CN111697911A - Motor control method and related equipment and device - Google Patents
Motor control method and related equipment and device Download PDFInfo
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- CN111697911A CN111697911A CN202010621776.0A CN202010621776A CN111697911A CN 111697911 A CN111697911 A CN 111697911A CN 202010621776 A CN202010621776 A CN 202010621776A CN 111697911 A CN111697911 A CN 111697911A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F13/00—Arrangements for obstructing or restricting traffic, e.g. gates, barricades ; Preventing passage of vehicles of selected category or dimensions
- E01F13/04—Arrangements for obstructing or restricting traffic, e.g. gates, barricades ; Preventing passage of vehicles of selected category or dimensions movable to allow or prevent passage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
- H02P29/027—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the fault being an over-current
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- Control Of Electric Motors In General (AREA)
Abstract
The application discloses a motor control method and related equipment and device, wherein the motor control method comprises the following steps: monitoring the actual driving current and the actual rotation angle of a motor in the mechanical equipment in the operation process of the mechanical equipment; analyzing the actual driving current and the actual rotation angle to obtain an analysis result of whether the mechanical equipment has the obstacle in the operation process; based on the analysis result, the operation of the motor is controlled. According to the scheme, the accuracy of judging whether the obstacle exists in the operation process of the mechanical equipment can be improved.
Description
Technical Field
The present disclosure relates to the field of automatic control technologies, and in particular, to a motor control method and related device.
Background
With the improvement of automation level in the fields of production, control and the like, motors are widely applied to various mechanical devices. For example, in industrial production, motors are applied to wire rope production equipment, cloth weaving equipment, and the like; in public transportation, motors are also used in gate machines widely arranged in stations, pedestrian paths and the like.
However, during the operation of the machinery, there is a possibility that the machinery is touched by obstacles such as people and objects, which may affect the normal operation of the machinery and even endanger the personal safety. For example, a situation in which a gate wing pinches a pedestrian may occur due to irregular passing behavior such as overtime, trailing, gate violation, or gate error; or, due to a worker's operation error or the like, it may occur that sleeves, hairs, even arms, or the like are caught in the mechanical device, thereby endangering the personal safety of the worker. In view of the above, how to improve the accuracy of determining whether an obstacle exists in the operation of a mechanical device is an urgent problem to be solved.
Disclosure of Invention
The technical problem mainly solved by the application is to provide a motor control method, related equipment and a device, which can improve the accuracy of judging whether a barrier exists in the operation process of mechanical equipment.
In order to solve the above problem, a first aspect of the present application provides a motor control method including: monitoring the actual driving current and the actual rotation angle of a motor in the mechanical equipment in the operation process of the mechanical equipment; analyzing the actual driving current and the actual rotation angle to obtain an analysis result of whether the mechanical equipment has the obstacle in the operation process; based on the analysis result, the operation of the motor is controlled.
In order to solve the above problem, a second aspect of the present application provides a mechanical device, including a motor, a memory and a processor, the motor and the memory being coupled to the processor, the memory storing program instructions, and the processor being configured to execute the program instructions to control the motor to implement the motor control method in the first aspect.
In order to solve the above problem, a third aspect of the present application provides a storage device storing program instructions executable by a processor, the program instructions being for the motor control method in the first aspect described above.
According to the scheme, in the operation process of the mechanical equipment, the actual driving current and the actual rotation angle of the motor in the mechanical equipment are obtained through monitoring, the actual driving current and the actual rotation angle are jointly analyzed, the analysis result of whether the obstacle exists in the operation process of the mechanical equipment is obtained, the operation of the motor is controlled based on the analysis result, and therefore when the situation that the driving current suddenly changes or the rotation angle is accidentally abnormal due to the fact that mechanical structure problems such as natural aging occur, the misjudgment rate possibly caused by singly depending on the driving current or the rotation angle can be reduced, and the judgment accuracy of whether the obstacle exists in the operation process of the mechanical equipment can be improved. In addition, since the actual driving current and the actual rotation angle of the motor are directly monitored, it is possible to advantageously expand the applicable range of the motor control method.
Drawings
FIG. 1 is a schematic flow chart diagram of an embodiment of a motor control method of the present application;
FIG. 2 is a schematic flow chart diagram illustrating another embodiment of a method for controlling an electric motor according to the present application;
FIG. 3 is a schematic flow chart diagram of yet another embodiment of a motor control method of the present application;
FIG. 4 is a block diagram of an embodiment of a motor control apparatus according to the present application;
FIG. 5 is a block diagram of an embodiment of the apparatus of the present application;
FIG. 6 is a block diagram of an embodiment of a memory device according to the present application.
Detailed Description
The following describes in detail the embodiments of the present application with reference to the drawings attached hereto.
In the following description, for purposes of explanation and not limitation, specific details are set forth such as particular system structures, interfaces, techniques, etc. in order to provide a thorough understanding of the present application.
The terms "system" and "network" are often used interchangeably herein. The term "and/or" herein is merely an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship. Further, the term "plurality" herein means two or more than two.
