Control method of a lifting control device

Abstract

The application relates to a control method of a lifting control device, which is used for controlling the lifting control device and comprises the following steps: obtaining an adjusting instruction or an adjusting completion instruction; controlling a driving member to start slowly and controlling the driving member to drive a moving member to move in a preset direction corresponding to the instruction; collecting a driving member current in real time and carrying out data processing; and judging whether the driving member is locked based on the current change trend and the instantaneous current respectively, and determining that the driving member is locked when any judgment standard is met. According to the above scheme, the starting current of the driving member can be reduced, the locked-rotor overheating and mechanical wear can be reduced, and the response speed, reliability and service life of the lifting control device can be improved.

Description

Technical Field

[0001] This application relates to the field of bicycle seatpost technology, and in particular to a control method for a lifting control device. Background Technology

[0002] The bicycle seatpost connects the saddle to the frame. By adjusting the relative position of the seatpost and the frame, the saddle height can be adjusted to meet different riding needs. Traditional seatposts mostly use a snap-on structure, requiring users to get off the bike and adjust manually. This makes it impossible to adjust the saddle height in real time according to road conditions or riding status during the ride, thus affecting the continuity and comfort of the ride. Therefore, some models on the market use dropper seatposts. These dropper seatposts have an internal cylinder, allowing users to adjust the extension and retraction length of the seatpost without getting off the bike by inflating and deflating the cylinder. This allows for direct control of the seatpost's height, facilitating real-time adjustment of the saddle height and improving the riding experience.

[0003] In existing technologies, manual cable adjustment or motor-driven adjustment of the dropper post height using a cylinder typically allows users to adjust the seatpost height while riding. The manual cable adjustment method requires the rider to pull a cable to activate levers and wedges within the seatpost, triggering the air valve to raise or lower the seatpost by inflating or deflating it. This method uses abrupt changes in pressure, subjecting the seatpost to repeated instantaneous impacts, placing higher demands on materials and connections to maintain a certain lifespan, and requiring greater radial space. In contrast, the motor-driven dropper post height adjustment method involves the user controlling the motor's start and stop via buttons. However, due to limited installation space, the motor is prone to malfunctions due to stroke control issues, leading to problems such as overheating, excessive noise, and shortened lifespan. Summary of the Invention

[0004] Therefore, it is necessary to provide a control method for a lifting control device to address the above-mentioned problems, overcome the problems of overheating, high noise, and short lifespan in existing lifting control devices, and improve the service life of the lifting control device.

[0005] This application provides a control method for a lifting control device. The lifting control device includes a housing with a cavity, a movable component that reciprocates within the cavity, and a drive component connected to and driving the movable component to reciprocate. The housing has two inner wall surfaces that form the cavity and are located on the reciprocating path of the movable component. A buffer element is provided between the movable component and the two inner wall surfaces, and the movable component and the inner wall surfaces elastically abut against each other through the buffer element. The control method for the lifting control device includes: acquiring an adjustment command or an adjustment completion command; controlling the drive component to start slowly and controlling the drive component to drive the movable component to move in a preset direction corresponding to the command; real-time acquisition and data processing of the drive component current, independently judging based on the current change trend and instantaneous current, and determining that the drive component is stalled when either judgment criterion is met.

[0006] The above solution uses a soft start-up mechanism for the drive unit, allowing the starting current to rise steadily during the start-up process. This avoids problems such as excessive starting current, sudden spikes in current, which can lead to overheating, excessive noise, and shortened lifespan of the drive unit.

[0007] By decoupling and paralleling the prediction of current change trends with instantaneous current overload protection, the early signs of stall can be captured in the initial stage of current rise, enabling early identification before the drive component stalls. This allows the controller to identify the risk of stalling earlier than the mechanical structure, improving the slow response and easy misjudgment problems caused by relying solely on whether the instantaneous current exceeds a fixed value in existing technologies. The response cycle is shortened by 30%-50% compared to the solution that judges whether stalling occurs solely based on instantaneous current.

[0008] In one embodiment, during the step of controlling the drive to start slowly and controlling the drive to move the moving part in a preset direction corresponding to the instruction, the start-up method of the drive is: controlling the PWM (pulse width modulation) duty cycle of the drive to gradually increase to 100%, and / or, the maximum start-up current of the drive does not exceed the set start-up current.

[0009] This configuration ensures a smooth and gradual increase in current during driver startup, preventing excessively high starting current that could lead to overheating, excessive noise, and shortened lifespan. Furthermore, the driver's current remains relatively low during startup to avoid overheating caused by high current.

[0010] In one embodiment, the step of real-time acquisition and data processing of the drive component current, and independent judgment based on the current change trend and instantaneous current, determines that the drive component is stalled when either judgment criterion is met, including: real-time acquisition of drive component current data to obtain real-time current. ; Calculate the instantaneous slope of the current change And based on the instantaneous slope of the current change Determine if the drive component is stalled; based on real-time current. and instantaneous overload protection current value To determine if the drive component is stalled, when When this occurs, it is determined that the drive component is stalled.

[0011] This setup ensures sufficient lead time for stall prediction while compensating for the slight delay caused by filtering, balancing sensitivity for everyday use with safety in extreme scenarios.

[0012] In one embodiment, the step is based on the real-time current. and instantaneous overload protection current value To determine if the drive component is stalled, when When determining if the drive component is stalled, the following steps are taken: obtaining the average reference current during the stable operation phase of the drive component. ;according to Calculate the instantaneous overload protection current value Where Y is the safety factor, Y > 1.

