Control method and system of lifting actuator, electronic equipment and storage medium

Abstract

The application relates to the technical field of motor control, and discloses a control method and system of a lifting type actuator, an electronic device and a storage medium. The method comprises the following steps: determining a target working state of a motor through the open state of a target starting switch to control the motor to work at a preset starting driving frequency; gradually increasing the current driving frequency of the motor based on a preset frequency step in a frequency hopping communication strategy, and monitoring the running current of the motor in real time; in response to the running current exceeding a first preset threshold, adjusting the increasing rate of the current driving frequency; and in response to the motor rotating speed being close to the rated rotating speed of the motor, controlling the current driving frequency of the motor to smoothly transition to the rated driving frequency. The control of low-frequency starting, hierarchical frequency hopping and current closed-loop feedback effectively reduces the starting impact current of the motor, reduces the mechanical stress and electrical stress of the motor winding, bearing and transmission mechanism, and thus improves the average service life of the motor and related equipment.

Description

Technical Field

[0001] This invention relates to the field of motor control technology, and in particular to a control method, system, electronic device and storage medium for a lifting actuator. Background Technology

[0002] As a core component that converts electrical energy into mechanical energy, the electric motor plays an indispensable role in many fields such as industrial automation, smart homes, and electric vehicles. In many applications, the electric motor needs to drive the actuator to reciprocate within a preset stroke range, such as driving the extension and retraction of electric pedals, the opening and closing of valves, or the starting and stopping of conveyor belts.

[0003] In traditional motor control schemes, motors typically use direct starting or a simple linear boost / frequency increase method for starting. Direct starting generates an inrush current several times higher than the rated current at the moment of startup. This large current not only impacts the power grid and interferes with other electronic devices on the same grid, but more importantly, it generates enormous electrical and mechanical stress on the motor windings and transmission mechanism, accelerating insulation aging and mechanical wear, and significantly shortening the service life of the motor and related equipment. Summary of the Invention

[0004] The technical problem solved by this invention is to provide a control method, system, electronic device and storage medium for a lifting actuator, which helps to solve the technical problem of reduced service life of motor and related equipment due to large starting impact of motor.

[0005] In a first aspect, the present invention provides a control method for a lifting actuator, comprising: Obtain the on / off state of the target start switch, and determine the target operating state of the motor based on the on / off state of the target start switch; Based on the target operating state of the motor, the motor is controlled to operate at a preset starting drive frequency; the starting drive frequency is less than the rated drive frequency of the motor. Based on the initial drive frequency, the current drive frequency of the motor is gradually increased using a frequency hopping communication strategy with a preset frequency step size; While gradually increasing the current drive frequency of the motor, the operating current of the motor is monitored in real time. In response to the operating current exceeding a first preset threshold, the boost rate of the current driving frequency is adjusted; In response to the motor speed approaching the motor's rated speed, the current drive frequency of the motor is controlled to smoothly transition to the rated drive frequency.

[0006] In some alternative implementations, adjusting the boost rate of the current drive frequency in response to the operating current exceeding a first preset threshold includes: If the operating current of the motor exceeds a first preset threshold, the motor is controlled to increase the dwell time at the current frequency step. In response to the motor's operating current being less than the first preset threshold, the motor is controlled to transition to the next frequency step.

[0007] In some alternative implementations, adjusting the boost rate of the current drive frequency in response to the operating current exceeding a first preset threshold further includes: If the operating current of the motor exceeds a first preset threshold, adjust the increment of the preset frequency step size; Based on the adjusted preset frequency step size, the boost rate of the current driving frequency is adjusted.

[0008] In some optional implementations, obtaining the on / off state of the target start switch and determining the target operating state of the motor based on the on / off state of the target start switch includes: Collect the button signal of the target start switch; In response to the button signal being an upward signal, it is determined that the target start switch is in the upward state, and the motor is controlled to start and drive the actuator to rise; In response to the button signal being a descent signal, the target start switch is determined to be in a descent state, and the motor is controlled to start and drive the actuator to descend.