Referring to fig. 1, fig. 1 is a schematic flow chart illustrating a motor control method according to an embodiment of the present application. Specifically, the method may include the steps of:
step S11: during operation of the machinery, the actual drive current and the actual angle of rotation of the motor in the machinery are monitored.
The mechanical equipment can be set according to the actual application requirements, for example, in the field of industrial production, the mechanical equipment can comprise steel wire rope production equipment, cloth textile equipment and the like; or, in the field of public transportation, the mechanical device may further include a scissor gate, a flap gate, a three-roller gate, a barrier gate, and the like, and an electric retractable door, an electric revolving door, and the like, which may be specifically set according to actual application needs, and are not limited herein.
The motor in the mechanical equipment is one of the key components for driving the mechanical equipment to operate. Taking the mechanical device as a gate as an example, the motor can drive the gate wing to open or close, so that a pedestrian passes through the gate during the period from the opening of the gate wing to the closing of the gate wing; or, taking the mechanical device as a piece goods spinning device as an example, the motor can drive the piece goods wind-up roll to rotate so as to wind up the piece goods; or, taking the mechanical device as an electric revolving door as an example, the motor can drive the door body to rotate around the fixed shaft, so that a pedestrian can move along with the rotation of the door body to enter and exit the revolving door when passing through the revolving door, and other scenes can be analogized, which is not exemplified one by one.
In the process of driving the mechanical equipment to operate, in order to enable the motor to apply a driving force to other components of the mechanical equipment (for example, a door wing of a gate machine, a winding roller of cloth textile equipment, a door body of an electric rotating door, and the like) to move the mechanical equipment, the motor needs a driving current, and the larger the driving current is generally, the larger the driving force can be applied by the motor, and the larger the resistance suffered by the other components in the operation process is, the larger the driving force required to maintain the operation is, for example, when more cloth is wound on the winding roller of the cloth textile equipment, the larger the resistance is required to be overcome by the winding roller in the operation process is, so the larger the driving force is required, the larger the actual driving current of the motor is, and other scenes can be analogized, and so on. In one implementation scenario, the actual driving current of the motor may be calculated by using a preset algorithm during the operation of the mechanical device, so as to adjust the driving force applied by the motor to other components according to the resistance suffered by the mechanical device during the operation process, so as to drive the mechanical device to operate normally. Specifically, the preset algorithm may include a FOC (Field-Oriented Control) algorithm, a DTC (Direct Torque Control) algorithm, a PID (Proportional integral derivative) algorithm, and the like, which are not limited herein. Further, the actual rotational angle of the motor means an angle by which the motor is rotated during the outward transmission of the driving force, and specifically, the actual rotational angle of the motor may be detected by a position sensor. In a specific implementation scenario, in the process of delivering the driving force to the outside, the actual driving current and the actual rotation angle of the motor in the mechanical equipment, which are obtained through monitoring, change with time, so that in the operation process of the mechanical equipment, the actual driving current and the actual rotation angle of the motor in the mechanical equipment include the actual driving current and the actual rotation angle corresponding to each monitoring time, for example, the actual driving current and the actual rotation angle of the motor 1 second after the start of operation, the actual driving current and the actual rotation angle of the motor 1+ i second after the start of operation, and the actual driving current and the actual rotation angle of the motor 1+2i second after the start of operation, and so on, which are not exemplified herein. The specific value of i can be set according to actual needs, for example, can be set to 1, and the actual driving current and the actual rotation angle of the motor are monitored once every 1 second; alternatively, 2 may be set, and the actual driving current and the actual rotation angle of the motor may be monitored every 2 seconds, which is not limited herein.
Step S12: and analyzing the actual driving current and the actual rotation angle to obtain an analysis result of whether the mechanical equipment has the obstacle in the operation process.
In an implementation scenario, a preset current threshold may be set, and the preset current threshold may be set according to an actual application requirement, which is not limited herein, so that the actual driving current may be analyzed by using the preset current threshold. In addition, a theoretical rotation angle of the motor during the operation of the mechanical device may also be obtained, specifically, the theoretical rotation angle may include a theoretical rotation angle of the motor at each monitoring time, for example, the theoretical rotation angle of the motor 1 second after the start of the operation, the theoretical rotation angle 1+ i second after the start of the operation, and the theoretical rotation angle 1+2i second after the start of the operation may be obtained, as described above, a specific value of i may be set according to actual needs, and is not limited herein, so that the theoretical rotation angle may be used to analyze the actual rotation angle. Specifically, the analysis result may be obtained by using a difference between the actual driving current and a preset current threshold and a difference between the actual rotation angle and the theoretical rotation angle. For example, at each monitoring time, an analysis result corresponding to each monitoring time may be obtained by using a difference between an actual driving current obtained by monitoring and a preset current threshold value and a difference between an actual rotation angle obtained by monitoring and a theoretical rotation angle obtained by monitoring.