[0013] With this setup, the average reference current is obtained through self-learning during the previous stable operation phase of the drive component. Based on the safety factor Y, the dedicated instantaneous overload protection current value for this operation is generated in real time. It enables adaptive response to voltage fluctuations, driver aging, and temperature changes without the need for manually setting thresholds.

[0014] In one embodiment, the step involves obtaining the average reference current during the smooth operation phase of the drive unit. This includes: determining whether the drive unit is in a stable operating phase; if so, the average reference current of the drive unit during the stable operating phase. for: ,in, The duration of the self-learning sampling window. This is the start time of the self-learning window. This marks the end of the self-learning window.

[0015] This setting eliminates the interference of the inrush current during the start-up phase of the drive unit on the extraction of the reference current, ensuring that the obtained reference current can truly reflect the normal operating power consumption of the drive unit under the current working conditions and environment.

[0016] In one embodiment, the step of determining whether the driving device is in a stable operating phase includes: after the current of the driving device passes the startup peak, if M consecutive sampling points satisfy... , If a preset fluctuation threshold is set, the drive component is determined to have entered a stable operating phase.

[0017] This setting uses the instantaneous slope of the current change. Using stability as the core criterion, the judgment of the operating stage of the driving component is more accurate.

[0018] In one embodiment, the step calculates the instantaneous slope of the current change. And based on the instantaneous slope of the current change Determining whether a drive component is stalled includes: monitoring the real-time current. Perform moving average filtering to obtain the smoothed current. Based on the smoothed current after filtering Calculate the instantaneous slope of the current change When smoothing current When the rising edge transitions to a falling edge, the instantaneous slope of the current change is considered. Determine if the drive component is stalled.

[0019] This design perfectly avoids current fluctuations during startup, preventing the normal startup process from being mistaken for a stall. This allows the ultra-short-stroke drive to accurately distinguish between startup and stall in a very short time.

[0020] In one embodiment, the step is to adjust the real-time current. Perform moving average filtering to obtain the smoothed current. In the middle, the order The original value of the instantaneous current in the next sample is If the sampling window length is L, then the filtered smoothed current for: ,in, This represents the sampling point number used for backtracking.

[0021] This configuration establishes a smooth current curve, eliminates high-frequency switching noise in the current, and fully preserves the current rising trend in the initial stall phase, providing a basis for subsequent instantaneous slope. Extraction provides the foundation for a high signal-to-noise ratio.

[0022] In one embodiment, the step is based on the filtered smoothed current. Calculate the instantaneous slope of the current change In this context, when the unit of time is defined as the observation step size... Instantaneous slope for: ,in, To look back relative to the current moment Smoothed current value over time.

[0023] This setting, which does not rely on the absolute current amplitude but focuses on the rate of current rise, differs from the existing fixed threshold method. Because the current surges rapidly during stall, the instantaneous slope... When significant changes occur, the risk of drive component stall can be predicted.

[0024] In one embodiment, the step is when the smoothing current... When the rising edge transitions to a falling edge, the instantaneous slope of the current change is considered. Determining whether the drive unit is stalled includes: when the smoothing current... When the rising edge transitions into a falling edge, compare the instantaneous slope. and setting slope threshold And based on the instantaneous slope of the current change Calculate the upward trend count ,when ,and When this occurs, it is determined that the drive component is stalled; among them, the upward trend count... for: , representing the instantaneous slope The number of consecutive positive values.

[0025] This configuration distinguishes between normal load fluctuations and stall current surges. During a current surge, the continuous upward trend eliminates random noise, thoroughly differentiating between normal load fluctuations and stall current surges, preventing false triggering, determining drive component stall, and enabling early detection of the physical start point of stall in real-time current monitoring. The instantaneous overload protection current value was reached. Protection is triggered beforehand.

[0026] In one embodiment, the step is when the smoothing current... When the rising edge transitions into a falling edge, compare the instantaneous slope. and setting slope threshold And based on the instantaneous slope of the current change Calculate the upward trend count ,when ,and When it is determined that the drive component is stalled, a slope threshold is set. for: ,in, This represents the average of the n historical maximum positive slopes recorded during the historical normal operation cycle of the drive component when it was in a stable phase. This is the slope safety factor.

[0027] This setup, through online statistical analysis of the current change rate characteristics during normal operating cycles, enables the setting of a slope threshold. Automatic value assignment prevents false triggering due to driver aging or load changes; slope threshold is set. The quasi-static update eliminates the risk of false alarms caused by driver aging and differences.

[0028] In one embodiment, the control method of the lifting control device further includes: when it is determined that the drive component is stalled, controlling the drive component to reverse a preset distance and then stop running.

[0029] This design reduces the force exerted on the buffer element by the moving part, and may even cause it to detach from the buffer element. This reduces the pressure on the buffer element, extends its lifespan, and avoids the problem of the buffer element being easily damaged and the drive component being easily jammed due to the buffer element being kept in a severely compressed state. It also reduces the stroke required to drive the moving part to move back and forth next time.

[0030] In one embodiment, the step of obtaining the adjustment command or adjustment completion command includes: automatically obtaining the adjustment completion command when the drive unit is powered on.

[0031] This configuration ensures that when the drive unit is abnormally shut down, such as by power failure, and then restarted, the moving part is in the expected position, making it easy to execute subsequent commands directly and avoiding abnormal operation of the drive unit caused by the different initial positions of the moving part. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology 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 based on these drawings without creative effort.

