CN115833667A - Method and device for intelligently controlling direct current motor - Google Patents
Method and device for intelligently controlling direct current motor Download PDFInfo
- Publication number
- CN115833667A CN115833667A CN202211691181.8A CN202211691181A CN115833667A CN 115833667 A CN115833667 A CN 115833667A CN 202211691181 A CN202211691181 A CN 202211691181A CN 115833667 A CN115833667 A CN 115833667A
- Authority
- CN
- China
- Prior art keywords
- motor
- current
- output terminal
- pulse
- pulse output
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 38
- 238000001514 detection method Methods 0.000 claims abstract description 36
- 238000005070 sampling Methods 0.000 claims description 22
- 238000004590 computer program Methods 0.000 claims description 9
- 238000010586 diagram Methods 0.000 description 5
- 230000032683 aging Effects 0.000 description 4
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Abstract
The invention provides a method and a device for intelligently controlling a direct current motor, comprising the following steps: controlling a motor driving integrated circuit to drive a motor to rotate in a pulse width modulation mode, so as to acquire the current of the motor; acquiring initial working currents corresponding to different working states of a motor; determining the current state of the motor according to the current and the initial working current of the motor; detecting a pulse signal output by a first pulse output terminal and a pulse signal output by a second pulse output terminal of the encoder to obtain a detection result; determining the rotation direction of the motor output shaft according to the detection result; determining the rotation angle of the output shaft of the motor according to the detected number of the square waves of the first pulse output terminal or the second pulse output terminal; the rotation angle detection of the motor output shaft gear, the direction detection of the motor output shaft and the state detection and early warning during the working of the motor can be realized.
Description
Technical Field
The invention relates to the technical field of intelligent security, in particular to a method and a device for intelligently controlling a direct current motor.
Background
The existing method for controlling the direct current motor is to directly drive the motor to rotate through a motor drive integrated circuit, then a limit switch is added at a position needing to stop rotating, and the rotation of the motor is stopped after a gear of a motor output shaft rotates and touches the limit switch.
The method has the disadvantages that the gear of the output shaft of the motor cannot rotate at any angle, and the use scene is limited. In addition, the working state of the motor cannot be checked at any time, the rotating angle of a motor gear cannot be recorded in time, and the problems of whether the motor is locked up, aged and the like cannot be judged.
Disclosure of Invention
In view of this, the present invention provides a method and an apparatus for intelligently controlling a dc motor, which can detect a rotation angle of a gear of an output shaft of the motor, detect a direction of the output shaft of the motor, and detect and warn a state of the motor during operation.
In a first aspect, an embodiment of the present invention provides a method for intelligently controlling a dc motor, where the method includes:
controlling a motor driving integrated circuit to drive a motor to rotate in a pulse width modulation mode, so as to acquire the current of the motor;
acquiring initial working currents corresponding to different working states of the motor;
determining the current state of the motor according to the current of the motor and the initial working current;
detecting a pulse signal output by a first pulse output terminal and a pulse signal output by a second pulse output terminal of the encoder to obtain a detection result;
determining the rotation direction of the motor output shaft according to the detection result;
and determining the rotation angle of the motor output shaft according to the detected number of the square waves of the first pulse output terminal or the second pulse output terminal.
Further, obtaining the initial working current corresponding to the motor in different working states includes:
when the working state of the motor is no-load, corresponding to a first initial working current, wherein the first initial working current is the no-load current of the motor;
when the working state of the motor is on-load, corresponding to a second initial working current, wherein the second initial working current is the on-load current of the motor;
when the working state of the motor is locked rotor, corresponding to a third initial working current, wherein the third initial working current is the locked rotor current of the motor;
when the working state of the motor is starting, corresponding to a fourth initial working current, wherein the fourth initial working current is the starting current of the motor;
wherein the first initial operating current is less than the second initial operating current, the second initial operating current is less than the third initial operating current, and the third initial operating current is less than the fourth initial operating current.
Further, determining the current state of the motor according to the current of the motor and the initial operating current includes:
if the current is the current no-load current and the current no-load current is larger than the first initial working current, the motor is aged;
if the current is the current load current and the current load current is greater than the second initial working current, the load is aged;
if the current is a current locked-rotor current and the current locked-rotor current is greater than the third initial working current, the motor is aged;
if the present current is a present starting current and the present starting current is greater than the fourth initial operating current, the motor ages.
Further, determining the rotation direction of the output shaft of the motor according to the detection result includes:
when the first pulse output terminal generates a waveform which is changed from a low level to a high level before the second pulse output terminal, the rotation direction of the output shaft of the motor is clockwise;
when the second pulse output terminal generates a waveform which is changed from the low level to the high level before the first pulse output terminal, the rotation direction of the motor output shaft is counterclockwise.
Further, determining the rotation direction of the output shaft of the motor according to the detection result includes:
when the first pulse output terminal generates a waveform which is changed from a high level to a low level before the second pulse output terminal, the rotation direction of the output shaft of the motor is clockwise;
when the second pulse output terminal generates a waveform that changes from the high level to the low level before the first pulse output terminal, the rotation direction of the motor output shaft is counterclockwise.
Further, collecting the current of the motor comprises:
calculating the present current according to:
I 1 ＝(Vad1-Vad2)/R 1
wherein, I 1 Vad1 is the voltage at the first end of the first sampling resistor, vad2 is the voltage at the second end of the first sampling resistor, R is the current 1 Is the first sampling resistance.
