if any of the states involved in the judgment does not meet the corresponding benchmarks, the rotation establishment index 250 does not satisfy the effective rotation condition.

[0028] Furthermore, the load retardation criteria include at least two of the following: a starting current rise criterion corresponding to the starting current rise state, a starting current peak deviation criterion corresponding to the starting current peak deviation state, and a high current duration criterion corresponding to the high current duration state. The starting current rise criterion is used to determine whether the current rise rate of the micro motor 110 is abnormal during startup; the starting current peak deviation criterion is used to determine whether the starting current peak is too high relative to the normal startup range; and the high current duration criterion is used to determine whether the duration of the high current exceeds the allowable range. It should be noted that "meeting the corresponding criterion" in the load retardation criteria means that the starting current rise state, the starting current peak deviation state, or the high current duration state reaches the corresponding judgment range used to characterize the retardation anomaly, rather than being within the normal load range. When all states involved in determining the load retardation index 260 meet the corresponding load retardation criteria, the load retardation index 260 meets the retardation anomaly condition; if at least one of them fails to meet the corresponding criterion, the load retardation index 260 does not meet the retardation anomaly condition. Therefore, the micro motor system 100 can determine the start-up phase state from two dimensions: rotation establishment and load resistance, thereby improving the accuracy of subsequent identification of end contact state 272, recoverable jamming 293, and true stall 294.

[0029] In one specific embodiment, when the micro motor system 100 sets the reference start segment 230 according to the target action direction 210 and the start determination criterion 220, it first determines the output direction of the start drive signal 231 according to the target action direction 210, and then determines the start intensity range, start duration range, and feedback sampling window of the start drive signal 231 according to the start determination criterion 220. The start intensity range is used to limit the drive output range of the micro motor 110 when it receives the start drive signal 231 at the beginning stage of the target action. It can be lower than the normal operating intensity of the target action, or it can be set to a gradually increasing output range according to the actual load of the actuator 120, so as to avoid the micro motor 110 being subjected to excessive drive impact before the actuator 121 has formed a stable motion. The start duration range is used to limit the continuous boundary of the reference start segment 230 after the start of the target action, so that the micro motor system 100 can observe the start response of the micro motor 110 within a fixed or relatively stable initial period. The feedback sampling window is the sampling time interval located within the reference start segment 230. The running feedback parameter 240 is collected within the feedback sampling window, thereby ensuring that the data used to generate the rotation establishment index 250 and the damping load index 260 originates from the controlled start process at the beginning of the target action. The micro motor system 100 defines the period after the target action begins, during which the start drive signal 231 is output in the corresponding output direction and falls within the start duration range, as the reference start segment 230. In this way, the reference start segment 230 has both a definite action direction and drive and sampling boundaries constrained by the start judgment reference 220, enabling subsequent judgments to be based on the same type of controlled start process, reducing errors caused by different action directions, different start intensities, and different sampling timings.

[0030] In one specific embodiment, the operation feedback parameter 240 includes a current feedback sequence, a back EMF feedback sequence, and corresponding sampling time information acquired within the reference start-up segment 230. The current feedback sequence reflects the current change process of the micromotor 110 under the action of the start-up drive signal 231. The back EMF feedback sequence reflects the back EMF change generated after the micromotor 110 enters the rotation state from a stationary or low-speed state. The sampling time information is used to mark the time position corresponding to each sampled data in the current feedback sequence and the back EMF feedback sequence. The micromotor system 100 determines the current ripple formation state based on whether periodic fluctuations are formed in the current feedback sequence, and the formation time or continuity of the periodic fluctuations; determines the back EMF recovery state based on the recovery amplitude, recovery time, or recovery duration of the back EMF feedback sequence relative to the start-up judgment reference 220; and determines the start-up response delay based on the time between the output start-up drive signal 231 and the current ripple formation state or the back EMF recovery state satisfying the corresponding reference. The above three states are mainly used to determine whether the micromotor 110 has formed effective rotation.