[0033] Figure 1 This is a cross-sectional schematic diagram of the lifting control device controlled in one embodiment of this application;

[0034] Figure 2 This is a schematic diagram of the steps of a control method for a lifting control device according to an embodiment of this application;

[0035] Figure 3 This is a logical schematic diagram of the control method of the lifting control device in one embodiment of this application;

[0036] Figure 4 A current fluctuation diagram of the drive component controlled by a control method of a lifting control device in the prior art;

[0037] Figure 5 This is a current fluctuation diagram of the drive component controlled by the control method of the lifting control device in one embodiment of this application.

[0038] Figure label:

[0039] 100. Lifting control device; 110. Housing; 111. Cavity; 112. First inner wall surface; 113. Second inner wall surface; 120. Moving part; 130. Driving part; 140. First buffer element; 150. Second buffer element; 160. Air valve switch. Detailed Implementation

[0040] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0041] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on the other component or there may be an intermediate component. When a component is considered to be "connected to" another component, it can be directly connected to the other component or there may be an intermediate component present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application's specification are for illustrative purposes only and do not represent the only possible implementation.

[0042] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0043] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature and the second feature are in indirect contact through an intermediate medium. Furthermore, "above," "over," and "on top" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0044] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and / or" as used in this application includes any and all combinations of one or more of the associated listed items.

[0045] Please see Figures 1 to 2 ,like Figure 2 As shown, this application provides a control method for a lifting control device 100, used to control, for example... Figure 1 The lifting control device 100 is shown. (As shown in the image.) Figure 1 As shown, the lifting control device 100 includes a housing 110 with a cavity 111, a movable member 120 that reciprocates within the cavity 111, and a driving member 130 connected to the movable member 120 and driving the movable member 120 to reciprocate. For ease of description, in Figure 1 The directions of movement of the moving part 120 are represented by B to A and A to B, respectively. Figure 1 As shown, the preset direction of cavity 111 is consistent with the reciprocating direction of moving member 120. Housing 110 has two inner wall surfaces that form cavity 111 and are respectively located on the reciprocating movement path of moving member 120. For ease of distinction, the inner wall surface of housing 110 on the sliding path of moving member 120 from B to A is designated as the first inner wall surface 112, and the inner wall surface of housing 110 on the sliding path of moving member 120 from A to B is designated as the second inner wall surface 113. A buffer element is provided between moving member 120 and both inner wall surfaces, and the moving member 120 and the inner wall surfaces elastically abut against each other through the buffer element. Correspondingly, for ease of distinction, the buffer element provided between moving member 120 and first inner wall surface 112 is designated as first buffer element 140, and the buffer element provided between moving member 120 and second inner wall surface 113 is designated as second buffer element 150.

[0046] When the moving part 120 moves to its limit position, it is prone to hard impact with the first inner wall surface 112 or the second inner wall surface 113, which may cause damage to the driving part 130 and the moving part 120 or failure of stroke control, thereby affecting the reliability and service life of the device. In this embodiment, the moving part 120 and the inner wall surface are elastically abutted by buffer elements. The first buffer element 140 and the second buffer element 150 can play a buffering role, effectively absorbing the impact energy of the moving part 120 when it reciprocates to abut the inner wall surface, avoiding direct hard contact between the moving part 120 and the inner wall surface, thereby preventing damage to the driving part 130 and the moving part 120 caused by hard impact, reducing impact noise, protecting the long-term stability of the driving part 130, and extending its service life.

[0047] In one embodiment, the first buffer element 140 and the second buffer element 150 are elastomeric gaskets. Elastomers have a high elastic modulus, enabling them to produce controllable elastic deformation upon impact, effectively absorbing kinetic energy. Furthermore, elastomers are wear-resistant and not easily broken or permanently deformed under long-term reciprocating impact conditions, ensuring the stability of the buffering function. In this embodiment, the first buffer element 140 and the second buffer element 150 can be specifically selected from elastic materials such as silicone, polyurethane (PU), thermoplastic elastomer (TPE), thermoplastic polyurethane elastomer (TPU), thermoplastic vulcanized rubber (TPV), and polyvinyl chloride (PVC). This application does not impose specific limitations on these materials.

[0048] It should be noted that, in Figure 1 The diagrams show the movement from B to A and from A to B vertically, but this is not a limitation. In practical applications, the reciprocating direction of the moving part 120 can be set according to the actual installation space of the bicycle seat post.

[0049] In this specification, the lifting control device 100 is used as an example to control the lifting of the seat post, but this is not intended to be limiting. The lifting control device 100 can be adapted to its application scenario; for example, it can also be used for adjusting the lifting of a bicycle front fork.

[0050] When the lifting control device 100 is used to control the lifting of the seat post, such as Figure 1 As shown, the lifting control device 100 is used to control the air valve switch 160 inside the seat tube. The air valve switch 160 is located in... Figure 1 As shown, when the movable member 120 slides close to the first inner wall surface 112, it presses the air valve switch 160. At this time, the seat cushion can be raised by the cylinder or lowered by the user's weight. In this embodiment, after the seat cushion is adjusted, the driving member 130 drives the movable member 120 to move from A to B to the end close to the second inner wall surface 113. At this time, the movable member 120 moves away from the air valve switch 160 to prevent the seat cushion from moving.

[0051] like Figure 2 As shown, the control method of the lifting control device 100 includes the following steps:

[0052] S10: Obtain adjustment command or adjustment completion command;

[0053] S20: Control the drive unit 130 to start slowly, and control the drive unit 130 to drive the moving part 120 to move in the preset direction corresponding to the instruction;

[0054] S30: Real-time acquisition and data processing of the current of the drive unit 130. Based on the current change trend and instantaneous current, the drive unit 130 is determined to be stalled when either judgment criterion is met.