In a specific implementation scenario, it may be determined whether the actual driving current is greater than a preset current threshold, and whether an absolute value of a difference between the actual rotation angle and the theoretical rotation angle is greater than a preset angle threshold, when the actual driving current is greater than the preset current threshold, it may be determined that the driving force provided by the motor exceeds a normal value, when the absolute value of the difference between the actual rotation angle and the theoretical rotation angle is greater than the preset angle threshold, it may be determined that the motor rotates in advance or in delay, and the amplitude of the advance rotation or in delay rotation exceeds a deviation that may exist in normal operation, and the two are combined, and if the determination result is yes, it may be determined that the analysis result indicates that an obstacle exists in the operation process of the mechanical device. If the determination result is negative, it can be considered that no obstacle is present.
In a specific implementation scenario, in order to further improve the accuracy of the analysis, it may further be determined whether an obstacle exists in the mechanical equipment during the operation process by combining the analysis results at several monitoring times, for example, an analysis result corresponding to 1+ i seconds after the motor starts to operate indicates that an obstacle exists, an analysis result corresponding to 1+2i seconds indicates that no obstacle exists, and analysis results corresponding to 1+3i seconds, 1+4i seconds, and 1+5i seconds next time indicate that no obstacle exists, so that it may be considered that no obstacle exists, and thus interference may be further reduced, and accuracy may be improved.
Step S13: based on the analysis result, the operation of the motor is controlled.
Control of motor operation may include, but is not limited to: normal operation, stop operation and reverse operation. In one implementation scenario, when the analysis result indicates that no obstacle exists, the motor can be controlled to normally operate; in another implementation scenario, the motor may be controlled to stop or reverse when the analysis result indicates that an obstacle exists in the mechanical equipment during operation. Specifically, if the motor is controlled to stop running, the input of the driving current to the motor may be stopped, that is, the actual driving current of the motor is zero; if the motor is controlled to run reversely, the driving current with the opposite phase can be input into the motor, and the description is omitted here.
In one implementation scenario, when the analysis result indicates that the mechanical device has an obstacle during operation, a prompt message may be further output to prompt that the mechanical device has an obstacle during operation. The prompt message may be specifically output in the form of an audio signal, an optical signal, or the like, and is not limited herein. For example, the existence of the obstacle can be prompted through voice broadcasting, or the obstacle can be prompted through flashing of an indicator light, and the obstacle can be specifically set according to the actual application requirements, which is not illustrated one by one. In a specific implementation scenario, when it is determined that the analysis result indicates that an obstacle exists, a sensing device (e.g., a camera, an infrared sensor, etc.) may be further activated, and according to a sensing result of the sensing device, whether the obstacle is a person or an object is determined, and the determination result is sent to a management and maintenance staff of the mechanical equipment, so that the management and maintenance staff intervene in time, thereby further ensuring normal operation of the mechanical equipment and reducing the possibility of injury to the person.
According to the scheme, in the operation process of the mechanical equipment, the actual driving current and the actual rotation angle of the motor in the mechanical equipment are obtained through monitoring, the actual driving current and the actual rotation angle are jointly analyzed, the analysis result of whether the obstacle exists in the operation process of the mechanical equipment is obtained, the operation of the motor is controlled based on the analysis result, and therefore when the situation that the driving current suddenly changes or the rotation angle is accidentally abnormal due to the fact that mechanical structure problems such as natural aging occur, the misjudgment rate possibly caused by singly depending on the driving current or the rotation angle can be reduced, and the judgment accuracy of whether the obstacle exists in the operation process of the mechanical equipment can be improved. In addition, since the actual driving current and the actual rotation angle of the motor are directly monitored, it is possible to advantageously expand the applicable range of the motor control method.
Referring to fig. 2, fig. 2 is a schematic flow chart of a motor control method according to another embodiment of the present application. Specifically, fig. 2 is a schematic flowchart of an embodiment of a motor control method according to the present application when the mechanical device is a gate. When the mechanical equipment is a gate, sensing devices can be respectively arranged at least at the upper end and the lower end of the gate, and the obstacle can be determined to be a person or an object by using the sensing result of the sensing devices. Specifically, the method may include the steps of:
step S21: during operation of the machinery, the actual drive current and the actual angle of rotation of the motor in the machinery are monitored.
Please refer to the related steps in the previous embodiment.
Step S22: and analyzing the actual driving current and the actual rotation angle to obtain an analysis result of whether the mechanical equipment has the obstacle in the operation process.
Please refer to the related steps in the previous embodiment.
Step S23: and judging whether the analysis result indicates that the mechanical equipment has an obstacle in the operation process, if so, executing step S24, otherwise, executing step S25.
When the analysis result indicates that the mechanical equipment has an obstacle during operation, the sensing result of the sensing device can be used for determining whether the obstacle is a person or an object. And when the analysis result shows that no obstacle exists in the operation process of the mechanical equipment, the mechanical equipment is indicated to operate normally.
Step S24: and determining that the obstacle is a person or an object by using the sensing result of the sensing device.
In an implementation scenario, the sensing device may specifically include, but is not limited to, an infrared sensor, an ultrasonic sensor, and a laser sensor, and may specifically be set according to a practical application requirement, which is not limited herein.