[0031] Specifically, when the current feedback sequence exhibits periodic changes corresponding to the rotation of the micromotor 110 within the reference start-up segment 230, and these periodic changes are continuous, it indicates that the micromotor 110 has a certain degree of continuous rotation response. If the current feedback sequence remains at a high level for a long time or exhibits unstable periodic fluctuations, it indicates that the micromotor 110 may have failed to form effective rotation. When the back EMF feedback sequence gradually recovers after the start-up drive signal 231 is output and reaches the range corresponding to the start-up judgment benchmark 220, it indicates that the rotation of the micromotor 110 has been established. If the back EMF recovery is insufficient or the recovery duration is short, it indicates that the micromotor 110 may be subject to significant resistance, and rotation establishment is insufficient. The start-up response delay reflects the time required for the micromotor 110 to form effective rotation feedback from receiving the start-up drive signal 231, and can be used to identify situations such as start-up hysteresis, excessive initial friction, or excessively high resistance load.

[0032] Furthermore, the micro motor system 100 determines the starting current rising state based on the current rise change after the current feedback sequence begins at the reference starting stage 230; it determines the starting current peak deviation state based on the deviation of the starting current peak in the current feedback sequence from the starting judgment benchmark 220; and it determines the high current continuous state based on the continuity of the current feedback sequence within the high current range determined by the starting judgment benchmark 220. The starting current rising state reflects the rate of current change required for the micro motor 110 to overcome the initial resistance when the actuator 121 begins to move towards the target end 122. The starting current peak deviation state reflects the degree of deviation of the current load from the normal starting load. The high current continuous state reflects whether the abnormal resistance persists. Thus, the current ripple formation state, back EMF recovery state, and starting response delay are mainly used to support the rotation establishment index 250, while the starting current rising state, starting current peak deviation state, and high current continuous state are mainly used to support the load inhibition index 260, enabling the micro motor system 100 to determine whether the micro motor 110 has established effective rotation and whether it is inhibited by abnormal load.

[0033] In one specific embodiment, when the micro motor system 100 generates the rotation establishment index 250 based on the operation feedback parameter 240 and the start-up judgment benchmark 220, it can select the states to be judged from the current ripple formation state, the back EMF recovery state, and the start-up response delay, and compare each state participating in determining the rotation establishment index 250 with the corresponding start-up judgment benchmark 220. If the current feedback sequence can form periodic fluctuations within the benchmark start-up segment 230, and the formation time or continuity of the periodic fluctuations meets the corresponding benchmark, it indicates that the micro motor 110 has already exhibited current feedback related to rotation; if the recovery amplitude, recovery time, or recovery duration of the back EMF feedback sequence meets the corresponding benchmark, it indicates that the micro motor 110 has formed back EMF feedback corresponding to rotation under the action of the start-up drive signal 231; if the time between the output of the start-up drive signal 231 and the current ripple formation state or the back EMF recovery state meeting the corresponding benchmark is within the allowable range, it indicates that the micro motor 110 can establish effective rotation in a timely manner at the beginning stage of the target action. When all states involved in determining the rotation establishment index 250 meet the corresponding start-up criteria 220, the micro-motor system 100 determines that the rotation establishment index 250 meets the effective rotation condition; when at least one of the states involved in determining the rotation establishment index 250 does not meet the corresponding start-up criteria 220, the micro-motor system 100 determines that the rotation establishment index 250 does not meet the effective rotation condition. It should be noted that the rotation establishment index 250 does not require simultaneous judgment using the current ripple formation state, back EMF recovery state, and start-up response delay. In different types of micro-motor systems 100, at least two states can be selected for determination based on the collectable operating feedback parameters 240. For example, in scenarios where back EMF can be stably collected, the back EMF recovery state and start-up response delay can be primarily used to determine whether rotation has been established; in scenarios where back EMF collection conditions are limited but current sampling is stable, the current ripple formation state and start-up response delay can be primarily used to determine whether rotation has been established. Through this method, the rotation establishment index 250 can reflect whether the micro-motor 110 has transitioned from the start-up state to the effective rotation state based on multiple observable feedback states.