[0055] In step S10, the adjustment command refers to the user issuing a seat height adjustment command through external control elements such as buttons or remote control according to riding needs (such as sprinting, downhill, cruising, etc.). This command acts as a signal for the drive component 130 to move the moving component 120 from B to A to approach and press the air valve switch 160.

[0056] The adjustment completion command refers to the signal issued by the user through the external control element such as buttons or remote control after the user confirms that the seat height has been adjusted to the desired position. This command acts as a signal for the driving component 130 to reverse the action and drive the moving component 120 to move away from the air valve switch 160 and closer to the second inner wall surface 113.

[0057] In step S20, the drive unit 130 starts slowly. After starting, it drives the moving unit 120 to move in the direction from B to A according to the adjustment command to approach and press the air valve switch 160. Alternatively, after the drive unit 130 starts slowly, it drives the moving unit 120 to move in the direction from A to B according to the adjustment completion command to move away from the air valve switch 160 and approach the second inner wall surface 113.

[0058] The starting process of the drive unit 130 is a slow start, and the starting current rises steadily, thereby avoiding the problem that the starting current of the drive unit 130 is too large, the current surges very high in an instant, which would cause the drive unit 130 to overheat, make a lot of noise and shorten its lifespan.

[0059] Existing technologies typically rely on fixed current thresholds to determine if a rotor is stalled. This requires the current to reach a high level before identification, resulting in slow response and a high false positive rate. In step S30, the current of the drive unit 130 is collected in real time, and the stall status of the drive unit 130 is determined based on the current data. This involves independently judging both the current change trend and the instantaneous current; these are independent judgment conditions. When either the current change trend or the instantaneous current meets the judgment criteria, the drive unit 130 is determined to be stalled.

[0060] Among these methods, judging the stall of the drive component 130 by the trend of current change can detect the physical starting point of the stall by using the slope change before the current reaches the destructive peak. Judging the stall of the drive component 130 by instantaneous current can determine instantaneous overload when the instantaneous current is too high in the face of extremely high-intensity hard impact, and deal with metallic short circuits or rapid jamming.

[0061] In this embodiment, by decoupling and paralleling the prediction of current change trend with instantaneous current overload protection, the precursor to stall can be captured in the early stage of current rise, realizing early identification before the drive component 130 stalls. This allows the controller to identify the risk of stalling earlier than the mechanical structure, improving the problem of slow response and easy misjudgment caused by relying solely on whether the instantaneous current exceeds a fixed value in the prior art. The response cycle is shortened by 30%-50% compared to the solution that judges whether stalling occurs solely based on instantaneous current.

[0062] In one embodiment, such as Figure 2 As shown, the control method of the lifting control device 100 includes the following steps: S40: When it is determined that the drive component 130 is stalled, the drive component 130 is controlled to reverse a preset distance and then stop running.

[0063] In the prior art, the drive component 130 stops immediately after stalling, causing the moving component 120 driven by the drive component 130 to remain pressed against the buffer element. This results in the buffer element aging due to long-term pressure, and the drive component 130 stalling, overheating, and jamming. At the same time, the next start-up requires overcoming the static friction of the pressure, resulting in slow response and high resistance.

[0064] In step S40, after the drive component 130 stalls, the drive component 130 is controlled to reverse, causing the moving component 120 to move in the opposite direction to the adjustment command. This reduces the force exerted by the moving component 120 on the buffer element or even removes it from the buffer element, thereby reducing the pressure on the buffer element, extending the life of the buffer element, and avoiding the problem of the buffer element being easily damaged and the drive component 130 easily jamming due to the buffer element being kept in a severely compressed state. At the same time, it also reduces the stroke required to drive the moving component 120 to reciprocate next time.

[0065] In this embodiment, in step S40, the drive unit 130 also adopts a slow start when it reverses to reduce the starting impact, and the starting current rises steadily, so as to avoid the problems of the drive unit 130 overheating, loud noise and shortened life.

[0066] When using the control method of the lifting control device 100 provided in this solution to control the lifting control device 100:

[0067] When the seat height needs to be adjusted, an adjustment command is received, which serves as a signal for the drive component 130 to move the movable component 120 from direction B to A to approach and press the air valve switch 160. The drive component 130 starts slowly and moves the movable component 120 from direction B to A according to the adjustment command to approach and press the air valve switch 160. During the operation of the drive component 130, the real-time current of the drive component 130 is collected. The system independently determines whether the drive component 130 is stalled by predicting the trend of current change and by analyzing the instantaneous current. When the drive component 130 stalls, it is controlled to reverse its movement to move the moving component 120 from direction A to B. This reduces the force exerted on the buffer element by the moving component 120, or even causes it to detach from the buffer element, thereby reducing the pressure on the buffer element and extending its lifespan.

[0068] When the seat height adjustment is complete, an adjustment completion command is received. This triggers a signal that drives the actuator 130 to reverse direction, moving the movable component 120 from direction A to B away from the air valve switch 160 and closer to the second inner wall surface 113. The actuator 130 starts slowly, moving the movable component 120 from direction A to B away from the air valve switch 160 and closer to the second inner wall surface 113. During the operation of the actuator 130, the real-time current of the actuator 130 is collected. The system independently determines whether the drive component 130 is stalled by predicting the trend of current change and by analyzing the instantaneous current. When the drive component 130 stalls, it controls the drive component 130 to reverse its movement to move the moving component 120 from direction B to A. This reduces the force exerted by the moving component 120 on the buffer element or even causes it to detach from the buffer element, thereby reducing the pressure on the buffer element and extending its lifespan.