In one implementation scenario, if the sensing results of the sensing devices at the upper and lower ends of the gate both indicate the presence of an obstruction, then it may be determined that the obstruction is a human. In a specific implementation scenario, a sensing device may be disposed in the middle of the gate, and if the sensing results of the sensing devices at the upper, middle and lower ends of the gate all indicate the existence of a blockage, or if the sensing results of only the sensing devices at the middle and lower ends of the gate indicate the existence of a blockage, it may be determined that the obstacle is a person, and if the sensing results of only the sensing devices at the middle and lower ends of the gate indicate the existence of a blockage, it may be determined that the obstacle is a child, a baby carriage, or the like, or may be a large luggage, or the like. In a specific implementation scenario, for prompt reminding, when the obstacle is determined to be a person, a prompt message may be output to prompt that there is a situation that the person obstructs the normal operation of the mechanical equipment. Specifically, the prompting message may be output in the form of a sound signal, a photoelectric signal, or the like, for example, the prompting message may be prompted in the form of voice broadcast, flashing of an indicator light, or the like, which is not limited herein.
In another implementation scenario, if only the sensing result of the lower sensor device indicates that there is an occlusion, it may be determined that the obstacle is an object, such as a small or medium-sized suitcase. In a specific implementation scenario, for prompt reminding, when the obstacle is determined to be an object, a prompt message may be output to prompt that there is a situation that the object obstructs normal operation of the mechanical equipment. Specifically, the prompting message may be output in the form of a sound signal, a photoelectric signal, or the like, for example, the prompting message may be prompted in the form of voice broadcast, flashing of an indicator light, or the like, which is not limited herein.
In one implementation scenario, when the analysis result indicates that an obstacle exists in the mechanical equipment during operation, the motor may be controlled to stop rotating or rotate reversely for loss prevention. For example, when people pass through the gate and are hindered by the door wings, the door wings can be controlled to stop rotating or reversely rotate, so that the door wings can not exert acting force on people any more, and further the door wings can be prevented from causing personal injury to the pedestrians.
In a specific implementation scenario, the operation of the motor may also be controlled through different processing modes according to the type of the obstacle, for example, when the obstacle is a person, the motor may be controlled to rotate reversely; or, when the obstacle is an object, the motor may be controlled to stop rotating, which may be specifically set according to an actual application scenario, and is not limited herein.
In another specific implementation scenario, in order to improve the timeliness of stopping damage, when the analysis result indicates that an obstacle exists in the operation process of the mechanical equipment, the step of controlling the motor to stop rotating or rotate reversely may be executed first, and then the step of determining that the obstacle is a person or an object by using the sensing result of the sensing device may be executed. In addition, the step of determining whether the obstacle is a person or an object using the sensing result of the sensing device may be performed first, and then the step of controlling the motor to stop rotating or to rotate in the reverse direction may be performed; alternatively, the step of controlling the motor to stop rotating or to rotate reversely and the step of determining that the obstacle is a person or an object using the sensing result of the sensing device may be performed simultaneously, which is not limited herein.
Step S25: step S21 and subsequent steps are re-executed.
If the analysis result indicates that the mechanical equipment does not have the obstacle during the operation, the operation of the mechanical equipment is normal, and in order to continuously monitor whether the obstacle exists during the operation of the mechanical equipment, the step S21 and the subsequent steps can be executed again to form closed-loop control on the motor, so that the stability of the motor control is improved.
Different from the embodiment, in the operation process of the mechanical equipment, the actual driving current and the actual rotation angle of the motor in the mechanical equipment are monitored, the actual driving current and the actual rotation angle are analyzed, the analysis result of whether the obstacle exists in the operation process of the mechanical equipment is obtained, whether the analysis result indicates that the obstacle exists in the operation process of the mechanical equipment is judged, if yes, the obstacle is determined to be a person or an object by utilizing the sensing result of the sensing device, otherwise, the monitoring is restarted, and whether the obstacle exists and the type of the obstacle can be judged by further combining the actual driving current, the actual rotation angle and the sensing result of the sensing device, so that the accuracy of obstacle judgment can be further improved, and the subsequent obstacle stop processing can be facilitated.
Referring to fig. 3, fig. 3 is a schematic flow chart of a motor control method according to another embodiment of the present application. Specifically, fig. 3 is a schematic flowchart of an embodiment of a motor control method according to the present application when the mechanical device is a gate. When the mechanical equipment is a gate, sensing devices can be respectively arranged at least at the upper end and the lower end of the gate, and the obstacle can be determined to be a person or an object by using the sensing result of the sensing devices. Specifically, the method may include the steps of:
step S301: and controlling the motor to start rotating.
In one implementation scenario, the motor in the gate begins to rotate upon receiving a control command from the control system.
Step S302: and acquiring the actual driving current of the motor.
Specifically, the actual driving current of the motor can be calculated by FOC, DTC and PID algorithms. For example, the actual driving current representing the motor torque can be calculated through the FOC algorithm, and the larger the actual driving current is, the larger the motor output torque is, and the larger the driving force of the motor on the gate wing is. Other application scenarios may be analogized, and are not exemplified here.