[0009] In some alternative implementations, the method further includes: During the movement of the actuator, the current position of the actuator is detected; In response to the actuator's current position reaching a preset limit position, a detection signal is generated based on the target sensor; Based on the detection signal, the drive power to the motor is cut off, and the actuator is controlled to stop moving.

[0010] In some alternative implementations, the method further includes: During the movement of the actuator, the number of rotations of the motor is acquired in real time; In response to the motor's rotation count meeting the preset allowable number of rotations for a single operation, the drive power to the motor is cut off, and the actuator is controlled to stop moving.

[0011] In some alternative implementations, the method further includes: The operating current of the motor is collected in real time to monitor its operating status; In response to the motor's operating current exceeding a second preset threshold within a preset time period, the drive power to the motor is cut off, and the actuator is controlled to stop moving.

[0012] Secondly, the present invention also provides a control system for a lifting actuator, comprising: The first acquisition module is used to acquire the on state of the target start switch and determine the target working state of the motor based on the on state of the target start switch. The first control module is used to control the motor to operate at a preset starting drive frequency based on the target operating state of the motor; the starting drive frequency is less than the rated drive frequency of the motor. An enhancement module is used to gradually increase the current driving frequency of the motor based on a preset frequency step size and a frequency hopping communication strategy, on the basis of the initial driving frequency. The monitoring module is used to monitor the operating current of the motor in real time as the current driving frequency of the motor is gradually increased. An adjustment module is used to adjust the boost rate of the current driving frequency in response to the operating current exceeding a first preset threshold. The second control module is used to control the current drive frequency of the motor to smoothly transition to the rated drive frequency in response to the motor speed approaching the rated speed of the motor.

[0013] Thirdly, the present invention also provides an electronic device, comprising: a memory, a processor, a communication interface, and a communication bus, wherein the processor, the memory, and the communication interface communicate with each other through the communication bus; The memory is used to store at least one executable instruction that causes the processor to execute the control method of the lifting actuator as described above.

[0014] Fourthly, the present invention also provides a computer-readable storage medium storing computer instructions for causing a processor to execute and implement the control method of the lifting actuator as described above.

[0015] In summary, the control method, system, electronic device, and storage medium of the lifting actuator provided by this invention effectively reduce the starting inrush current of the motor and the mechanical and electrical stresses of the motor windings, bearings, and transmission mechanism through low-frequency start-up, graded frequency hopping, and current closed-loop feedback control, thereby improving the average service life of the motor and related equipment, and effectively avoiding interference to other related equipment during the start-up process. Attached Figure Description

[0016] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the control system of a lifting actuator according to an embodiment of the present invention; Figure 2 This is a flowchart illustrating a control method for a lifting actuator according to an embodiment of the present invention. Figure 3 This is a flowchart illustrating a control method for a lifting actuator according to another embodiment of the present invention. Figure 4 This is a flowchart illustrating a control method for a lifting actuator according to another embodiment of the present invention. Figure 5 This is a flowchart illustrating a control method for a lifting actuator according to another embodiment of the present invention. Figure 6 This is a flowchart illustrating a control method for a lifting actuator according to another embodiment of the present invention. Figure 7 This is a flowchart illustrating a control method for a lifting actuator according to another embodiment of the present invention. Figure 8 This is a flowchart illustrating a control method for a lifting actuator according to another embodiment of the present invention. Figure 9 This is a schematic diagram of the control system of a lifting actuator according to another embodiment of the present invention; Figure 10 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0020] like Figure 1 The diagram illustrates the hardware structure of a control system for a lifting actuator in an embodiment of the present invention. This control system can be applied to various devices with motor-driven actuators, such as electric pedals and electric lifting devices. The control system includes a core motor control device, which can physically be a control board electrically connected to a motor driver. The motor driver is responsible for converting control signals from the control board into power output sufficient to drive the motor. The motor's output shaft is mechanically connected to an actuator to achieve physical displacement. To achieve precise sensing and protection of the actuator's position, the control system incorporates target sensors associated with the actuator's travel limit positions. Specifically, this may include an upper limit sensor installed at the upper travel limit position and a lower limit sensor installed at the lower travel limit position. These target sensors can be proximity switches, photoelectric sensors, or mechanical microswitches, etc. Furthermore, the system includes a start switch for receiving user operation commands. The control board, motor, motor driver, target sensors, and start switch are interconnected via several wires and connectors, forming a complete control loop.