[0069] In one embodiment, step S10 includes: automatically acquiring an adjustment completion command when the drive unit 130 is powered on. It is understood that the adjustment completion command can also be issued by the user via a button, etc., after the seat height adjustment is completed, as in the example above. Automatically acquiring the adjustment completion command when the drive unit 130 is powered on means that no other operation is required; the adjustment completion command is automatically generated. This ensures that after the drive unit is abnormally powered off (e.g., power failure), when it is powered on again, the moving part 120 is in the expected position. In this embodiment, the expected position means that the moving part is located away from the air valve switch 160 and close to the second inner wall surface 113. This facilitates direct execution when a command is subsequently received, avoiding abnormal operation of the drive unit 130 due to different initial positions of the moving part 120.

[0070] Combination Figure 1 and Figure 3 As shown, in one embodiment, in step S20, the starting method of the driver 130 is as follows: the PWM (pulse width modulation) duty cycle of the driver 130 is gradually increased to 100%, the current rises steadily, the starting current gradually increases from a small value, and the starting current climbs steadily, thereby avoiding the problem that the starting current of the driver 130 is too large, the current surges very high, and the driver 130 heats up, has high noise and a shortened lifespan.

[0071] In one embodiment, in step S20, the starting method of the drive unit 130 is such that the maximum starting current of the drive unit 130 does not exceed a set starting current. Typically, the set starting current does not exceed the rated starting current of the drive unit 130, so that the current of the drive unit 130 is relatively low during the starting process, avoiding the problem of overheating caused by high current. For example, the set starting current is 1.4A, and the maximum starting current does not exceed 1.4A during the starting process of the drive unit 130. This is merely an example and not a limitation.

[0072] In other embodiments, the drive unit 130 may also adopt other soft start methods, such as series resistor soft start, autotransformer step-down start, etc., without limitation.

[0073] In one embodiment, step S30 includes:

[0074] S31: Real-time acquisition of current data from driver 130 to obtain real-time current. ;

[0075] S32: Calculate the instantaneous slope of the current change And based on the instantaneous slope of the current change Determine if drive unit 130 is stalled;

[0076] S33: Based on real-time current and instantaneous overload protection current value Determine if drive component 130 is stalled. At that time, it was determined that the drive component 130 was stalled.

[0077] It should be noted that steps S32 and S33 are not sequential; they are parallel steps, and the instantaneous slope of the current change... The represented current change trend and real-time current The instantaneous currents represented are independent judgment conditions. When either the judgment drive 130 stalls in steps S32 and S33, step S40 is executed, thereby achieving decoupling and parallel operation of current change trend prediction and instantaneous current overload protection.

[0078] In step S31, the current data of the drive unit 130 collected is the bus current of the drive unit 130, which can be smooth, stable and can truly reflect the load size.

[0079] In step S32, the instantaneous slope of the current change Used to represent the trend of current change, when the instantaneous slope When it is negative, it indicates that the current is decreasing, and when the instantaneous slope is... When the value is positive, it indicates that the current is increasing. And the instantaneous slope... The absolute value of the value indicates the rate of change of the current, and the instantaneous slope. The larger the absolute value, the greater the change in current.

[0080] Combination Figure 3 As shown, in this embodiment, the instantaneous overload protection current value is... When determining whether the drive unit 130 is stalled, it is also necessary to determine whether the conditional current is in the non-decreasing phase. Only when the current is in the non-decreasing phase and Only when the current is decreasing can it be determined that the drive component 130 is stalled. It will not trigger a traffic jam.

[0081] Instantaneous overload protection current value in step S33 This represents the extreme value for hardware-level instantaneous overload protection, signifying the safety baseline and addressing extreme hard-impact scenarios such as metallic short circuits and rapid jamming. Furthermore, step S33 uses the unfiltered original value, which differs from the smoothed current described below. Its zero-latency response ensures response speed and compensates for the slight delay caused by filtering. It not only guarantees the lead time for stall prediction but also makes up for the slight delay caused by filtering, taking into account both the sensitivity for daily use and the safety for extreme scenarios.

[0082] In one embodiment, step S33 includes:

[0083] S331: Obtain the average reference current during the stable operation phase of drive unit 130. ;

[0084] S332: According to Calculate the instantaneous overload protection current value Where Y is the safety factor, Y > 1.

[0085] Understandably, a fixed threshold cannot accommodate normal current deviations caused by voltage fluctuations, aging of the driver 130, and temperature changes, easily leading to misjudgments or missed judgments. However, the average reference current obtained through self-learning from the driver 130's past stable operating phases is more effective. Based on the safety factor Y, the dedicated instantaneous overload protection current value for this operation is generated in real time. It enables adaptive voltage fluctuations, driver 130 aging, and temperature changes without the need for manually setting thresholds.

[0086] For example, the safety factor Y = 1.3. At this time, when the real-time current of the driving component 130 At that time, it was determined that the drive component 130 was stalled.

[0087] In one embodiment, step S331 includes:

[0088] S3311: Determine whether the drive unit 130 is in a stable operating phase;

[0089] S3312: If so, then the average reference current during the smooth operation phase of the drive unit 130. for: ,in, The duration of the self-learning sampling window. This is the start time of the self-learning window. This marks the end of the self-learning window.

[0090] In step S3311, it is necessary to first determine whether the drive unit 130 is in a stable operating phase, in order to eliminate the interference of the inrush current during the start-up phase of the drive unit 130 on the extraction of the reference current, and to ensure that the obtained reference current can truly reflect the normal operating power consumption of the drive unit 130 under the current working conditions and environment.