Step S303: and judging whether the actual driving current is larger than a preset current threshold value, if not, executing the step S304, otherwise, executing the step S305.
The preset current threshold value can be set according to actual application requirements, when the actual driving current is larger than the preset current threshold value, the driving force provided by the motor can be considered to be beyond a normal value, otherwise, the motor can be considered to be in normal operation.
Step S304: step S302 and subsequent steps are re-executed.
When the motor normally operates, the actual driving current of the motor can be obtained again, the preset current threshold is used for monitoring the actual driving current, and once the current actual driving current is larger than the preset current threshold, the driving force provided by the motor at the current moment of the operation of the motor can be considered to exceed the normal value, and the operation of the motor is abnormal.
Step S305: the first flag bit is set.
The first flag is used to indicate whether the actual driving current of the motor is normal, and the first flag may be set to a preset value (e.g., integer value 0, boolean value TRUE, etc.) by default. When the actual driving current is not greater than the preset current threshold, the first flag bit may be set to a default preset value, which is not shown in fig. 3 for simplifying the drawing. When the actual driving current is greater than the preset current threshold, it may be considered that there is an abnormality in the actual driving current of the motor, and the first flag may be reset, and specifically, may be set to another value (e.g., integer value 1, boolean value FALSE, etc.).
Step S306: and acquiring the theoretical rotation angle of the motor.
Specifically, the theoretical rotation angle is an angle at which the motor is theoretically located during operation. For example, it may include: the angle at 1 second after the motor starts rotating is 1 degree, the angle at 2 second is 2 degrees, the angle at 3 second is 3 degrees, and so on. In a specific implementation scenario, the theoretical rotation angle of the motor during operation may be generated by a motor control system, and is not limited herein.
Step S307: and acquiring the actual rotation angle of the motor of the mechanical equipment in the operation process.
Specifically, a position sensor may be used to detect the actual rotational angle of the motor during operation of the mechanical device. In a specific implementation scenario, the actual rotation angle of the motor at each monitoring time may be obtained. For example, it may include: the actual rotation angle of the motor at 1 st second after the motor starts to rotate, the actual rotation angle of the motor at 2 nd second after the motor starts to rotate, the actual rotation angle of the motor at 3 rd second after the motor starts to rotate, and the like, which are not given as examples.
Step S308: and judging whether the absolute value of the difference value between the actual rotating angle and the theoretical rotating angle is larger than a preset angle threshold value, if not, executing the step S309, otherwise, executing the step S311.
Specifically, when the absolute value of the difference between the actual rotational angle and the theoretical rotational angle is greater than a preset angle threshold, it may be considered that the motor has advanced rotation or retarded rotation, and the magnitude of the advanced rotation or retarded rotation has exceeded the deviation that may exist in normal operation. In a specific implementation scenario, at each monitoring time, it may be determined whether an absolute value of a difference between an actual rotation angle and a theoretical rotation angle corresponding to the monitoring time is greater than a preset angle threshold, so as to determine whether the motor is rotating in a severe leading manner or in a severe lagging manner at each monitoring time.
Step S309: and judging whether the motor finishes rotating, if not, executing the step S310, otherwise, executing the step S319.
When the actual rotation angle of the motor is normal, whether the motor finishes rotating can be further judged so as to determine whether to supervise the rotation angle of the motor again. Specifically, when the motor finishes rotating, the monitoring and control process of the motor can be finished, otherwise, the rotation of the motor can be supervised again.
Step S310: step S307 and subsequent steps are re-executed.
When the actual rotation angle of the motor is normal and the motor does not finish rotating, the actual rotation angle of the motor can be obtained again so as to continue to monitor the rotation angle of the motor.
Step S311: a second flag bit is set.
The second flag is used to indicate whether the actual rotation angle of the motor is normal, the second flag may be set as a default preset value (e.g., integer value 0, boolean value TRUE, etc.), and when the absolute value of the difference between the actual rotation angle and the theoretical rotation angle is not greater than the preset angle threshold, the second flag is set as the default preset value, which is not shown in fig. 3 for simplifying the drawing. When the absolute value of the difference between the actual rotation angle and the theoretical rotation angle is greater than the preset angle threshold, it may be considered that the actual rotation angle of the motor is abnormal, and the second flag may be reset, and specifically, may be set to another value (e.g., integer value 1, boolean value FALSE, etc.).
Step S312: and acquiring a sensing result of the sensing device.
The sensing result may include whether the sensing device is shielded. For example, the sensing devices at both the upper and lower ends are shielded, and only the sensing device at the lower end is shielded. In addition, besides the upper end and the lower end of the gate, the sensing device may be disposed at other positions of the gate, for example, the sensing device may be disposed at the middle of the gate, and the sensing result may include, but is not limited to: the sensing devices at the upper end, the middle part and the lower end are shielded, only the sensing devices at the middle part and the lower end are shielded, and only the sensing devices at the lower end are shielded.