[0034] In one specific embodiment, when the micro motor system 100 generates the hindered load index 260 based on the operating feedback parameter 240 and the start-up judgment benchmark 220, it can select a state to participate in the judgment from the starting current rising state, the starting current peak deviation state, and the high current continuous state, and compare each state participating in the determination of the hindered load index 260 with the corresponding start-up judgment benchmark 220. The starting current rising state is used to reflect the rate of current change of the micro motor 110 when overcoming the initial resistance of the actuator 120 after the start of the benchmark start-up segment 230. If the current feedback sequence rises rapidly in a short period of time and reaches the abnormal rise range corresponding to the start-up judgment benchmark 220, it indicates that the actuator 121 may encounter large initial resistance, frictional resistance, or jamming resistance in the early stage of moving towards the target end 122. The starting current peak deviation state is used to reflect the degree of deviation of the starting current peak of the micro motor 110 from the normal start-up range. If the starting current peak is significantly higher than the current peak range corresponding to the start-up judgment benchmark 220, it indicates that the micro motor 110 needs to output a larger driving force to drive the actuator 121 to continue to move, and the current load may have deviated from the normal start-up load. The high-current sustained state reflects the continuous high-current condition of the micro motor 110. If the current feedback sequence remains within the high-current range determined by the start-up criterion 220 for an extended period, it indicates that the load is not a brief start-up impact, but rather a persistent stagnation state. When all states involved in determining the stagnation load index 260 meet the corresponding start-up criterion 220, the micro motor system 100 determines that the stagnation load index 260 meets the stagnation anomaly condition; when at least one of the states involved in determining the stagnation load index 260 does not meet the corresponding start-up criterion 220, the micro motor system 100 determines that the stagnation load index 260 does not meet the stagnation anomaly condition. In this way, the stagnation load index 260 can distinguish between normal start-up current impacts and persistent load anomalies, and, in conjunction with the rotation build-up index 250, determine whether the micro motor 110 simultaneously exhibits insufficient rotation build-up and abnormal load increase.

[0035] In one specific embodiment, when the rotation establishment index 250 does not meet the effective rotation condition and the resistance load index 260 meets the resistance anomaly condition, the micro motor system 100 determines whether the current anomaly belongs to the end-position contact state 272 based on whether the target action process 270 corresponding to the target action command 200 is located within the end-position window 271 corresponding to the target end-position 122. The target action process 270 is used to represent the progress of the action element 121 towards the target end-position 122 after the start of the target action. The target action process 270 can be determined based on at least one of the following: the execution start time of the target action command 200, the cumulative drive duration of the micro motor 110, the cumulative number of drive signals, and the cumulative number of current ripples. For example, in scenarios where time is the primary criterion, the approximate movement progress of the actuator 121 can be determined based on the cumulative driving duration after the target action begins; in scenarios where current ripple can be stably collected, the cumulative rotation of the micro motor 110 can be inferred based on the cumulative current ripple count, thereby estimating the degree to which the actuator 121 approaches the target end position 122; in scenarios using pulse drive or segmented drive, the movement progress of the actuator 121 can be determined based on the cumulative number of drive signals. The end position window 271 is used to represent the theoretical range of the actuator 121's approach to or arrival at the target end position 122 when it moves normally towards the target end position 122 according to the target action command 200. The end position window 271 can be determined based on the historical arrival process range corresponding to the target end position 122, or it can be determined based on a preset arrival process range. The historical arrival process range can come from data generated by the micro motor system 100 during normal operation, and the preset arrival process range can be preset based on the transmission stroke of the actuator 120, the movement range of the actuator 121, and the driving method of the micro motor 110. When the target motion process 270 is within the end position window 271, it indicates that the actuator 121 has entered the stage of approaching the target end position 122 at the time of the current anomaly. The micro motor system 100 considers the current anomaly as a candidate state for end position contact. When the target motion process 270 is outside the end position window 271, it indicates that the current anomaly occurs before the actuator 121 has approached the target end position 122. The micro motor system 100 determines that the current anomaly does not belong to the end position contact state 272. Thus, the micro motor system 100 can initially eliminate the source of the anomaly based on the position of the motion process, avoiding directly identifying normal pressing phenomena near the target end position 122 as a real stall 294, and also avoiding misjudging non-end position obstruction far from the target end position 122 as the end position contact state 272.