[0021] According to embodiments of the present invention, such as Figure 2 As shown, a control method for a lifting actuator is also provided, including the following steps: Step S100: Obtain the on state of the target start switch, and determine the target working state of the motor based on the on state of the target start switch. Step S200: Based on the target operating state of the motor, control the motor to operate at a preset starting drive frequency; the starting drive frequency is less than the rated drive frequency of the motor. Step S300: Based on the initial drive frequency, the current drive frequency of the motor is gradually increased using a frequency hopping communication strategy based on a preset frequency step size; Step S400: While gradually increasing the current drive frequency of the motor, monitor the operating current of the motor in real time. Step S500: In response to the operating current exceeding the first preset threshold, adjust the boost rate of the current drive frequency; Step S600: In response to the motor speed approaching the rated speed of the motor, control the current drive frequency of the motor to smoothly transition to the rated drive frequency.

[0022] In this embodiment, when it is necessary to control the movement of the actuator, the on / off state of the target start switch is first obtained to determine whether the target start switch is in an upward or downward state. Then, the target operating state of the motor is determined based on the on / off state of the target start switch; if the target start switch is in an upward state, the motor can be controlled to rotate forward to drive the actuator to rise; if the target start switch is in a downward state, the motor can be controlled to rotate in reverse to drive the actuator to descend.

[0023] When starting the motor according to its target operating state, the control system does not directly apply the rated operating frequency to the motor. Instead, it starts driving the motor from a preset starting drive frequency that is lower than the rated operating frequency. This low-frequency starting method allows the motor's magnetic field to build up smoothly, effectively avoiding the huge inrush current generated by the instantaneous connection of high voltage to the stator windings during traditional direct starting. This effectively suppresses the starting inrush current, significantly reduces voltage disturbances to the power grid, and reduces instantaneous stress on the motor winding insulation and mechanical transmission components.

[0024] After the motor starts from the preset initial drive frequency, the control system incrementally increases the motor's current drive frequency in discrete preset frequency steps, based on a preset frequency step size and combined with a frequency hopping communication strategy. By decomposing the continuous frequency increase process into a series of discrete and controllable steps, the control algorithm becomes simpler and more stable. At each frequency step, the motor has a brief stabilization process, which provides a valuable time window for real-time monitoring and adjustment of the closed-loop control, laying the foundation for subsequent current closed-loop control and dynamic adjustment.

[0025] During the incremental increase of the motor's current drive frequency, the control system monitors the motor's operating current in real time. When the operating current exceeds a first preset threshold, the system dynamically adjusts the rate of increase in drive frequency. This transforms the motor startup process from an open-loop, fixed procedure into one that adapts to the actual load conditions. When the load is heavy or starting difficulties occur, the operating current increases accordingly. In this case, the control system slows down the frequency increase rate, giving the motor sufficient time to overcome load resistance. This ensures that the current throughout the startup process remains within a safe range, preventing motor overheating or protective shutdown due to overcurrent.

[0026] Furthermore, to ensure that the motor can smoothly enter normal operation after a soft start, when the motor speed is determined to be close to the rated speed through real-time monitoring or estimation, the control system will smoothly switch the current drive frequency from the last discrete frequency step to the rated operating frequency. This smooth transition process can be achieved using a ramp function or an S-curve, avoiding abrupt frequency changes, thus ensuring a smooth connection between speed and torque and reducing secondary impacts on the mechanical system.

[0027] By controlling low-frequency start-up, graded frequency hopping, and current closed-loop feedback, the starting inrush current of the motor is effectively reduced, and the mechanical and electrical stresses of the motor windings, bearings, and transmission mechanism are significantly reduced, thereby improving the average service life of the motor and related equipment, while effectively avoiding interference to other related equipment during the start-up process.

[0028] In one embodiment, such as Figure 3 As shown, step S500 includes the following steps: Step S510: If the operating current of the motor exceeds the first preset threshold, control the motor to increase the dwell time at the current frequency step. Step S510: In response to the motor's operating current being less than the first preset threshold, control the motor to transition to the next frequency step.

