Brushless motor and positioning and steering control method thereof, and aerial work platform

Abstract

Disclosed in the present invention are a brushless motor and a positioning and steering control method thereof, and an aerial work platform. The brushless motor comprises a motor controller, a brushless motor body, a steering cylinder, a Hall sensor, a first micro limit switch, and a second micro limit switch; the first micro limit switch and the second micro limit switch are arranged at a first stroke position and a second stroke position of a ball screw in the steering cylinder and are both communicatively connected to the motor controller; when receiving switching signals outputted by the first micro limit switch and the second micro limit switch, the motor controller separately controls the brushless motor body to stop driving the ball screw to move in a first direction and a second direction; the Hall sensor detects the number of turns of rotation of the brushless motor body in real time and sends the number of turns of rotation to the motor controller; and when the number of turns of rotation reaches a first preset number of turns and a second preset number of turns, the motor controller also controls the brushless motor body to stop driving the ball screw to move in the first direction and the second direction, wherein the first preset number of turns and the second preset number of turns are determined on the basis of the first stroke, the second stroke, and a preset ball screw motion relationship.

Description

A brushless motor and its positioning and steering control method, and an aerial work platform vehicle. Technical Field

[0001] This invention relates to the field of brushless motor technology, and in particular to a brushless motor and its positioning and steering control method, and an aerial work platform. Background Technology

[0002] Currently, the steering devices used in aerial work platforms are all achieved through traditional hydraulic power or brushed motors. Hydraulic power steering requires a separate engine as a power unit, which is space-consuming and difficult to adapt to precise layouts. It also consumes a lot of power and is prone to oil leaks, leading to routine maintenance. Furthermore, it is not suitable for special working environments such as high temperature, high voltage, and laboratories. Brushed motors have a short lifespan, generally requiring carbon brush replacement every 1-3 years. They are noisy during operation, and due to the inherent technical limitations of their structure, their rotational speed is not very high, making it difficult to adapt to fast and precise working environments. In addition, the installation location of the steering device is a problem, and each replacement wastes a lot of time. It also has limitations in special working environments such as mines.

[0003] Currently, brushless motors are not used in high-altitude special operation scenarios. The steering and positioning control technology of brushless motors in high-speed special operation scenarios is not very mature, and there is no brushless motor device with positioning and steering control function. Summary of the Invention

[0004] This invention provides a brushless motor and its positioning and steering control method, as well as an aerial work platform vehicle, to adapt to the steering and positioning control of special high-altitude work scenarios, while realizing higher precision steering and positioning control of the brushless motor.

[0005] To achieve the above objectives, in a first aspect, embodiments of the present invention provide a brushless motor, which includes: a motor controller, a brushless motor body, a steering cylinder, a Hall sensor, a first micro-limit switch, and a second micro-limit switch;

[0006] The motor controller is electrically connected to the brushless motor body; the brushless motor body is meshed with the steering cylinder; the first micro-motion limit switch is located at the first stroke position of the ball screw inside the steering cylinder; the second micro-motion limit switch is located at the second stroke position of the ball screw.

[0007] Both the first micro-limit switch and the second micro-limit switch are communicatively connected to the motor controller; the motor controller is used to control the brushless motor body to stop driving the ball screw to move in the first direction when it receives the switch signal output by the first micro-limit switch; and to control the brushless motor body to stop driving the ball screw to move in the second direction when it receives the switch signal output by the second micro-limit switch.

[0008] The Hall sensor is communicatively connected to the motor controller; the Hall sensor is used to detect the number of rotations of the brushless motor body in real time and send the number of rotations to the motor controller.

[0009] The motor controller is further configured to control the brushless motor body to stop driving the ball screw to move in the first direction when the number of rotations reaches a first preset number of rotations; wherein, the first preset number of rotations is determined based on the first stroke and a preset ball screw motion relationship;

[0010] It is also used to control the brushless motor body to stop driving the ball screw to move in the second direction when the number of rotations reaches the second preset number of rotations; wherein, the second preset number of rotations is determined according to the second stroke and the preset ball screw motion relationship.

[0011] Optionally, the motor controller is further configured to control the brushless motor body to stop driving the ball screw to move in the first direction when the number of rotations reaches a first preset number of rotations; including:

[0012] The motor controller is further configured to control the brushless motor body to reduce its speed based on a ramp control strategy according to the change in the first rotation number range, so that when the rotation number reaches the first preset number of rotations, the brushless motor body stops driving the ball screw to move in the first direction; wherein, the interval of the first preset number of rotations satisfies: (1-1 / N1)n1≤n≤n1; n1 is the first preset number of rotations; N1 is determined according to the magnitude of the first preset number of rotations n1;

[0013] The motor controller is further configured to control the brushless motor body to stop driving the ball screw to move in the second direction when the number of rotations reaches a second preset number of rotations; including:

[0014] The motor controller is further configured to control the brushless motor body to reduce its speed based on a ramp control strategy according to the change in the second rotation number range, so that when the rotation number reaches the second preset number of rotations, the brushless motor body stops driving the ball screw to move in the second direction; wherein, the interval of the second preset number of rotations satisfies: (1-1 / N2)n2≤n≤n2; n2 is the second preset number of rotations; N2 is determined according to the magnitude of the second preset number of rotations n2.