[0036] In one specific embodiment, after the micro motor system 100 has identified the current anomaly as a candidate state for end-position contact, it further confirms the changing trends of the resistance load index 260 and the rotation establishment index 250 by combining the continuously acquired operational feedback parameters 240 within the end-position window 271. Specifically, the end-position window 271 represents the range of the process of the actuator 121 approaching the target end-position 122. Within this range, if the actuator 121 gradually contacts the target end-position 122 or is subject to mechanical limiting near the target end-position 122, the micro motor 110 will typically exhibit a gradual increase in load and a gradual decrease in effective rotation. Therefore, the micro motor system 100 can continuously acquire operational feedback parameters 240 within the end-position window 271 in chronological or sampling order, and calculate or update the resistance load index 260 and the rotation establishment index 250 based on the continuously acquired operational feedback parameters 240, thereby obtaining the changing trends of the resistance load index 260 and the rotation establishment index 250 within the end-position window 271. When the resistance load index 260 shows an increasing trend within the end window 271, and the rotation establishment index 250 shows a decreasing trend within the end window 271, it indicates that the closer the actuator 121 gets to the target end 122, the greater the load resistance experienced by the micro motor 110. Simultaneously, the effective rotation state of the micro motor 110 gradually weakens. This pattern of change corresponds to the process of end-position clamping resistance formed after the actuator 121 contacts the target end 122. Therefore, the micro motor system 100 determines that the current anomaly belongs to the end-position contact state 272. When the resistance load index 260 does not show an increasing trend within the end window 271, or the rotation establishment index 250 does not show a decreasing trend within the end window 271, it indicates that although the current anomaly occurs within the end window 271, its pattern of change does not conform to the end-position clamping process generated by the actuator 121 gradually contacting the target end 122. In this case, the micro motor system 100 determines that the current anomaly does not belong to the end-position contact state 272. By further combining the load change trend and rotation change trend within the end window 271, the possibility of misjudging occasional interference, short-term current fluctuations, or sampling anomalies within the end window 271 as end contact state 272 can be reduced.

[0037] In one specific embodiment, when the micro-motor system 100 determines that the current abnormality does not belong to the end-position contact state 272, it indicates that the actuator 121 is not yet in the normal end-position clamping process corresponding to the target end position 122. The current abnormality is more likely caused by local resistance in the actuator 120's movement path, slight obstruction by foreign objects, transmission engagement jamming, increased sealing friction, or momentary clamping of the actuator 121. At this time, the micro-motor system 100 controls the micro-motor 110 to execute the resistance release control 280 to attempt to release the non-end-position resistance formed by the actuator 121 during its movement toward the target end position 122. The resistance release control 280 may include short-time reverse release control or forward and reverse micro-motion release control. When executing the short-time reverse release control, the micro-motor system 100 outputs a release drive signal to the micro-motor 110 opposite to the target movement direction 210, causing the micro-motor 110 to drive the actuator 121 to generate a release displacement in the direction away from the target end position 122. This release displacement is not intended to complete the reverse target action, but rather to cause a slight retraction of the obstructed part of the actuator 120, thereby reducing the local clamping force, releasing the momentary jamming at the gear meshing point, or disengaging the actuator 121 from the clamping state formed by foreign objects, seals, or elastic resistance. When performing forward and reverse micro-motion release control, the micro-motor system 100 alternately outputs a micro-motion drive signal corresponding to the target action direction 210 and a release drive signal opposite to the target action direction 210 to the micro-motor 110, causing the actuator 121 to reciprocate micro-motion between the direction toward the target end position 122 and the direction away from the target end position 122. Through short-term reverse release control or forward and reverse micro-motion release control, the micro-motor system 100 can attempt to release the non-end position obstruction that may be restored without directly determining the actual stall 294.

[0038] It should be noted that the delay release control 280 does not necessarily mean that the current anomaly can be recovered. Its function is to provide a basis for judgment after a controlled release in the subsequent recovery verification section 290. If, after the delay release control 280, the micro motor 110 can show improved rotation establishment and reduced jamming load in the recovery verification section 290, then the current anomaly can be further identified as recoverable jamming 293. If, after the delay release control 280, the micro motor 110 still cannot recover effective rotation, and the jamming load is still in an abnormal state, then the current anomaly can be further identified as true stall 294. Therefore, the delay release control 280 is not an isolated reverse action, but an intermediate control process connecting the non-end position anomaly judgment and the recovery verification section 290, enabling the micro motor system 100 to protect the micro motor 110 and the actuator 120 while preserving as many opportunities for action recovery as possible, thereby improving the action completion rate of the small actuator under complex load conditions.