[0091] In step S3312, during the stable phase, the system initiates a sliding sampling window of a preset duration. to Calculate the average value of the smoothed current within the sampling window to obtain the average reference current. This serves as the reference current for this operation.

[0092] In one embodiment, step S3311 includes: after the current of the driving device 130 passes the startup peak, if M consecutive sampling points satisfy... , If the preset fluctuation threshold is set, the drive unit 130 is determined to have entered the stable operation stage.

[0093] In step S3311, the logic for determining the stable operation phase is as follows: instead of using a fixed duration as the criterion for entering the stable phase, the instantaneous slope of the current change is used. Stabilization is the core criterion. Specifically, after the drive unit 130 completes startup and the peak startup current drops, the instantaneous slope is monitored in real time. If the instantaneous slope of M consecutive sampling points If the absolute values ​​are all less than the preset fluctuation threshold x, then the drive unit 130 is determined to have entered a stable operation phase. Here, M is the length of the stable operation judgment window, representing the number of sampling times that need to maintain low fluctuations, and x is the fluctuation threshold dead zone, a very small fluctuation threshold used to shield normal system noise and avoid misjudgment.

[0094] For example, M can be 5, and the fluctuation threshold x can be 0.005 A / ms, which is the instantaneous slope of the current change over 5 consecutive sampling periods. When the absolute values ​​of all values ​​do not exceed 0.005 A / ms, the drive unit 130 is determined to have entered a stable operating phase. This is for ease of understanding and is not intended as a limitation.

[0095] In one embodiment, step S32 includes:

[0096] S321: Real-time current Perform moving average filtering to obtain the smoothed current. ;

[0097] S322: Based on the filtered smooth current Calculate the instantaneous slope of the current change ;

[0098] S323: When smoothing current When the rising edge transitions to a falling edge, the instantaneous slope of the current change is considered. Determine if drive component 130 is stalled.

[0099] In step S321, the real-time current is... Perform moving average filtering to adjust the instantaneous slope of subsequent current changes. The calculations are more accurate, preventing misjudgments.

[0100] To address the issue of the ultra-short stroke of the drive component 130 in the lifting control device 100 and the potential for false stall detection due to current surges during startup, a dynamic locking mechanism for the stall detection window is implemented. During startup, the drive component 130 must overcome the static friction and inertia of the actuator, causing the current to rise continuously. This current increase is a normal startup phenomenon and not a stall fault. If stall detection is enabled throughout the entire process, false triggering is highly likely, preventing the drive component 130 from completing the pressing action of moving the movable component 120 to press the air valve switch 160, thus causing the seat tube unlocking to fail.

[0101] When the drive unit 130 starts, the current rises to overcome static inertia and static friction. When the drive unit 130 enters normal rotation, the load resistance decreases and the current naturally decreases. The first time the current changes from rising to falling is the falling edge, which marks the completion of the start-up of the drive unit 130 and the entry into the stable operation stage.

[0102] The specific implementation method of the stall detection window dynamic locking mechanism is as follows: When the drive unit 130 is powered on and started, it first enters the startup shielding stage and temporarily disables the stall detection function; at the same time, the real-time current of the drive unit 130 is collected in real time through the current sampling circuit. The smoothed current is obtained after moving average filtering. Real-time monitoring of smoothing current The changing trend; when smooth current is detected When the rising edge turns into a falling edge, it indicates that the drive component 130 has overcome static friction, completed the start-up process, and entered the stable operation stage. At this time, the system automatically removes the start-up shield, activates the stall monitoring window, and officially starts real-time stall detection.

[0103] This can be understood as the falling edge of the current transitioning from rising to falling, referring to the smoothed current after filtering. The critical moment when its trend changes from a continuously rising state to a continuously falling state is determined by the instantaneous slope of the current continuously changing from a positive value to a negative value.

[0104] Therefore, in step S323, when the smoothing current... When the rising edge transitions to a falling edge, the filtered smooth current is used as the starting point. Calculate the instantaneous slope of the current change It perfectly avoids current fluctuations during the startup phase and does not mistake the normal startup process for a stall. This allows the ultra-short-stroke drive component 130 to accurately distinguish between startup and stall in a very short time.

[0105] This solution does not require a fixed startup time window. It can adapt to changes in startup time caused by different battery voltages, the aging degree of the drive component 130, and ambient temperature. It avoids the misjudgment of stall caused by current surge during startup from the root, ensuring that the drive component 130 can reliably run to the press position of the air valve switch 160 and ensuring the stability of the seat tube unlocking function.

[0106] In one embodiment, in step S321, let the first The original value of the instantaneous current in the next sample is If the sampling window length is L, then the filtered smoothed current for: ,in, This represents the sampling point number used for backtracking.

[0107] The raw current signal contains a lot of noise, so directly calculating the instantaneous slope of the current change is not feasible. Frequent false triggers occur. Filtering ensures data smoothness without losing the core trend characteristics of stalling. For real-time acquisition, an averaging filter is used with a sliding window of length L, summing the most recent real-time currents I(n) and averaging them to output the filtered, smoothed current. This process smooths the curve, preventing interference from noise and establishing a smooth current curve. It eliminates high-frequency switching noise in the current while fully preserving the initial current rise trend during the stall phase, thus providing a basis for subsequent instantaneous slope. Extraction provides the foundation for a high signal-to-noise ratio.

[0108] In one embodiment, in step S322, when the unit time is defined as the observation step size... Instantaneous slope for: ,in, To look back relative to the current moment Smoothed current value over time.