Step S313: and judging whether the gate traffic area is blocked or not by using the sensing result of the sensing device, if not, executing the step S314, otherwise, executing the step S315.
Specifically, when none of the sensing devices senses the shielding, the shielding does not exist in the gate passing area, and when any one of the sensing devices senses the shielding, the shielding exists in the gate passing area. In a specific implementation scenario, when only the sensing device at the lower end senses shielding, or only the sensing devices at the lower end and the middle part sense shielding, it can be considered that the shielding sensing device is a trunk, a baby carriage, etc., when the sensing devices at the lower end and the upper end sense shielding, or the sensing devices at the lower end, the middle part and the upper end sense shielding, it can be considered that the shielding sensing device is a person, specifically, the setting can be performed according to actual application requirements, and no limitation is made here.
Step S314: re-step S312 and subsequent steps.
When the passing area is not shielded, the sensing result of the sensing device can be obtained again so as to continue shielding detection in the passing area.
Step S315: and setting a third flag bit.
The third flag is used to indicate whether there is a block in the passing area, the third flag may be set to a default value (e.g., integer value 0, character value a, etc.), and when there is no block, the third flag is the default value, which is not shown in fig. 3 for simplifying the drawing. When there is an occlusion, the third flag bit may be reset, and in particular, may be set to another value (e.g., integer value 1, character value B, etc.). Here, according to the specific position of the sensing device sensing the shielding, the third flag bit may be set to a different value, for example, when only the sensing device at the lower end senses the shielding, or only the sensing devices at the lower end and the middle part sense the shielding, the third flag bit may be set to a first value (e.g., integer value 1, character value B, etc.), when the sensing devices at the lower end and the upper end both sense the shielding, or the sensing devices at the lower end, the middle part, and the upper end all sense the shielding, the third flag bit may be set to a second value (e.g., integer value 2, character value C, etc.), which may specifically be set according to the actual application requirements, and is not limited herein.
In one implementation scenario, in order to control the motor more accurately, the steps S302 to S305, S306 to S311, and S312 to S315 may be performed simultaneously.
Step S316: and acquiring a first zone bit, a second zone bit and a third zone bit.
In one implementation scenario, at each monitoring time, the corresponding first flag bit, second flag bit, and third flag bit may be obtained.
Step S317: and determining the obstacle type by using the first zone bit, the second zone bit and the third zone bit.
When the first zone bit and the second zone bit are not default preset values, the obstacle can be considered to be present, when the third zone bit is a first numerical value, the obstacle can be considered to be an object such as a trunk or a baby carriage, and when the third zone bit is a second numerical value, the obstacle can be considered to be a person. In addition, when at least one of the first flag bit and the second flag bit is a default preset value, it can be considered that no obstacle exists.
Step S318: the motor is controlled to stop rotating or to rotate in the reverse direction based on the type of the obstacle.
In one implementation scenario, when the obstacle is an object, the motor may be controlled to stop rotating, or the motor may be controlled to rotate in the reverse direction. In another implementation scenario, when the obstacle is a person, the motor may be controlled to rotate in a reverse direction. The setting can be specifically performed according to the actual application requirements, and is not limited herein.
Step S319: and (6) ending.
Different from the embodiment, the obstacle can be accurately judged by adopting triple judgment of the actual driving current, the actual rotating angle and the sensing result of the sensing device, the type of the obstacle can also be accurately judged, so that the misjudgment condition caused by the influence of a mechanical structure can be reduced, and the judgment accuracy of whether the obstacle exists in the operation process of the mechanical equipment can be improved. In addition, since the actual driving current and the actual rotation angle of the motor are directly monitored, it is possible to advantageously expand the applicable range of the motor control method.
Referring to fig. 4, a schematic diagram of a frame of an embodiment of a motor control device 40 according to the present application is shown. The motor control device 40 includes a monitoring module 41 for monitoring an actual driving current and an actual rotation angle of a motor in the mechanical device during operation of the mechanical device, the motor control device 40 includes an analysis module 42 for analyzing the actual driving current and the actual rotation angle to obtain an analysis result of whether an obstacle exists in the mechanical device during operation, and the motor control device 40 includes a control module 43 for controlling operation of the motor based on the analysis result.
According to the scheme, in the operation process of the mechanical equipment, the actual driving current and the actual rotation angle of the motor in the mechanical equipment are obtained through monitoring, the actual driving current and the actual rotation angle are jointly analyzed, the analysis result of whether the obstacle exists in the operation process of the mechanical equipment is obtained, the operation of the motor is controlled based on the analysis result, and therefore when the situation that the driving current suddenly changes or the rotation angle is accidentally abnormal due to the fact that mechanical structure problems such as natural aging occur, the misjudgment rate possibly caused by singly depending on the driving current or the rotation angle can be reduced, and the judgment accuracy of whether the obstacle exists in the operation process of the mechanical equipment can be improved. In addition, the actual driving current and the actual rotation angle of the motor are directly monitored, so that the application range of the motor control device can be expanded.