[0039] In one specific embodiment, after the slack release control 280, the micro-motor system 100 enters the recovery verification stage 290 to confirm whether the source of the current anomaly has been eliminated by the feedback changes before and after the release. Specifically, in the recovery verification stage 290, the micro-motor system 100 re-acquires the operating feedback parameters 240 of the micro-motor 110 and generates a verification rotation establishment index 291 and a verification slack load index 292 based on the re-acquired operating feedback parameters 240. The verification rotation establishment index 291 reflects whether the micro-motor 110 has re-established effective rotation after the slack release control 280, and the verification slack load index 292 reflects whether the load resistance experienced by the micro-motor 110 has decreased after the slack release control 280. By comparing the verification rotation establishment index 291 with the rotation establishment index 250 before release, and comparing the verification slack load index 292 with the slack load index 260 before release, it can be determined whether the slack release control 280 has truly improved the operating state of the micro-motor 110 and the actuator 120. When the rotation establishment index 291 improves compared to the rotation establishment index 250, and the resistance load index 292 decreases compared to the resistance load index 260, it indicates that the resistance release control 280 has disengaged the actuator 121 from the non-end position resistance state. The micro motor 110 then exhibits better rotation establishment capability again, and the resistance formed by the actuator 120 on the micro motor 110 decreases. At this point, the micro motor system 100 identifies the current anomaly as recoverable jam 293 and controls the micro motor 110 to continue executing the action corresponding to the target action command 200, causing the actuator 121 to continue moving towards the target end position 122. This processing method avoids directly judging short-term jams that can be resolved by the release action as true stall 294, thereby improving the target action completion rate.

[0040] Furthermore, if the verification rotation establishment index 291 does not improve relative to the rotation establishment index 250, or the verification resistance load index 292 does not decrease relative to the resistance load index 260, it indicates that even after the resistance release control 280, the micro motor 110 still cannot resume effective rotation, or the load resistance of the actuator 120 has not decreased. In this case, the current anomaly is more likely an unrecoverable anomaly caused by severe mechanical blockage, continuous obstruction of the actuator 121, transmission structure jamming, or insufficient output capacity of the micro motor 110. The micro motor system 100 identifies the current anomaly as a true stall 294 and controls the micro motor 110 to perform current-limiting shutdown protection. This can prevent the micro motor 110 from continuously outputting driving force in the state of true stall 294, reducing the risk of winding overheating, gear damage, actuator 120 deformation, and impact damage to the actuator 121. Furthermore, when the micro motor 110 completes the action corresponding to the target action command 200 and is not identified as a true stall 294, the micro motor system 100 can update the start-up judgment benchmark 220 according to the operation feedback parameter 240 corresponding to the action, so that the start-up judgment benchmark 220 can adapt to the individual differences, wear changes, or load changes of the micro motor 110, actuator 120, and actuator 121 during long-term use. When the micro motor 110 fails to complete the action corresponding to the target action command 200, or the current abnormality is identified as a true stall 294, the micro motor system 100 prohibits updating the operation feedback parameter 240 corresponding to the action to the normal benchmark, so as to avoid data pollution of the start-up judgment benchmark 220 caused by abnormally high current, insufficient rotation establishment, or continuous abnormal load in the state of true stall 294. In summary, the recovery verification section 290 transforms the state changes after the block release control 280 into a basis for distinguishing between recoverable jamming 293 and true stall 294. At the same time, combined with the update restrictions of the start judgment benchmark 220, the micro motor system 100 can continue to complete the target action when there is a recoverable abnormality, and can also protect the micro motor 110 and the actuator 120 in a timely manner when there is an unrecoverable abnormality, while maintaining the stability of the subsequent identification process.

[0041] The embodiments described above are merely examples of several implementations of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these modifications and improvements all fall within the scope of protection of this application.