[0015] Optionally, the motor controller is further configured to control the brushless motor body to reduce its speed based on a ramp control strategy according to the change in the first rotational revolution range, so that when the rotational revolution reaches the first preset number of revolutions, the brushless motor body stops driving the ball screw to move in the first direction, specifically:

[0016] The motor controller is further configured to control the rotational speed of the brushless motor body to decrease to a first preset speed when the number of rotations reaches a third preset range; wherein the interval of the third preset range satisfies: (1-1 / N1)n1≤n≤(1-1 / (N1+X))n1; X is a positive integer greater than N1;

[0017] It is also used to control the speed of the brushless motor body to decrease to a second preset speed when the number of rotations reaches a fourth preset number of rotations range; wherein, the interval of the fourth preset number of rotations range satisfies: (1-1 / (N1+X))n1<n≤n1;

[0018] It is also used to control the speed of the brushless motor body to drop to 0 when the number of rotations reaches the first preset number of rotations, so as to control the brushless motor body to stop driving the ball screw to move in the first direction;

[0019] Wherein, the second preset speed is less than the first preset speed.

[0020] Optionally, the motor controller is further configured to control the brushless motor body to reduce its speed based on a ramp control strategy according to the change in the second rotation number range, so that when the rotation number reaches the second preset number of rotations, the brushless motor body stops driving the ball screw to move in the second direction; specifically:

[0021] The motor controller is further configured to control the speed of the brushless motor body to decrease to a third preset speed when the number of rotations reaches a fifth preset range; wherein the interval of the fifth preset range satisfies: (1-1 / N2)n2≤n≤(1-1 / (N2+X))n2; X is a positive integer greater than N2;

[0022] It is also used to control the speed of the brushless motor body to decrease to the fourth preset speed when the number of rotations reaches the sixth preset number of rotations range; wherein, the interval of the sixth preset number of rotations range satisfies: (1-1 / (N2+X))n2<n≤n2;

[0023] It is also used to control the speed of the brushless motor body to drop to 0 when the number of rotations reaches the second preset number of rotations, so as to control the brushless motor body to stop driving the ball screw to move in the second direction;

[0024] The fourth preset rotational speed is less than the third preset rotational speed.

[0025] Optionally, the device may also include: a current detection module;

[0026] The current detection module is communicatively connected to the motor controller; the current detection module is used to detect the output current of the brushless motor body in real time and send the output current to the motor controller.

[0027] Alternatively, the motor controller is further configured to control the brushless motor body to stop driving the ball screw when the output current reaches the maximum limit current;

[0028] It is also used to control the brushless motor body to stop driving the ball screw movement after a preset time when the output current reaches the maximum operating current.

[0029] Secondly, embodiments of the present invention also provide an aerial work platform vehicle, which includes the brushless motor described in the first aspect above.

[0030] Thirdly, embodiments of the present invention also provide a brushless motor positioning and steering control method, which is applied to the brushless motor described in the first aspect above; the brushless motor positioning and steering control method includes:

[0031] Obtain the preset ball screw motion relationship;

[0032] The Hall sensor detects the number of rotations of the brushless motor body in real time and sends the number of rotations to the motor controller; the first micro-limit switch senses the ball screw at the first stroke position; the second micro-limit switch senses the ball screw located at the second stroke position.

[0033] When the number of rotations reaches a first preset number of rotations, the motor controller controls the brushless motor body to stop driving the ball screw to move in the first direction; wherein, the first preset number of rotations is determined based on the first stroke and the preset ball screw motion relationship;

[0034] When the number of rotations reaches the second preset number of rotations, the motor controller stops the brushless motor body from driving the ball screw to move in the second direction; wherein, the second preset number of rotations is determined based on the second stroke and the preset ball screw motion relationship;

[0035] Alternatively, when the switch signal output by the first micro-limit switch is received, the motor controller controls the brushless motor body to stop driving the ball screw to move in the first direction;

[0036] When the switch signal output by the second micro-limit switch is received, the motor controller controls the brushless motor body to stop driving the ball screw to move in the second direction.

[0037] Optionally, the method further includes:

[0038] The current detection module detects the output current of the brushless motor body in real time and sends the output current to the motor controller;

[0039] When the output current reaches the maximum limit current, the motor controller controls the brushless motor body to stop driving the ball screw.

[0040] The brushless motor positioning and steering control method further includes:

[0041] When the output current reaches the maximum operating current, after a preset time, the motor controller controls the brushless motor body to stop driving the ball screw.

[0042] Optionally, when the number of rotations reaches a first preset number of rotations, the motor controller controls the brushless motor body to stop driving the ball screw to move in the first direction, including:

[0043] Based on the change in the first rotation range, a ramp control strategy is used to control the brushless motor body to reduce its speed so that when the rotation range reaches the first preset number of rotations, the brushless motor body stops driving the ball screw to move in the first direction; wherein, the interval of the first preset number of rotations satisfies: (1-1 / N1)n1≤n≤n1; n1 is the first preset number of rotations; N1 is determined according to the magnitude of the first preset number of rotations n1;

[0044] The motor controller is further configured to control the brushless motor body to stop driving the ball screw to move in the second direction when the number of rotations reaches a second preset number of rotations; including:

[0045] The motor controller is further configured to control the brushless motor body to reduce its speed based on a ramp control strategy according to the change in the second rotation number range, so that when the rotation number reaches the second preset number of rotations, the brushless motor body stops driving the ball screw to move in the second direction; wherein, the interval of the second preset number of rotations satisfies: (1-1 / N2)n2≤n≤n2; n2 is the second preset number of rotations; N2 is determined according to the magnitude of the second preset number of rotations n2.