In some embodiments, the analysis module 42 includes an obtaining sub-module for obtaining a theoretical rotation angle of the motor during the operation of the mechanical device, and the analysis module 42 includes an analysis sub-module for obtaining an analysis result by using a difference between the actual driving current and a preset current threshold and a difference between the actual rotation angle and the theoretical rotation angle.
Different from the embodiment, the method obtains the analysis result by obtaining the theoretical rotation angle of the motor in the operation process of the mechanical equipment and utilizing the difference between the actual driving current and the preset current threshold value and the difference between the actual rotation angle and the theoretical rotation angle, and can improve the accuracy of the analysis result.
In some embodiments, the analysis submodule is specifically configured to determine that the analysis result indicates that an obstacle exists in the operation process of the mechanical device when the actual driving current is greater than a preset current threshold and an absolute value of a difference between the actual rotation angle and the theoretical rotation angle is greater than a preset angle threshold.
Different from the embodiment, when the actual driving current is greater than the preset current threshold value and the absolute value of the difference between the actual rotation angle and the theoretical rotation angle is greater than the preset angle threshold value, the determination analysis result indicates that the obstacle exists in the operation process of the mechanical equipment, whether the obstacle exists can be determined by combining the actual driving current and the actual rotation angle, and the accuracy of obstacle judgment can be improved.
In some embodiments, the control module 43 is configured to control the motor to stop rotating or reverse rotating when the analysis result indicates that an obstacle exists in the operation of the machine.
Different from the embodiment, when the analysis result shows that the mechanical equipment has the obstacle in the operation process, the motor is controlled to stop rotating or rotate reversely, so that the possibility of damaging the mechanical equipment due to the obstacle obstructing the normal operation of the motor can be reduced, the possibility of damaging the obstacle by the mechanical equipment is reduced, and the operation safety of the mechanical equipment is improved.
In some embodiments, the motor control apparatus 40 further includes a first output module, configured to output a first prompt message to prompt the machine to have an obstacle during operation when the analysis result indicates that the machine has the obstacle during operation.
Different from the foregoing embodiment, when the analysis result indicates that the obstacle exists in the operation process of the mechanical equipment, the first prompt message is output to prompt that the obstacle exists in the operation process of the mechanical equipment, so that the timeliness of the intervention can be improved when the obstacle exists.
In some embodiments, the mechanical device is a gate, the gate being provided with sensing means at least at an upper end and a lower end, respectively; the motor control device 40 further comprises a determination module for determining whether the obstacle is a person or an object by using the sensing result of the sensing device when the analysis result indicates that the obstacle exists in the operation process of the mechanical equipment.
Different from the previous embodiment, the mechanical equipment is a gate, and the gate is provided with sensing devices at least at the upper end and the lower end respectively, so that when the analysis result shows that the mechanical equipment has an obstacle in the operation process, the sensing result of the sensing devices is used for determining that the obstacle is a person or an object, and the type of the obstacle can be further determined.
In some embodiments, the determination module comprises a first determination sub-module for determining that the obstruction is a person when the sensing results of the sensing devices at both the upper and lower ends indicate the presence of an occlusion, and a second determination sub-module for determining that the obstruction is an object when the sensing results of only the sensing devices at the lower end indicate the presence of an occlusion.
Different from the foregoing embodiment, when the sensing results of the sensing devices at the upper end and the lower end both indicate the presence of occlusion, it is determined that the obstacle is a person, and when only the sensing result of the sensing device at the lower end indicates the presence of occlusion, it is determined that the obstacle is an object, which can improve the accuracy of obstacle type determination.
In some embodiments, the motor control apparatus 40 further includes a second output module for outputting a second prompt message to indicate that there is a situation in which the person obstructs the normal operation of the mechanical device when it is determined that the obstacle is a person, and the motor control apparatus 40 further includes a third output module for outputting a third prompt message to indicate that there is a situation in which the object obstructs the normal operation of the mechanical device when it is determined that the obstacle is an object.
Different from the embodiment, when the obstacle is determined to be a person, the second prompt message is output to prompt that the person hinders normal operation of the mechanical equipment, and when the obstacle is determined to be an object, the third prompt message is output to prompt that the object hinders normal operation of the mechanical equipment, so that the obstacle type can be classified for prompting, and user experience can be improved.
Referring to fig. 5, fig. 5 is a schematic diagram of a frame of a mechanical apparatus 50 according to an embodiment of the present disclosure. The mechanical apparatus 50 includes a motor 51, a memory 52 and a processor 53, the motor 51 and the memory 52 are coupled to the processor 53, the memory 52 stores program instructions, and the processor 53 is configured to execute the program instructions to control the motor 51 to implement the steps in any of the above-described embodiments of the motor control method. Specifically, mechanical device 50 may include, without limitation: steel wire rope production equipment, cloth textile equipment and other equipment used for industrial production, and scissors type gate machines, flap type gate machines, three-roller type gate machines, barrier gates and other gate machines are not specifically limited herein.