Claims

1. A method of adaptive control of a micro electro mechanical system, characterized in that, include: Receive the target action command, and determine the target action direction, target end position, and start-up judgment criterion of the actuator driven by the micro motor based on the target action command; Set a reference start segment for the start phase of the target action based on the target action direction and the start determination criterion; Within the reference start-up segment, a start-up drive signal corresponding to the target movement direction is output to the micro motor, so that the micro motor drives the actuator to move toward the target end position; Within the reference start-up segment, the operating feedback parameters of the micro motor are collected, and a rotation establishment index and a damping load index are generated based on the operating feedback parameters and the start-up judgment benchmark. The rotation establishment index is determined based on at least two of the current ripple formation state, back EMF recovery state, and start-up response delay. The damping load index is determined based on at least two of the start-up current rising state, start-up current peak deviation state, and high current continuous state. When the rotation establishment index does not meet the effective rotation condition and the blocking load index meets the blocking abnormal condition, it is determined whether the current abnormality belongs to the end contact state based on whether the target action process corresponding to the target action instruction is located in the end window corresponding to the target end position. If the current anomaly does not belong to the terminal contact state, the micro motor is controlled to perform a blocking release control, and the recovery verification section is entered after the blocking release control. Within the recovery verification segment, the operational feedback parameters are re-acquired, and verification rotation establishment index and verification stagnation load index are generated based on the re-acquired operational feedback parameters. Based on the improvement of the verified rotation establishment index relative to the rotation establishment index, and the decrease of the verified stall load index relative to the stall load index, the current anomaly is identified as either recoverable jamming or true stall.

2. The adaptive control method of a micro electro mechanical system according to claim 1, wherein, The start-up determination criteria include the rotation establishment determination criteria and the resistance load determination criteria; The rotation establishment determination benchmark includes at least two of the following: the current ripple formation benchmark corresponding to the current ripple formation state, the back EMF recovery benchmark corresponding to the back EMF recovery state, and the start-up response delay benchmark corresponding to the start-up response delay. The load retardation criteria include at least two of the following: the starting current rise criterion corresponding to the starting current rise state, the starting current peak deviation criterion corresponding to the starting current peak deviation state, and the high current continuity criterion corresponding to the high current continuity state. Specifically, when the current ripple formation state, the back electromotive force recovery state, and the start-up response delay all satisfy the corresponding benchmarks, the rotation establishment index satisfies the effective rotation condition. When the states corresponding to the load stagnation determination criteria in the rising starting current state, the peak deviation of the starting current state, and the continuous high current state all meet the corresponding criteria, the load stagnation index meets the stagnation abnormality condition.

3. The adaptive control method of a micro electromechanical system according to claim 1, wherein Based on the target action direction and the start determination criterion, a reference start segment for the start phase of the target action is set, including: The output direction of the start drive signal is determined based on the target action direction; The start-up strength range, start-up duration range, and feedback sampling window of the start-up drive signal are determined based on the start-up determination criteria. The period during which the start drive signal is output in the output direction after the target action begins, and which is within the range of the start duration, is defined as the reference start segment; The feedback sampling window is a sampling time interval located within the baseline start segment, and the running feedback parameters are collected within the feedback sampling window.

4. The adaptive control method of a micro electromechanical system according to claim 2, wherein The operational feedback parameters include the current feedback sequence, the back electromotive force feedback sequence, and the corresponding sampling time information acquired during the reference start-up segment. The current ripple formation state is determined based on whether periodic fluctuations are formed in the current feedback sequence, and the formation time or continuity of the periodic fluctuations. The back EMF recovery state is determined based on the recovery amplitude, recovery time, or recovery duration of the back EMF feedback sequence relative to the start-up determination benchmark. The start-up response delay is determined based on the time between the output of the start-up drive signal and the satisfaction of the corresponding reference in the current ripple formation state or the back EMF recovery state. The starting current rise state is determined based on the current rise change after the start of the reference start-up segment according to the current feedback sequence; The deviation state of the starting current peak value is determined based on the deviation of the starting current peak value in the current feedback sequence from the starting determination benchmark. The high current sustained state is determined based on the continuous state of the current feedback sequence within the high current range determined by the start-up determination criterion.