[0046] Optionally, based on the change in the first rotational revolution range, the brushless motor body is controlled to reduce its speed according to a ramp control strategy so that when the rotational revolution reaches a first preset number of revolutions, the brushless motor body stops driving the ball screw to move in the first direction, including:

[0047] When the number of rotations reaches the third preset range, the speed of the brushless motor body is reduced to the first preset speed; wherein, the interval of the third preset range satisfies: (1-1 / N1)n1≤n≤(1-1 / (N1+X))n1; X is a positive integer greater than N1;

[0048] When the number of rotations reaches the fourth preset number of rotations range, the speed of the brushless motor body is controlled to be reduced to the second preset speed; wherein, the interval of the fourth preset number of rotations range satisfies: (1-1 / (N1+X))n1 is less than n≤n1;

[0049] When the number of rotations reaches the first preset number of rotations, the speed of the brushless motor body is controlled to be reduced to 0 so that the brushless motor body stops driving the ball screw to move in the first direction;

[0050] Wherein, the second preset speed is less than the first preset speed;

[0051] Based on the change in the second rotation range, a ramp control strategy is used to control the brushless motor body to reduce its speed so that when the rotation range reaches the second preset number of rotations, the brushless motor body stops driving the ball screw to move in the second direction, including:

[0052] When the number of rotations reaches the fifth preset range, the speed of the brushless motor body is reduced to the third preset speed; wherein, the interval of the fifth preset range satisfies: (1-1 / N2)n2≤n≤(1-1 / (N2+X))n2; X is a positive integer greater than N2;

[0053] It is also used to control the speed of the brushless motor body to decrease to the fourth preset speed when the number of rotations reaches the sixth preset number of rotations range; wherein, the interval of the sixth preset number of rotations range satisfies: (1-1 / (N2+X))n2<n≤n2;

[0054] It is also used to control the speed of the brushless motor body to drop to 0 when the number of rotations reaches the second preset number of rotations, so as to control the brushless motor body to stop driving the ball screw to move in the second direction;

[0055] The fourth preset rotational speed is less than the third preset rotational speed.

[0056] In this embodiment of the invention, the number of rotations detected by a Hall sensor enables precise control of the brushless motor body driving the ball screw in different directions for steering and positioning. This, together with the switching signals received from the first micro-limit switch and the second micro-limit switch, achieves the control of the brushless motor body driving the ball screw in different directions for steering and positioning, improving the reliability of steering and positioning in different directions and avoiding the inability to achieve steering and positioning in different directions when any one method fails. Attached Figure Description

[0057] Figure 1 is a schematic diagram of a brushless motor provided in an embodiment of the present invention;

[0058] Figure 2 is a structural schematic diagram of the steering cylinder block provided in an embodiment of the present invention;

[0059] Figure 3 is a schematic diagram of another brushless motor provided in an embodiment of the present invention;

[0060] Figure 4 is a flowchart illustrating a brushless motor positioning and steering control method provided in an embodiment of the present invention;

[0061] Figure 5 is a flowchart illustrating another brushless motor positioning and steering control method provided in an embodiment of the present invention. Detailed Implementation

[0062] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0063] Figure 1 is a structural schematic diagram of a brushless motor provided in an embodiment of the present invention; Figure 2 is a structural schematic diagram of a steering cylinder provided in an embodiment of the present invention; As shown in Figures 1-2, the brushless motor includes: a motor controller 10, a brushless motor body 20, a steering cylinder 30, a Hall sensor 40, a first micro-motion limit switch 50, and a second micro-motion limit switch 60;

[0064] The motor controller 10 is electrically connected to the brushless motor body 20; the brushless motor body 20 is connected to the steering cylinder 30 through gear set A; the first micro-limit switch 50 is set at the first stroke position L1 of the ball screw 31 inside the steering cylinder 30; the second micro-limit switch 60 is set at the second stroke position L2 of the ball screw 31.

[0065] Both the first micro-limit switch 50 and the second micro-limit switch 60 are communicatively connected to the motor controller 10. The motor controller 10 is used to control the brushless motor body 20 to stop driving the ball screw 31 to move in the first direction when it receives the switch signal output by the first micro-limit switch 50; and to control the brushless motor body 20 to stop driving the ball screw 31 to move in the second direction when it receives the switch signal output by the second micro-limit switch 60.

[0066] Hall sensor 40 is communicatively connected to motor controller 10; Hall sensor 40 is used to detect the number of rotations of brushless motor body 20 in real time and send the number of rotations to motor controller 10;

[0067] The motor controller 10 is also used to control the brushless motor body 20 to stop driving the ball screw 31 to move in the first direction when the number of rotations reaches the first preset number of rotations; wherein the first preset number of rotations is determined according to the first stroke and the preset ball screw motion relationship;

[0068] It is also used to control the brushless motor body 20 to stop driving the ball screw 31 to move in the second direction when the number of rotations reaches the second preset number of rotations; wherein the second preset number of rotations is determined according to the second stroke and the preset ball screw motion relationship.