[0109] Using a fixed observation step size Δt of 1ms, the instantaneous rate of change (slope) K(n) of the current is calculated using the difference between the current smoothed current and the smoothed current 1ms ago. The core logic is...

[0110] instantaneous slope Let be the rate of change of current at time n. For example, the unit time can be 1 ms, but it is not a limitation and can also be 1.5 ms, 0.5 ms, etc. This represents the time difference, i.e., the time interval between two sample points used in the slope calculation. It uses the current smoothing current. and Before the time The difference is used to calculate the instantaneous slope of the current. It does not rely on the absolute amplitude of the current, but focuses on the rate of current rise, unlike existing fixed threshold methods. Because the current surges rapidly during stall, the instantaneous slope... When significant changes occur, it is possible to predict the risk of stalling in drive component 130.

[0111] In one embodiment, step S323 includes:

[0112] S3231: When smoothing current When the rising edge transitions into a falling edge, compare the instantaneous slope. and setting slope threshold And based on the instantaneous slope of the current change Calculate the upward trend count ,when ,and At that time, it was determined that the drive component 130 was stalled. Among them, the upward trend count... for: , representing the instantaneous slope The number of consecutive positive values. This distinguishes between normal load fluctuations and stall current surges, enabling the determination that the drive unit 130 is stalled when the current surges.

[0113] In step S3231, the trend counter is used. Record the instantaneous slope of the current. The number of consecutive positive values, only when the slope of 3 consecutive sampling points is positive, that is, when When the current enters a continuous upward trend, it is determined to be a valid stall trend. This filters out random current fluctuations, eliminates random noise through the continuous upward trend, and completely distinguishes between normal load fluctuations and stall current surges, thus avoiding false triggering.

[0114] By instantaneous slope When determining whether drive component 130 is stalled, the system does not rely on absolute amplitude, but rather uses a dual control mechanism of trend confirmation and amplitude change rate. The determination logic is as follows: To achieve early detection of the physical starting point of stall, in real-time current... The instantaneous overload protection current value was reached. Protection is triggered beforehand.

[0115] In one embodiment, in step S3231, a slope threshold is set. for: ,in, This represents the average of n historical maximum positive slopes recorded during the historical normal operation cycle of the drive unit 130 when it was in a stable phase. This is the slope safety factor.

[0116] Understandably, a fixed slope threshold cannot accommodate normal slope fluctuations caused by wear and changes in mechanical resistance of the drive component 130, thus failing to ensure long-term detection stability. In this embodiment, the maximum positive slope of the drive component 130 during a stable phase, recorded within a historical normal operating cycle, is used. Take the average, then multiply by the safety factor. The slope threshold was set as the criterion for this judgment. For example, in the first n normal operation tasks, record the maximum positive slope during the steady-state phase and every 1ms thereafter. In the (n+1)th run, Automatically set to: .

[0117] By conducting online statistical analysis of the current change rate characteristics during normal operating cycles, a slope threshold can be set. Automatic value assignment prevents false triggering due to aging of the 130 drive unit or load changes, and sets a slope threshold. The quasi-static update eliminates the risk of false alarms caused by the aging and differences of driver component 130.

[0118] Combination Figure 4As shown in the diagram, when controlling a lifting control device using a conventional control method, the current fluctuation of the drive component is as follows: after the drive component starts, the current curve exhibits a steep spike pulse, with the current value instantly climbing to near the upper limit of the vertical axis. However, the current during the subsequent steady-state operation only fluctuates within a lower range. The starting peak current is several times the steady-state operating current, indicating an excessively large starting current. This can easily lead to problems such as overheating of the drive component, high noise levels, and reduced lifespan.

[0119] Combination Figure 5 The diagram shows the current fluctuation of the drive unit 130 when the lifting control device 100 is controlled by the control method of the lifting control device 100 provided in this application. Specifically:

[0120] In stage ①, the driver 130 starts softly, and the PWM duty cycle gradually increases, such as... Figure 4 As shown, the driver 130 is started at point a, and the current gradually increases. At point b, the maximum starting current is reached, and the soft start ends at point c. At this time, the PWM duty cycle is 100%.

[0121] Phase ②: Moving component 120 during the moving phase, such as... Figure 4 As shown, the current begins to rise at point d, at which point the moving fast device begins to contact the buffer element.

[0122] Stage ③: The moving part 120 gradually squeezes the buffer element, causing it to stall. For example... Figure 4 As shown, a stall was detected at point e, and drive unit 130 began to stop.

[0123] Stage 4: The current of the driving component 130 gradually decreases, and the driving component 130 stops, as shown below. Figure 4 As shown, the current reaches its lowest point at point f, indicating that the drive unit 130 has stopped.

[0124] Phase 5: The control drive unit 130 slowly starts and reverses, disengaging from the buffer element. (Example) Figure 4 As shown, point g represents the small fluctuations generated when the drive unit 130 starts slowly and gradually increases the duty cycle. At point h, the maximum starting current of the drive unit 130 is reached, and at point i, the drive unit 130 drives the moving part 120 to disengage from the buffer element.

[0125] Stage 6: Drive unit 130 begins active braking to ensure it stops at the desired position. At point j, the braking of drive unit 130 is complete.

[0126] In the above embodiments, the control method of the lifting control device 100 provided in this application reduces the starting impact by slowing down the start-up of the drive component 130, decouples the current change trend prediction and instantaneous current overload protection in parallel, and also adopts dual-rail stall detection based on trend confirmation and amplitude change rate dual control to achieve rapid prediction. After stalling, it automatically controls the drive component 130 to reverse and disengage from the limit buffer element, and finally brakes and stops precisely. This solution can reduce the starting current of the drive component 130, reduce stall overheating and mechanical wear, and improve the response speed, reliability and service life of the lifting control device 100.