5. The adaptive control method of a micro electro mechanical system according to claim 4, wherein, The rotation establishment index is generated based on the operational feedback parameters and the start-up determination criteria, including: The current ripple formation state, the back electromotive force recovery state, and the state involved in determining the rotation establishment index in the start-up response delay are compared with the corresponding start-up determination criteria, respectively. When all the states involved in determining the rotation establishment index meet the corresponding start-up judgment criteria, it is determined that the rotation establishment index meets the valid rotation condition. When at least one of the states involved in determining the rotation establishment index fails to meet the corresponding start-up judgment criterion, it is determined that the rotation establishment index does not meet the valid rotation condition.

6. The adaptive control method of a micro electro mechanical system according to claim 4, wherein, The hindering load index is generated based on the operational feedback parameters and the startup determination criteria, including: The states involved in determining the load resistance index during the rising start current state, the peak deviation of start current state, and the continuous high current state are compared with the corresponding start-up judgment criteria. When the states of the hindered load indicators all meet the corresponding start-up criteria, the hindered load indicators are determined to meet the hindered abnormal conditions. When at least one of the states involved in determining the hindered load index does not meet the corresponding start-up judgment criterion, it is determined that the hindered load index does not meet the hindered abnormal condition.

7. The adaptive control method of a micro electromechanical system according to claim 1, wherein Based on whether the target action process corresponding to the target action instruction is located within the endpoint window corresponding to the target endpoint, determine whether the current anomaly belongs to the endpoint contact state, including: The target action process is determined based on at least one of the following: the execution start time of the target action command, the cumulative driving duration of the micro motor, the cumulative number of driving signals, and the cumulative number of current ripples. The endpoint window is determined based on the historical arrival process range or preset arrival process range corresponding to the target endpoint; When the target action process is within the endpoint window, the current anomaly is taken as an endpoint contact candidate state; When the target action process is outside the endpoint window, it is determined that the current abnormality does not belong to the endpoint contact state.

8. The adaptive control method of a micro electro mechanical system according to claim 7, wherein, After considering the current anomaly as a candidate state for endpoint contact, the following is also included: Based on the continuously collected operation feedback parameters within the end window, determine the changing trends of the stagnation load index and the rotation establishment index within the end window; When the resistance load index shows an increasing trend within the end window and the rotation establishment index shows a decreasing trend within the end window, it is determined that the current abnormality belongs to the end contact state. When the resistance load index does not show an increasing trend within the end position window, or the rotation establishment index does not show a decreasing trend within the end position window, it is determined that the current abnormality does not belong to the end position contact state.

9. The adaptive control method of a micro electromechanical system according to claim 1, wherein, The blockage release control includes short-time reverse release control or forward and reverse micro-motion release control; When the short-time reverse release control is executed, a release drive signal opposite to the target action direction is output to the micro motor so that the actuator generates a release displacement in the direction away from the target end position; When performing the forward and reverse micro-motion release control, the micro motor is alternately output with a micro-motion drive signal corresponding to the target action direction and a release drive signal opposite to the target action direction, so that the actuator reciprocates micro-motion between the direction toward the target end position and the direction away from the target end position.

10. The adaptive control method of a micro electromechanical system according to claim 1, wherein, Based on the improvement of the verified rotation establishment index relative to the rotation establishment index, and the decline of the verified stall load index relative to the stall load index, the current anomaly is identified as either recoverable stall or true stall, including: When the verification rotation establishment index improves relative to the rotation establishment index and the verification resistance load index decreases relative to the resistance load index, the current anomaly is identified as recoverable jamming, and the micro motor is controlled to continue executing the action corresponding to the target action command. When the verified rotation establishment index does not improve relative to the rotation establishment index, or the verified stall load index does not decrease relative to the stall load index, the current anomaly is identified as the real stall, and the micro motor is controlled to perform current limiting shutdown protection. When the micro motor completes the action corresponding to the target action command and is not identified as a real stall, the start-up judgment benchmark is updated according to the running feedback parameters corresponding to the action. When the micro motor does not complete the action corresponding to the target action instruction or is identified as the real locked-rotor, the running feedback parameter corresponding to the action is prohibited from being updated as a normal reference.

Images