[0069] Specifically, in high-altitude special operation scenarios, such as scissor lift operation scenarios, the brushless motor body 20 and the steering cylinder 30 are connected through gear transmission to form a steering action unit. The steering action unit is connected to the tire linkage in the actual operation scenario. During the actual tire rotation, the motor controller 10 provides the brushless motor body 20 with the action drive current so that the brushless motor body 20 drives the ball screw 31 in the steering cylinder 30 to perform extension and retraction movements, thereby driving the tire to steer. Generally, when the brushless motor body 20 drives the ball screw 31 in the steering cylinder 30 to perform extension movements, the tire will steer to the left. When the maximum extension distance is reached, the tire steers to the left at its maximum angle. When the brushless motor body 20 drives the ball screw 31 in the steering cylinder 30 to perform retraction movements, the tire will steer to the right. When the maximum retraction distance is reached, the tire steers to the right at its maximum angle. Considering that in high-altitude special operation scenarios, the working space is limited and the working environment is harsh, the positioning control accuracy of the maximum left and right steering angle of the tire is required to be high.

[0070] In this embodiment, the first micro-limit switch 50 is set at the first stroke position L1 of the ball screw 31 inside the steering cylinder 30, which is the maximum retraction distance of the ball screw 31; the second micro-limit switch 60 is set at the second stroke position L2 of the ball screw, which is the maximum extension distance of the ball screw 31; the first micro-limit switch 50 and the second micro-limit switch 60 can be normally closed switches; when the motor controller 10 receives the switch signal output by the first micro-limit switch 50, it controls the brushless motor body 20 to stop driving the ball screw 31 to move in the first direction, that is, to stop further retraction, thereby stopping the drive of the tire to continue turning to the right; when When the switch signal output by the second micro-limit switch 60 is received, the brushless motor body 20 is controlled to stop driving the ball screw 31 to move in the second direction, that is, to stop further stretching, thereby stopping the tire from continuing to turn left; in this way, the positioning control of the maximum left and right turning angle of the tire in the high-altitude operation scenario is realized through the first micro-limit switch 50 and the second micro-limit switch 60. It can be understood that the first stroke L1 setting distance of the first micro-limit switch 50 and the second stroke L2 setting distance of the second micro-limit switch 60 can be determined according to the maximum left and right turning angle required by the tire in the high-altitude operation scenario and the stroke relationship of the ball screw 31.

[0071] Simultaneously, this embodiment also includes a Hall sensor 40. When the number of rotations detected by the Hall sensor reaches a first preset number of rotations, the motor controller 10 controls the brushless motor body 20 to stop driving the ball screw 31 to move in the first direction, i.e., to stop further retraction, thereby stopping the tire from continuing to turn right; and when the number of rotations reaches a second preset number of rotations, the brushless motor body 20 controls the brushless motor body 20 to stop driving the ball screw 31 to move in the second direction, i.e., to stop further extension, thereby stopping the tire from continuing to turn left; wherein, the first preset number of rotations is determined based on the first stroke L1 and the preset ball screw motion relationship; the second preset number of rotations is determined based on the second stroke L2 and the preset ball screw motion relationship; the preset ball screw... The motion relationship of the ball screw can be derived from the internal structure of the brushless motor body. That is, the relationship between the number of rotations of the motor and the extension length of the ball screw can be derived from the internal structure of the brushless motor body. In this way, the Hall sensor 40 realizes the precise positioning control of the maximum left and right steering angle of the tire in the high-altitude operation scenario. In addition, in this embodiment, the Hall rotation count detected by the Hall sensor 40, combined with the switching signal output by the first micro-limit switch 50 and the switching signal output by the second micro-limit switch 60, jointly realize the steering positioning control of the brushless motor body 20 driving the ball screw 31 in different directions. It also improves the reliability of steering positioning in different directions and avoids the inability to achieve steering positioning in different directions when any one method fails.

[0072] Optionally, based on the above embodiments, further refined and referring to Figures 1-2, the motor controller 10 is also used to control the brushless motor body 20 to stop driving the ball screw 31 to move in the first direction when the number of rotations reaches a first preset number of rotations; including:

[0073] The motor controller 10 is also configured to control the brushless motor body 20 to reduce its speed based on a ramp control strategy according to the change in the first rotation number range, so that when the rotation number reaches the first preset number of rotations, the brushless motor body 20 stops driving the ball screw 31 to move in the first direction; wherein, the range of the first preset number of rotations satisfies: (1-1 / N1)n1≤n≤n1; n1 is the first preset number of rotations; N1 is determined according to the magnitude of the first preset number of rotations n1;

[0074] In this context, N1 in the first preset rotation range is determined by the magnitude of the first preset rotation number n1. For example, when the first preset rotation number n1 ≥ 1000r, N1 is a positive integer between 8 and 15; when the first preset rotation number n1 < 1000r, N1 is a positive integer between 5 and 10. The motor controller 10 controls the brushless motor body 20 to reduce its speed based on the slope control strategy according to the change in the first rotation range, so that when the rotation number reaches the first preset number, the brushless motor body 20 stops driving the ball screw 31 to move in the first direction, thereby reducing the over-rotation of the drive motor 20 caused by inertia and control delay, thus further improving the control accuracy of steering positioning through the Hall sensor.