Specifically, the processor 53 may also be referred to as a CPU (Central Processing Unit). The processor 53 may be an integrated circuit chip having signal processing capabilities. The Processor 53 may also be a general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. In addition, the processor 53 may be commonly implemented by a plurality of integrated circuit chips.
According to the scheme, in the operation process of the mechanical equipment, the actual driving current and the actual rotation angle of the motor in the mechanical equipment are obtained through monitoring, the actual driving current and the actual rotation angle are jointly analyzed, the analysis result of whether the obstacle exists in the operation process of the mechanical equipment is obtained, the operation of the motor is controlled based on the analysis result, and therefore when the situation that the driving current suddenly changes or the rotation angle is accidentally abnormal due to the fact that mechanical structure problems such as natural aging occur, the misjudgment rate possibly caused by singly depending on the driving current or the rotation angle can be reduced, and the judgment accuracy of whether the obstacle exists in the operation process of the mechanical equipment can be improved. In addition, since the actual driving current and the actual rotation angle of the motor are directly monitored, it is possible to advantageously expand the applicable range of the motor control method.
Referring to fig. 6, fig. 6 is a schematic diagram of a memory device 60 according to an embodiment of the present application. The memory device 60 stores program instructions 601 that can be executed by the processor, the program instructions 601 being for implementing the steps in any of the above-described motor control method embodiments.
According to the scheme, the accuracy of judging whether the mechanical equipment has the obstacle in the operation process can be improved, and in addition, the actual driving current and the actual rotation angle of the motor are directly monitored, so that the application range of the motor control method can be expanded.
In the several embodiments provided in the present application, it should be understood that the disclosed method and apparatus may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a module or a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some interfaces, and may be in an electrical, mechanical or other form.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, a network device, or the like) or a processor (processor) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Claims (10)
1. A motor control method, comprising:
monitoring the actual driving current and the actual rotation angle of a motor in mechanical equipment during the operation of the mechanical equipment;
analyzing the actual driving current and the actual rotation angle to obtain an analysis result of whether the mechanical equipment has an obstacle in the operation process;
controlling the operation of the motor based on the analysis result.
2. The method of claim 1, wherein the analyzing the actual driving current and the actual rotation angle to obtain an analysis result of whether an obstacle exists in the operation of the mechanical equipment comprises:
acquiring a theoretical rotation angle of the motor in the operation process of the mechanical equipment;
and obtaining the analysis result by utilizing the difference between the actual driving current and a preset current threshold value and the difference between the actual rotating angle and the theoretical rotating angle.
3. The method of claim 2, wherein the obtaining the analysis result by using the difference between the actual driving current and a preset current threshold and the difference between the actual rotation angle and the theoretical rotation angle comprises:
and if the actual driving current is larger than the preset current threshold value and the absolute value of the difference value between the actual rotating angle and the theoretical rotating angle is larger than a preset angle threshold value, determining that the analysis result indicates that an obstacle exists in the operation process of the mechanical equipment.
4. The motor control method according to claim 1, wherein the controlling the operation of the motor based on the analysis result includes:
and if the analysis result shows that the mechanical equipment has an obstacle in the operation process, controlling the motor to stop rotating or reversely rotating.
5. The motor control method of claim 4, further comprising:
and if the analysis result shows that the mechanical equipment has the obstacle in the operation process, outputting a first prompt message to prompt that the mechanical equipment has the obstacle in the operation process.
6. The motor control method according to claim 1, wherein the mechanical device is a gate provided with sensing means at least at upper and lower ends thereof, respectively;
after analyzing the actual driving current and the actual rotation angle to obtain an analysis result of whether an obstacle exists in the operation process of the mechanical equipment, the method further comprises the following steps:
and if the analysis result indicates that the mechanical equipment has an obstacle in the operation process, determining that the obstacle is a person or an object by using the sensing result of the sensing device.
7. The motor control method according to claim 6, wherein the determining that the obstacle is a person or an object using the sensing result of the sensing device includes:
if the sensing results of the sensing devices at the upper end and the lower end indicate that the shielding exists, determining that the obstacle is a person;
and if the sensing result of the sensing device at the lower end only indicates that the occlusion exists, determining that the obstacle is the object.
8. The motor control method according to claim 6, wherein after the determination that the obstacle is a person or an object using the sensing result of the sensing device, the method further comprises:
if the obstacle is determined to be a person, outputting a second prompt message to prompt that the person obstructs the normal operation of the mechanical equipment;
and if the obstacle is determined to be the object, outputting a third prompt message to prompt that the object obstructs the normal operation of the mechanical equipment.
9. A mechanical device comprising an electric machine, a memory and a processor, the electric machine and the memory coupled to the processor, the memory storing program instructions, the processor for executing the program instructions to control the electric machine to implement the motor control method of any of claims 1 to 8.
10. A storage device, characterized by program instructions executable by a processor for implementing a motor control method according to any one of claims 1 to 8.
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| CN202010621776.0A CN111697911A (en) | 2020-06-30 | 2020-06-30 | Motor control method and related equipment and device |
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Application publication date: 20200922 |