[0127] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0128] The embodiments described above are merely illustrative of several implementation methods 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 all fall within the scope of protection of this application. Therefore, the patent protection scope of this application should be determined by the appended claims.

Claims

1. A control method for a lifting control device, used to control the lifting control device, characterized in that, The lifting control device includes a housing with a cavity, a movable component that reciprocates within the cavity, and a driving component connected to the movable component and driving the movable component to reciprocate. The housing has two inner wall surfaces that form the cavity and are respectively located on the reciprocating path of the movable component. A buffer element is provided between the movable component and the two inner wall surfaces, and the movable component and the inner wall surfaces are elastically abutted by the buffer element. The control method of the lifting control device includes: Obtain adjustment instructions or adjustment completion instructions; The control driver starts slowly and drives the moving parts to move in the preset direction corresponding to the instruction. The current of the drive component is collected and processed in real time. The current change trend and instantaneous current are judged independently. When any judgment criterion is met, it is determined that the drive component is stalled.

2. The control method of the lifting control device according to claim 1, characterized in that, The step controls the drive unit to start slowly and controls the drive unit to move the moving part in the preset direction corresponding to the instruction. The start-up method of the drive unit is: the PWM duty cycle of the drive unit is gradually increased to 100%, and / or the maximum start-up current of the drive unit does not exceed the set start-up current.

3. The control method of the lifting control device according to claim 1, characterized in that, The process involves real-time acquisition and processing of the drive component current. Based on independent judgments of current change trends and instantaneous current, a stall condition is determined when either criterion is met. This includes: Real-time acquisition of drive component current data to obtain real-time current. ; Calculate the instantaneous slope of the current change And based on the instantaneous slope of the current change Determine if the drive component is stalled; Based on real-time current and instantaneous overload protection current value To determine if the drive component is stalled, when When this occurs, it is determined that the drive component is stalled.

4. The control method of the lifting control device according to claim 3, characterized in that, The steps are based on real-time current. and instantaneous overload protection current value To determine if the drive component is stalled, when When a stall is detected in the drive component, it includes: Obtain the average reference current during the stable operation phase of the drive unit. ; according to Calculate the instantaneous overload protection current value Where Y is the safety factor, Y >

1.

5. The control method of the lifting control device according to claim 4, characterized in that, Steps to obtain the average reference current during the stable operation phase of the drive component ,include: Determine whether the drive components are in a stable operating phase; If so, then the average reference current during the smooth operation phase of the drive component. for: ， in, The duration of the self-learning sampling window. This is the start time of the self-learning window. This marks the end of the self-learning window.

6. The control method of the lifting control device according to claim 4, characterized in that, The steps to determine whether the drive unit is in a stable operating phase include: After the current of the driving device passes the startup peak, if M consecutive sampling points satisfy... , If a preset fluctuation threshold is set, the drive component is determined to have entered a stable operating phase.

7. The control method of the lifting control device according to claim 3, characterized in that, Steps to calculate the instantaneous slope of the current change And based on the instantaneous slope of the current change Determining whether a drive component is stalled includes: For real-time current Perform moving average filtering to obtain the smoothed current. ; Based on the filtered smooth current Calculate the instantaneous slope of the current change ; When smooth current When the rising edge transitions to a falling edge, the instantaneous slope of the current change is considered. Determine if the drive component is stalled.

8. The control method of the lifting control device according to claim 7, characterized in that, Steps for real-time current Perform moving average filtering to obtain the smoothed current. In the middle, the order The original value of the instantaneous current in the next sample is If the sampling window length is L, then the filtered smoothed current for: ， in, This represents the sampling point number used for backtracking.

9. The control method of the lifting control device according to claim 7 or 8, characterized in that, The steps are based on the filtered smooth current. Calculate the instantaneous slope of the current change In this context, when the unit of time is defined as the observation step size... Instantaneous slope for: ， in, To look back relative to the current moment Smoothed current value over time.

10. The control method of the lifting control device according to claim 7 or 9, characterized in that, Steps when smoothing current When the rising edge transitions to a falling edge, the instantaneous slope of the current change is considered. Determining whether a drive component is stalled includes: When smooth current When the rising edge transitions into a falling edge, compare the instantaneous slope. and setting slope threshold And based on the instantaneous slope of the current change Calculate the upward trend count ,when ,and When this occurs, it is determined that the drive component is stalled; Among them, upward trend count for: , representing the instantaneous slope The number of consecutive positive values.

11. The control method of the lifting control device according to claim 10, characterized in that, Steps when smoothing current When the rising edge transitions into a falling edge, compare the instantaneous slope. and setting slope threshold And based on the instantaneous slope of the current change Calculate the upward trend count ,when ,and When it is determined that the drive component is stalled, a slope threshold is set. for: ， in, This represents the average of the n historical maximum positive slopes recorded during the historical normal operation cycle of the drive component when it was in a stable phase. This is the slope safety factor.

12. The control method of the lifting control device according to claim 1, characterized in that, The control method of the lifting control device further includes: when it is determined that the drive component is stalled, controlling the drive component to reverse a preset distance and then stop running.

13. The control method of the lifting control device according to claim 1, characterized in that, The steps for obtaining adjustment instructions or adjustment completion instructions include: automatically obtaining the adjustment completion instruction when the driver is powered on.

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