[0075] More specifically, in some embodiments, the motor controller 10 is also used to control the speed of the brushless motor body to decrease to a first preset speed when the number of rotations reaches a third preset number of rotations; wherein, the interval of the third preset number of rotations satisfies: (1-1 / N1)n1≤n≤(1-1 / (N1+X))n1; X is a positive integer greater than N1;

[0076] It is also used to control the speed of the brushless motor body to decrease to the second preset speed when the number of rotations reaches the fourth preset number of rotations; wherein, the interval of the fourth preset number of rotations satisfies: (1-1 / (N1+X))n1<n≤n1;

[0077] It is also used to control the speed of the brushless motor body to drop to 0 when the number of rotations reaches the first preset number of rotations, so as to control the brushless motor body 20 to stop driving the ball screw 31 to move in the first direction;

[0078] The second preset speed is less than the first preset speed; for example, the second preset speed is 0.3V, and the direction is the first direction (V is the original vehicle speed); the first preset speed is 0.5V, and the direction is the first direction. It is understandable that the ramp control strategy can also be implemented in other speed calibration forms.

[0079] Similarly, the motor controller 10 is also used to control the brushless motor body 20 to stop driving the ball screw 31 to move in the second direction when the number of rotations reaches the second preset number of rotations; including: the motor controller 10 is also used to control the brushless motor body to reduce the speed according to the change of the second rotation range, based on the ramp control strategy, so that when the number of rotations reaches the second preset number of rotations, the brushless motor body 20 is controlled to stop driving the ball screw 31 to move in the second direction; wherein, the range of the second preset number of rotations satisfies: (1-1 / N2)n2≤n≤n2; n2 is the second preset number of rotations; N2 is determined according to the size of the second preset number of rotations n2.

[0080] Similarly, N2 in the second preset number of revolutions range is determined by the size of the second preset number of revolutions n2; for example, when the second preset number of revolutions n2 ≥ 1000r, N2 is a positive integer between 8 and 15; when the second preset number of revolutions n2 < 1000r, N2 is a positive integer between 5 and 10; the motor controller 10 controls the brushless motor body 20 to reduce its speed based on the slope control strategy according to the change of the second rotation number range so that when the number of rotations reaches the second preset number, the brushless motor body 20 stops driving the ball screw 31 to move in the second direction, thereby reducing the over-rotation of the drive motor 20 due to inertia and control delay, thus further improving the control accuracy of steering positioning by Hall sensor;

[0081] More specifically, in some embodiments, the motor controller 10 is also used to control the speed of the brushless motor body to decrease to a third preset speed when the number of rotations reaches a fifth preset range; wherein, the interval of the fifth preset range satisfies: (1-1 / N2)n2≤n≤(1-1 / (N2+X))n2; X is a positive integer greater than N2;

[0082] It is also used to control the speed of the brushless motor body to decrease to the fourth preset speed when the number of rotations reaches the sixth preset number of rotations; wherein, the interval of the sixth preset number of rotations satisfies: (1-1 / (N2+X))n2<n≤n2;

[0083] It is also used to control the speed of the brushless motor body to drop to 0 when the number of rotations reaches the second preset number of rotations, so as to control the brushless motor body to stop driving the ball screw to move in the second direction;

[0084] The fourth preset speed is less than the third preset speed. For example, the fourth preset speed is 0.3V, and the direction is the second direction (V is the original vehicle speed); the third preset speed is 0.5V, and the direction is the second direction. That is, the fourth preset speed and the second preset speed are the same in terms of speed value, but opposite in direction; the third preset speed and the first preset speed are the same in terms of speed value, but opposite in direction. Of course, it can be understood that the ramp control strategy can also be in other speed calibration forms.

[0085] Optionally, Figure 3 is a schematic diagram of another brushless motor provided in an embodiment of the present invention. As shown in Figure 3, the brushless motor further includes: a current detection module 70; the current detection module 70 is communicatively connected to the motor controller 10; the current detection module 70 is used to detect the output current of the brushless motor body 20 in real time and send the output current to the motor controller 10; the motor controller 10 is also used to control the brushless motor body 20 to stop driving the ball screw 31 when the output current reaches the maximum limit current; when the output current reaches the maximum limit current, abnormal situations such as the brushless motor body structure jamming, stalling, or external force collision may occur. The motor controller 10 can control the brushless motor body 20 to stop driving the ball screw, thereby realizing positioning protection in the steering positioning control process.

[0086] The motor controller 10 is also used to control the brushless motor body 20 to stop driving the ball screw after a preset time when the output current reaches the maximum operating current. Specifically, when the maximum operating current is less than the maximum limiting current, controlling the brushless motor body 20 to stop driving the ball screw 31 after a preset time when the output current reaches the maximum operating current protects the brushless motor body from overheating and damage caused by prolonged high-current operation. This is often due to obstruction of the steering mechanism or poor road conditions; it also provides positioning protection during the steering positioning control process.