[0029] In this embodiment, when the motor's operating current is detected to exceed a first preset threshold, the rate of increase of the current drive frequency needs to be adjusted. For example, the dwell time at the current frequency step can be increased, i.e., the controller pauses the transition to the next frequency step, allowing the motor to continue running at the current frequency for a period of time until its current falls back to a safe range, i.e., the motor's operating current is less than the first preset threshold; then the motor is controlled to transition to the next frequency step. This effectively slows down the increase in motor speed, giving the motor time to adapt to load changes, achieving flexible control of the starting current, and ensuring the smoothness of the starting process.

[0030] In one embodiment, such as Figure 4 As shown, step S500 further includes the following steps: Step S530: When the motor's operating current exceeds the first preset threshold, adjust the increment of the preset frequency step size. Step S540: Adjust the boost rate of the current drive frequency based on the adjusted preset frequency step size.

[0031] In this embodiment, when the motor's operating current exceeds a first preset threshold, the rate of increase of the current drive frequency needs to be adjusted. The increment of the preset frequency step can also be adjusted, such as reducing the increment of the next frequency step. That is, the preset frequency step value is dynamically adjusted by the control system to increase the frequency in the next increment. Then, based on the adjusted preset frequency step, the rate of increase of the current drive frequency is adjusted. This effectively slows down the increase in motor speed, giving the motor time to adapt to load changes, thereby achieving flexible control of the starting current and ensuring a smooth starting process.

[0032] In other possible implementations, the first preset threshold can be set to 1.5 times the motor's rated current. Specifically, to achieve a balance between the smoothness of soft starting and starting efficiency, setting the first preset threshold for current closed-loop control to 1.5 times the motor's rated current ensures sufficient starting torque for the motor in most application scenarios while strictly limiting the starting current within the safe range that the motor and power supply system can withstand. If the first preset threshold is set too low, the starting process may be too slow, even triggering adjustments frequently under normal load, affecting efficiency; if the first preset threshold is set too high, it will weaken the soft start's effect on suppressing inrush current.

[0033] In one embodiment, such as Figure 5 As shown, step S100 includes the following steps: Step S110: Acquire the button signal of the target start switch; Step S120: In response to the button signal being an upward signal, determine that the target start switch is in the upward state, control the motor to start and drive the actuator to rise; Step S130: In response to the button signal being a down signal, determine that the target start switch is in the down state, control the motor to start and drive the actuator to descend.

[0034] In this embodiment, the control board begins acquiring the button signals of the target start switch immediately after power-on. These button signals include both upward and downward signals. If an upward button signal is detected, it is determined that the upward position of the target start switch is pressed, and the target start switch is in the upward state. At this time, the control motor starts, and the rotation of the motor output shaft slowly pushes the actuator upward. If a downward button signal is detected, it is determined that the downward position of the target start switch is pressed, and the target start switch is in the downward state. At this time, the control motor starts, and the reverse rotation of the motor output shaft slowly pushes the actuator downward.

[0035] In one embodiment, such as Figure 6 As shown, it also includes the following steps: Step S710: During the movement of the actuator, detect the current position of the actuator; Step S720: In response to the current position of the actuator reaching the preset limit position, a detection signal is generated based on the target sensor; Step S730: Cut off the motor drive power supply based on the detection signal and control the actuator to stop moving.

[0036] In this embodiment, during the movement of the actuator, its current position is continuously monitored, and it is determined whether the current position has reached a preset limit position. If the current position of the actuator reaches the preset limit position, a detection signal is generated by a target sensor located at the preset limit position. The preset limit position includes an upper limit position and a lower limit position; an upper limit sensor is located at the upper limit position, and a lower limit sensor is located at the lower limit position. If the actuator reaches the upper limit position, the upper limit sensor generates a detection signal; if the actuator reaches the lower limit position, the lower limit sensor generates a detection signal. The obtained detection signals are then sent to the control system. Upon receiving the detection signal, the control system immediately cuts off the motor's drive power, thereby controlling the actuator to stop moving to prevent the actuator from exceeding its travel range and causing collisions, jamming, or mechanical damage.