[0087] Based on the same inventive concept, this invention also provides a brushless motor positioning and steering control method, which is applied to the brushless motor described in the above embodiments. Figure 4 is a flowchart illustrating a brushless motor positioning and steering control method provided by this invention. As shown in Figure 4, the method comprises the following steps:

[0088] S110, The motor controller obtains the preset ball screw motion relationship;

[0089] S120: The Hall sensor detects the number of rotations of the brushless motor body in real time and sends the number of rotations to the motor controller; the first micro limit switch senses the ball screw at the first stroke position; the second micro limit switch senses the ball screw set at the second stroke position.

[0090] S130. When the number of rotations reaches the first preset number of rotations, the motor controller controls the brushless motor body to stop driving the ball screw to move in the first direction; wherein, the first preset number of rotations is determined according to the first stroke and the preset ball screw motion relationship; or, when the switch signal output by the first micro-motion limit switch is received, the motor controller controls the brushless motor body to stop driving the ball screw to move in the first direction.

[0091] S131. When the number of rotations reaches the second preset number of rotations, the motor controller controls the brushless motor body to stop driving the ball screw to move in the second direction; wherein, the second preset number of rotations is determined according to the second stroke and the preset ball screw motion relationship; or, when the switch signal output by the first micro-motion limit switch is received, the motor controller controls the brushless motor body to stop driving the ball screw to move in the second direction.

[0092] In this embodiment, the Hall effect count detected by the Hall sensor enables precise control of the brushless motor body driving the ball screw in different directions for steering and positioning. Together with the switching signals received from the first micro-limit switch and the second micro-limit switch, the brushless motor body driving the ball screw in different directions is controlled, thereby improving the reliability of steering and positioning in different directions and avoiding the inability to achieve steering and positioning in different directions when any one method fails.

[0093] Optionally, based on the above method embodiments, further refinement is provided. Figure 5 is a flowchart illustrating a brushless motor positioning and steering control method provided by an embodiment of the present invention. As shown in Figure 5, the method comprises the following steps:

[0094] S210, The motor controller obtains the preset ball screw motion relationship;

[0095] S220: A Hall sensor detects the number of rotations of the brushless motor body in real time and sends the number of rotations to the motor controller; a first micro-limit switch senses the ball screw at the first stroke position; a second micro-limit switch senses the ball screw at the second stroke position.

[0096] S230. The motor controller, based on the change in the first rotation range, controls the brushless motor body to reduce its speed according to the ramp control strategy so that when the rotation range reaches the first preset number of rotations, the brushless motor body stops driving the ball screw to move in the first direction; wherein, the range of the first preset number of rotations satisfies: (1-1 / N1)n1≤n≤n1; n1 is the first preset number of rotations; N1 is determined according to the size of the first preset number of rotations n1; or when the switch signal output by the first micro-motion limit switch is received, the motor controller controls the brushless motor body to stop driving the ball screw to move in the first direction.

[0097] Specifically, the ramp control strategy is as follows: when the number of rotations reaches the third preset range, the speed of the brushless motor body is reduced to the first preset speed; wherein, the interval of the third preset range satisfies: (1-1 / N1)n1≤n≤(1-1 / (N1+X))n1; X is a positive integer greater than N1; when the number of rotations reaches the fourth preset range, the speed of the brushless motor body is reduced to the second preset speed; wherein, the interval of the fourth preset range satisfies: 1-1 / (N1+X))n1<n≤n1; when the number of rotations reaches the first preset range, the speed of the brushless motor body is reduced to 0 to stop the brushless motor body from driving the ball screw to move in the first direction; wherein, the second preset speed is less than the first preset speed.

[0098] S231. The motor controller, based on the change in the second rotation range, controls the brushless motor body to reduce its speed according to the ramp control strategy so that when the rotation range reaches the second preset number of rotations, the brushless motor body stops driving the ball screw to move in the second direction; wherein, the range of the second preset number of rotations satisfies: (1-1 / N2)n2≤n≤n2; n2 is the second preset number of rotations; N2 is determined according to the size of the second preset number of rotations n2; or when the switch signal output by the second micro-motion limit switch is received, the motor controller controls the brushless motor body to stop driving the ball screw to move in the second direction.

[0099] Specifically, the ramp control strategy is as follows: When the number of rotations reaches the fifth preset range, the speed of the brushless motor is reduced to the third preset speed; where the interval of the fifth preset range satisfies: (1-1 / N2)n2≤n≤(1-1 / (N2+X))n2; X is a positive integer greater than N2; When the number of rotations reaches the sixth preset range, the speed of the brushless motor is reduced to the fourth preset speed; where the interval of the sixth preset range satisfies: (1-1 / (N2+X))n2<n≤n2; When the number of rotations reaches the second preset range, the speed of the brushless motor is reduced to 0 to stop the brushless motor from driving the ball screw to move in the second direction; where the fourth preset speed is less than the third preset speed.

[0100] In addition, during the steering and positioning control process, the current detection module monitors the output current of the brushless motor in real time and sends the output current to the motor controller. When the output current reaches the maximum limit current, the motor controller stops the brushless motor and stops driving the ball screw. When the output current reaches the maximum operating current, after a preset time, the motor controller stops the brushless motor and stops driving the ball screw. This also realizes positioning protection during the steering and positioning control process.

[0101] In this embodiment, based on the above method embodiments, a ramp control strategy is used to control the brushless motor body to stop driving the ball screw to move in different directions, thereby reducing the over-rotation of the drive motor caused by inertia and control delay, thus further improving the control accuracy of steering positioning through Hall sensors; in addition, a current detection module is used to realize positioning protection during the steering positioning control process, further improving the reliability of steering positioning.

[0102] This invention also provides an aerial work platform vehicle, which includes the brushless motor described in the above embodiments; specifically, the beneficial effects described in the above embodiments are presented. Exemplarily, the aerial work platform vehicle includes a scissor lift, an off-road vehicle, and a scissor lift; this embodiment does not impose specific limitations.

[0103] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A brushless motor, characterized in that, include: Motor controller, brushless motor body, steering cylinder, Hall sensor, first micro limit switch and second micro limit switch; The motor controller is electrically connected to the brushless motor body; the brushless motor body is meshed with the steering cylinder; the first micro-motion limit switch is located at the first stroke position of the ball screw inside the steering cylinder; the second micro-motion limit switch is located at the second stroke position of the ball screw. Both the first micro-limit switch and the second micro-limit switch are communicatively connected to the motor controller; the motor controller is used to control the brushless motor body to stop driving the ball screw to move in the first direction when it receives the switch signal output by the first micro-limit switch; and to control the brushless motor body to stop driving the ball screw to move in the second direction when it receives the switch signal output by the second micro-limit switch. The Hall sensor is communicatively connected to the motor controller; the Hall sensor is used to detect the number of rotations of the brushless motor body in real time and send the number of rotations to the motor controller. The motor controller is further configured to control the brushless motor body to stop driving the ball screw to move in the first direction when the number of rotations reaches a first preset number of rotations; wherein, the first preset number of rotations is determined based on the first stroke and a preset ball screw motion relationship; It is also used to control the brushless motor body to stop driving the ball screw to move in the second direction when the number of rotations reaches the second preset number of rotations; wherein, the second preset number of rotations is determined according to the second stroke and the preset ball screw motion relationship; The motor controller is further configured to control the brushless motor body to stop driving the ball screw to move in the first direction when the number of rotations reaches a first preset number of rotations; including: The motor controller is further configured to control the brushless motor body to reduce its rotational speed based on a ramp control strategy according to the change of the first preset number of revolutions range, so that when the number of revolutions reaches the first preset number of revolutions, the brushless motor body stops driving the ball screw to move in the first direction; wherein, the interval of the first preset number of revolutions range satisfies: (1-1 / N1)n1≤n≤n1; n1 is the first preset number of revolutions; N1 is determined according to the magnitude of the first preset number of revolutions n1; The motor controller is further configured to control the brushless motor body to reduce its speed based on a ramp control strategy according to the change in the first preset number of revolutions, so that when the number of revolutions reaches the first preset number of revolutions, the brushless motor body stops driving the ball screw to move in the first direction, specifically: The motor controller is further configured to control the rotational speed of the brushless motor body to decrease to a first preset speed when the number of rotations reaches a third preset range; wherein the interval of the third preset range satisfies: (1-1 / N1)n1≤n≤(1-1 / (N1+X))n1; X is a positive integer greater than N1; It is also used to control the speed of the brushless motor body to decrease to a second preset speed when the number of rotations reaches a fourth preset number of rotations range; wherein, the interval of the fourth preset number of rotations range satisfies: (1-1 / (N1+X))n1<n≤n1; It is also used to control the speed of the brushless motor body to drop to 0 when the number of rotations reaches the first preset number of rotations, so as to control the brushless motor body to stop driving the ball screw to move in the first direction; Wherein, the second preset speed is less than the first preset speed; the motor controller is further configured to control the brushless motor body to stop driving the ball screw to move in the second direction when the number of rotations reaches the second preset number of rotations; including: The motor controller is further configured to control the brushless motor body to reduce its rotational speed based on a ramp control strategy according to the change in the second preset number of revolutions range, so that when the number of revolutions reaches the second preset number of revolutions, the brushless motor body stops driving the ball screw to move in the second direction; wherein, the interval of the second preset number of revolutions range satisfies: (1-1 / N2)n2≤n≤n2; n2 is the second preset number of revolutions; N2 is determined according to the magnitude of the second preset number of revolutions n2; The motor controller is further configured to, based on a ramp control strategy, reduce the rotational speed of the brushless motor body according to the change in the second preset rotational range, so that when the rotational number reaches the second preset number, the brushless motor body stops driving the ball screw to move in the second direction; specifically: The motor controller is further configured to control the speed of the brushless motor body to decrease to a third preset speed when the number of rotations reaches a fifth preset range; wherein the interval of the fifth preset range satisfies: (1-1 / N2)n2≤n≤(1-1 / (N2+X))n2; X is a positive integer greater than N2; It is also used to control the speed of the brushless motor body to decrease to the fourth preset speed when the number of rotations reaches the sixth preset number of rotations range; wherein, the interval of the sixth preset number of rotations range satisfies: (1-1 / (N2+X))n2<n≤n2; It is also used to control the speed of the brushless motor body to drop to 0 when the number of rotations reaches the second preset number of rotations, so as to control the brushless motor body to stop driving the ball screw to move in the second direction; The fourth preset rotational speed is less than the third preset rotational speed.