[0037] In one embodiment, such as Figure 7 As shown, it also includes the following steps: Step S740: During the movement of the actuator, the number of rotations of the motor is acquired in real time; Step S750: In response to the motor's rotation number satisfying the preset allowable number of rotations for a single motor operation, the drive power to the motor is cut off, and the actuator is controlled to stop moving.

[0038] In this embodiment, the control system presets a maximum allowable number of motor revolutions per cycle, i.e., a preset allowable number of revolutions. During the movement of the actuator, the number of motor revolutions is counted in real time using the motor's built-in encoder or Hall effect signal. When the number of motor revolutions reaches the preset allowable number of revolutions per cycle, even if the target sensor signal is not triggered, the control system will immediately determine it as an abnormal operating condition and actively cut off the motor's drive power, forcing the motor to stop running. This controls the actuator to stop moving, preventing the actuator from losing control and crashing to the top or bottom due to target sensor failure.

[0039] Furthermore, to enhance the fault diagnosis capability and ease of subsequent maintenance of the control system, the method of this invention can also generate and record fault information under specific conditions. Specifically, when the real-time acquired number of motor rotations reaches a preset allowable number, it indicates that the actuator has reached a preset limit position; however, the corresponding target sensor is not triggered. While executing the step of stopping the motor, the control system also generates or records fault information indicating a possible failure of the target sensor. By utilizing the logical correlation between the detection of the preset limit position and the real-time acquired number of rotations, and by comparing the triggering states of both, the potential fault of the target sensor can be intelligently determined. This not only prevents accidents but also provides maintenance personnel with clear fault location guidance, greatly shortening the fault diagnosis and repair time.

[0040] In one embodiment, such as Figure 8 As shown, it also includes the following steps: Step S760: Real-time acquisition of motor operating current to monitor motor operating status; Step S770: In response to the motor's operating current exceeding a second preset threshold within a preset time period, the motor's drive power is cut off, and the actuator is controlled to stop moving.

[0041] In this embodiment, during the movement of the actuator, the control system can monitor the motor's operating status by real-time acquisition of the motor's operating current. Once the operating current indicates a stalled state, a stop operation is immediately executed to control the actuator to stop moving. Specifically, if a foreign object falls into the actuator's trajectory during its movement, causing it to jam, the motor rotor is mechanically locked, but the driver continues to provide driving power to the motor, resulting in a stalled state. In this stalled state, the motor's operating current spikes dramatically within a very short time.

[0042] Specifically, a stalled state is determined when the motor operating current continuously exceeds a second preset threshold within a preset time period. Unlike the first preset threshold used for soft-start control, the second preset threshold is typically set higher to distinguish between normal load fluctuations and a true stalled state. The preset time period is introduced to avoid false alarms caused by instantaneous current spikes. Only when the current remains consistently high for a period of time can a stalled state be confirmed. Once a stalled state is confirmed, the motor's drive power is cut off to prevent overheating and burnout of the motor windings or damage to the transmission mechanism.

[0043] The preset time period can be less than 10 milliseconds, enabling the control system to complete the full protection action of sampling, comparison, judgment and execution in a very short time when the current is abnormal, so as to reliably cut off the drive power supply before the motor windings burn out due to overheating or the transmission mechanism is damaged due to overload.

[0044] Understandably, the triple protection mechanism is independent and redundant with each other. If any one protection is triggered, the control system will immediately execute a safety shutdown action, which solves the problem of motor runaway caused by the failure of a single protection. It is especially suitable for pedal-driven equipment that operates for a long time and has complex working conditions, and greatly improves the safety and stability of equipment operation.