2. The brushless motor according to claim 1, characterized in that, Also includes: Current detection module; The current detection module is communicatively connected to the motor controller; The current detection module is used to detect the output current of the brushless motor body in real time and send the output current to the motor controller; Alternatively, the motor controller is further configured to control the brushless motor body to stop driving the ball screw when the output current reaches the maximum limit current; It is also used to control the brushless motor body to stop driving the ball screw movement after a preset time when the output current reaches the maximum operating current.

3. An aerial work platform vehicle, characterized in that, Includes the brushless motor described in any one of claims 1-2 above.

4. A brushless motor positioning and steering control method, characterized in that, The brushless motor positioning and steering control method is applied to the brushless motor according to any one of claims 1-2; the brushless motor positioning and steering control method includes: Obtain the preset ball screw motion relationship; The Hall sensor detects the number of rotations of the brushless motor body in real time and sends the number of rotations to the motor controller; the first micro-limit switch senses the ball screw at the first stroke position; the second micro-limit switch senses the ball screw located at the second stroke position. When the number of rotations reaches a first preset number of rotations, the motor controller controls the brushless motor body to stop driving the ball screw to move in the first direction; wherein, the first preset number of rotations is determined based on the first stroke and the preset ball screw motion relationship; Wherein, when the number of rotations reaches a first preset number of rotations, the motor controller controls the brushless motor body to stop driving the ball screw to move in the first direction, including: Based on the change of the first preset number of revolutions, the brushless motor body is controlled to reduce its speed according to the ramp control strategy so that when the number of revolutions reaches the first preset number of revolutions, the brushless motor body stops driving the ball screw to move in the first direction; wherein, the interval of the first preset number of revolutions satisfies: (1-1 / N1)n1≤n≤n1; n1 is the first preset number of revolutions; N1 is determined according to the magnitude of the first preset number of revolutions n1; Based on the change in the first preset number of revolutions, a ramp control strategy is used to control the brushless motor body to reduce its speed so that when the number of revolutions reaches the first preset number, the brushless motor body stops driving the ball screw to move in the first direction, including: When the number of rotations reaches the third preset range, the speed of the brushless motor body is reduced to the first preset speed; wherein, the interval of the third preset range satisfies: (1-1 / N1)n1≤n≤(1-1 / (N1+X))n1; X is a positive integer greater than N1; When the number of rotations reaches the fourth preset number of rotations range, the speed of the brushless motor body is controlled to be reduced to the second preset speed; wherein, the interval of the fourth preset number of rotations range satisfies: (1-1 / (N1+X))n1 is less than n≤n1; When the number of rotations reaches the first preset number of rotations, the speed of the brushless motor body is controlled to be reduced to 0 so that the brushless motor body stops driving the ball screw to move in the first direction; Wherein, the second preset speed is less than the first preset speed; when the number of rotations reaches the second preset number of rotations, the motor controller controls the brushless motor body to stop driving the ball screw to move in the second direction; wherein, the second preset number of rotations is determined according to the second stroke and the preset ball screw motion relationship; Wherein, when the number of rotations reaches the second preset number of rotations, the motor controller controls the brushless motor body to stop driving the ball screw to move in the second direction, including: Based on the change in the second preset number of revolutions range, the brushless motor body is controlled to reduce its speed according to the ramp control strategy so that when the number of revolutions reaches the second preset number, the brushless motor body stops driving the ball screw to move in the second direction; wherein, the interval of the second preset number of revolutions range satisfies: (1-1 / N2)n2≤n≤n2; n2 is the second preset number of revolutions; N2 is determined according to the magnitude of the second preset number of revolutions n2; Based on the change in the second preset number of revolutions, a ramp control strategy is used to control the brushless motor body to reduce its speed so that when the number of revolutions reaches the second preset number, the brushless motor body stops driving the ball screw to move in the second direction, including: When the number of rotations reaches the fifth preset range, the speed of the brushless motor body is reduced to the third preset speed; wherein, the interval of the fifth preset range satisfies: (1-1 / N2)n2≤n≤(1-1 / (N2+X))n2; X is a positive integer greater than N2; When the number of rotations reaches the sixth preset number of rotations, the speed of the brushless motor body is controlled to be reduced to the fourth preset speed; wherein, the interval of the sixth preset number of rotations satisfies: (1-1 / (N2+X))n2<n≤n2; When the number of rotations reaches the second preset number of rotations, the speed of the brushless motor body is controlled to be reduced to 0 so that the brushless motor body stops driving the ball screw to move in the second direction; Wherein, the fourth preset speed is less than the third preset speed; or, when the switch signal output by the first micro-motion limit switch is received, the motor controller controls the brushless motor body to stop driving the ball screw to move in the first direction; When the switch signal output by the second micro-limit switch is received, the motor controller controls the brushless motor body to stop driving the ball screw to move in the second direction.

5. The brushless motor positioning and steering control method according to claim 4, characterized in that, Also includes: The current detection module detects the output current of the brushless motor body in real time and sends the output current to the motor controller; When the output current reaches the maximum limit current, the motor controller controls the brushless motor body to stop driving the ball screw. The brushless motor positioning and steering control method further includes: When the output current reaches the maximum operating current, after a preset time, the motor controller controls the brushless motor body to stop driving the ball screw.

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