[0045] According to embodiments of the present invention, such as Figure 9 As shown, on the other hand, a control system for a lifting actuator is also provided, including: The first acquisition module 100 is used to acquire the on state of the target start switch and determine the target working state of the motor based on the on state of the target start switch. The first control module 200 is used to control the motor to work at a preset starting drive frequency based on the target working state of the motor; the starting drive frequency is less than the rated drive frequency of the motor. The boosting module 300 is used to gradually increase the current driving frequency of the motor based on a preset frequency step size and a frequency hopping communication strategy, on the basis of the initial driving frequency. The monitoring module 400 is used to monitor the motor's operating current in real time as the current drive frequency of the motor is gradually increased. The adjustment module 500 is used to adjust the boost rate of the current drive frequency in response to the operating current exceeding a first preset threshold. The second control module 600 is used to smoothly transition the current drive frequency of the motor to the rated drive frequency in response to the motor speed approaching the rated speed of the motor.

[0046] In one embodiment, the adjustment module 500 includes: The first control unit is used to control the motor to increase the dwell time at the current frequency step when the operating current of the motor exceeds a first preset threshold. The second control unit is used to control the motor to jump to the next frequency step in response to the motor's operating current being less than a first preset threshold.

[0047] In one embodiment, the adjustment module 500 further includes: The first adjustment unit is used to adjust the increment of the preset frequency step when the operating current of the motor exceeds the first preset threshold. The second adjustment unit is used to adjust the boost rate of the current driving frequency based on the adjusted preset frequency step size.

[0048] In one embodiment, the first acquisition module 100 includes: The acquisition unit is used to acquire the button signal of the target start switch; The third control unit is used to respond to the button signal as an upward signal, determine that the target start switch is in the upward state, control the motor to start and drive the actuator to rise; The fourth control unit is used to respond to the button signal as a descent signal, determine that the target start switch is in the descent state, control the motor to start and drive the actuator to descend.

[0049] In one embodiment, it further includes: The detection module is used to detect the current position of the actuator during its movement. The generation module is used to generate a detection signal based on the target sensor in response to the current position of the actuator reaching the preset limit position; The third control module is used to cut off the motor's drive power supply based on the detection signal, thereby controlling the actuator to stop moving.

[0050] In one embodiment, it further includes: The second acquisition module is used to acquire the number of rotations of the motor in real time during the movement of the actuator. The fourth control module is used to cut off the motor's drive power and control the actuator to stop moving in response to the motor's rotation number meeting the preset allowable number of rotations for a single operation.

[0051] In one embodiment, it further includes: The data acquisition module is used to collect the motor's operating current in real time and monitor the motor's operating status. The fifth control module is used to cut off the motor's drive power and control the actuator to stop moving when the motor's operating current exceeds a second preset threshold within a preset time period.

[0052] Figure 10 The diagram shows a structural schematic of an embodiment of an electronic device provided by the present invention. The specific embodiments of the present invention do not limit the specific implementation of the electronic device.

[0053] like Figure 10 As shown, the electronic device may include: a processor 1002, a communications interface 1004, a memory 1006, and a communications bus 1008.

[0054] The processor 1002, communication interface 1004, and memory 1006 communicate with each other via communication bus 1008. Communication interface 1004 is used to communicate with other network elements such as clients or other servers. The processor 1002 executes program 1010, specifically performing the relevant steps in the control method embodiment of the lifting actuator described above.

[0055] Specifically, program 1010 may include program code, which includes computer-executable instructions.

[0056] The processor 1002 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present invention. The electronic device includes one or more processors, which may be processors of the same type, such as one or more CPUs; or they may be processors of different types, such as one or more CPUs and one or more ASICs.

[0057] Memory 1006 is used to store program 1010. Memory 1006 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0058] Specifically, program 1010 can be called by processor 1002 to cause the electronic device to execute the relevant steps in the control method embodiment of the above-mentioned lifting actuator.

[0059] Those skilled in the art will understand that Figure 10 The structure shown is for illustrative purposes only and does not limit the structure of the aforementioned device. For example, electronic devices may also include components that are more... Figure 10 The more or fewer components shown, or having the same Figure 10 The different configurations shown.

[0060] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code, which, when accessed and executed by the computer, processor, or hardware, implements the methods shown in the above embodiments.

[0061] In the specific implementation of the above embodiments, the technical features can be combined in any non-contradictory way. For the sake of brevity, not all possible combinations of the above technical features are described. However, as long as the combination of these technical features is not contradictory, it should be considered to be within the scope of this specification.

[0062] The specific embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A control method for a lifting actuator, characterized in that, include: Obtain the on / off state of the target start switch, and determine the target operating state of the motor based on the on / off state of the target start switch; Based on the target operating state of the motor, the motor is controlled to operate at a preset starting drive frequency; The initial drive frequency is less than the rated drive frequency of the motor; Based on the initial drive frequency, the current drive frequency of the motor is gradually increased using a frequency hopping communication strategy with a preset frequency step size; While gradually increasing the current drive frequency of the motor, the operating current of the motor is monitored in real time. In response to the operating current exceeding a first preset threshold, the boost rate of the current driving frequency is adjusted; In response to the motor speed approaching the motor's rated speed, the current drive frequency of the motor is controlled to smoothly transition to the rated drive frequency.

2. The control method for the lifting actuator according to claim 1, characterized in that, The step of adjusting the boost rate of the current drive frequency in response to the operating current exceeding a first preset threshold includes: If the operating current of the motor exceeds a first preset threshold, the motor is controlled to increase the dwell time at the current frequency step. In response to the motor's operating current being less than the first preset threshold, the motor is controlled to transition to the next frequency step.

3. The control method for the lifting actuator according to claim 1, characterized in that, The step of adjusting the boost rate of the current drive frequency in response to the operating current exceeding a first preset threshold further includes: If the operating current of the motor exceeds a first preset threshold, adjust the increment of the preset frequency step size; Based on the adjusted preset frequency step size, the boost rate of the current driving frequency is adjusted.

4. The control method for the lifting actuator according to claim 1, characterized in that, The step of obtaining the on / off state of the target start switch and determining the target operating state of the motor based on the on / off state of the target start switch includes: Collect the button signal of the target start switch; In response to the button signal being an upward signal, it is determined that the target start switch is in the upward state, and the motor is controlled to start and drive the actuator to rise; In response to the button signal being a descent signal, the target start switch is determined to be in a descent state, and the motor is controlled to start and drive the actuator to descend.

5. The control method for the lifting actuator according to claim 1, characterized in that, The method further includes: During the movement of the actuator, the current position of the actuator is detected; In response to the actuator's current position reaching a preset limit position, a detection signal is generated based on the target sensor; Based on the detection signal, the drive power to the motor is cut off, and the actuator is controlled to stop moving.

6. The control method for the lifting actuator according to claim 1, characterized in that, The method further includes: During the movement of the actuator, the number of rotations of the motor is acquired in real time; In response to the motor's rotation count meeting the preset allowable number of rotations for a single operation, the drive power to the motor is cut off, and the actuator is controlled to stop moving.

7. The control method for the lifting actuator according to claim 1, characterized in that, The method further includes: The operating current of the motor is collected in real time to monitor its operating status; In response to the motor's operating current exceeding a second preset threshold within a preset time period, the drive power to the motor is cut off, and the actuator is controlled to stop moving.

8. A control system for a lifting actuator, characterized in that, include: The first acquisition module is used to acquire the on state of the target start switch and determine the target working state of the motor based on the on state of the target start switch. The first control module is used to control the motor to work at a preset starting drive frequency based on the target working state of the motor. The initial drive frequency is less than the rated drive frequency of the motor; An enhancement module is used to gradually increase the current driving frequency of the motor based on a preset frequency step size and a frequency hopping communication strategy, on the basis of the initial driving frequency. The monitoring module is used to monitor the operating current of the motor in real time as the current driving frequency of the motor is gradually increased. An adjustment module is used to adjust the boost rate of the current driving frequency in response to the operating current exceeding a first preset threshold. The second control module is used to control the current drive frequency of the motor to smoothly transition to the rated drive frequency in response to the motor speed approaching the rated speed of the motor.

9. An electronic device, characterized in that, include: The system includes a memory, a processor, a communication interface, and a communication bus, wherein the processor, the memory, and the communication interface communicate with each other via the communication bus. The memory is used to store at least one executable instruction that causes the processor to perform the control method for the lifting actuator as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the control method for the lifting actuator as described in any one of claims 1-7.

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