Further, collecting the current of the motor comprises:
calculating the present current according to:
I 2 ＝(Vad4-Vad3)/R 2
wherein, I 2 Vad3 is the voltage at the first end of the second sampling resistor, vad4 is the voltage at the second end of the second sampling resistor, R is the current 2 Is the second sampling resistance.
In a second aspect, an embodiment of the present invention provides an apparatus for intelligently controlling a dc motor, which is applied to an MCU, where the MCU is respectively connected to an encoder and a motor driving integrated circuit, and the motor driving integrated circuit is connected to a motor;
the acquisition module is used for controlling the motor driving integrated circuit to drive the motor to rotate in a pulse width modulation mode so as to acquire the current of the motor;
the acquisition module is used for acquiring initial working currents corresponding to different working states of the motor;
the current state determining module is used for determining the current state of the motor according to the current of the motor and the initial working current;
the detection module is used for detecting a pulse signal output by a first pulse output terminal and a pulse signal output by a second pulse output terminal of the encoder to obtain a detection result;
the rotation direction determining module is used for determining the rotation direction of the output shaft of the motor according to the detection result;
and the rotation angle determining module is used for determining the rotation angle of the output shaft of the motor according to the detected square wave number of the first pulse output terminal or the second pulse output terminal.
In a third aspect, an embodiment of the present invention provides an electronic device, including a memory and a processor, where the memory stores a computer program operable on the processor, and the processor implements the method described above when executing the computer program.
In a fourth aspect, embodiments of the invention provide a computer readable medium having non-volatile program code executable by a processor, the program code causing the processor to perform the method as described above.
The embodiment of the invention provides a method and a device for intelligently controlling a direct current motor, which comprises the following steps: controlling a motor driving integrated circuit to drive a motor to rotate in a pulse width modulation mode, so as to acquire the current of the motor; acquiring initial working currents corresponding to different working states of a motor; determining the current state of the motor according to the current and the initial working current of the motor; detecting a pulse signal output by a first pulse output terminal and a pulse signal output by a second pulse output terminal of the encoder to obtain a detection result; determining the rotation direction of the motor output shaft according to the detection result; determining the rotation angle of the output shaft of the motor according to the detected number of the square waves of the first pulse output terminal or the second pulse output terminal; the rotation angle detection of the motor output shaft gear, the direction detection of the motor output shaft and the state detection and early warning during the working of the motor can be realized.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a flowchart of a method for intelligently controlling a dc motor according to an embodiment of the present invention;
fig. 2 is a schematic view of a working state of a motor according to a first embodiment of the present invention;
FIG. 3 is a schematic diagram of a circuit structure of an encoder according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a pulse waveform of an encoder according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a pulse waveform of another encoder according to an embodiment of the present invention;
fig. 6 is a schematic circuit structure diagram of an intelligent control dc motor according to a second embodiment of the present invention;
fig. 7 is a schematic view of another apparatus for intelligently controlling a dc motor according to a third embodiment of the present invention.
Icon:
11-an acquisition module; 12-an acquisition module; 13-current state determination module; 14-a detection module; 15-a rotation direction determining module; 16-rotation angle determination module.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
For the understanding of the present embodiment, the following detailed description will be given of the embodiment of the present invention.
The first embodiment is as follows:
fig. 1 is a flowchart of a method for intelligently controlling a dc motor according to an embodiment of the present invention.
Referring to fig. 1, the method includes the steps of:
s101, controlling a motor driving integrated circuit to drive a motor to rotate in a pulse width modulation mode, so as to acquire the current of the motor;
here, the MCU controls the motor driving integrated circuit to drive the motor to rotate by means of Pulse Width Modulation (PWM), and thus can dynamically adjust the rotation of the motor: the forward rotation, the reverse rotation, the stop and the torque output by the motor are increased along with the increase of the PWM duty ratio. The PWM comprises a PWM1 pin and a PWM2 pin; the motor driving integrated circuit is used for controlling the motor to rotate.
Step S102, acquiring initial working currents corresponding to different working states of a motor;
step S103, determining the current state of the motor according to the current and the initial working current of the motor;
step S104, detecting the pulse signal output by the first pulse output terminal and the pulse signal output by the second pulse output terminal of the encoder to obtain a detection result;
here, referring to fig. 3, the encoder has a common ground terminal C, a first pulse output terminal a, and a second pulse output terminal B; the encoder is connected with the structure in a matching mode, and when the output shaft of the motor rotates, the output shaft of the motor also rotates along with the encoder, so that the A, B terminal generates high-low level pulse changes, and the MCU detects the encoded pulses through the GPIO1 and the GPIO 2.
Step S105, determining the rotation direction of the output shaft of the motor according to the detection result;
and step S106, determining the rotation angle of the output shaft of the motor according to the detected number of the square waves of the first pulse output terminal or the second pulse output terminal.
Specifically, the encoder can generate uniform square wave changes along with the rotation of the output shaft of the motor, and the MCU can judge the rotation angle of the output shaft of the motor according to the detected number of the square waves of the first pulse output terminal or the second pulse output terminal; if the motor output shaft rotates a circle, the first pulse output terminal or the second pulse output terminal of the encoder can generate N square waves, the waveform quantity acquired by the MCU in the rotation process of the motor output shaft is N, and the rotation angle of the motor output shaft can be calculated as follows: angle =360/N (degrees); the MCU controls the motor driving integrated circuit through the PWM, so that the forward rotation and the reverse rotation of the output shaft of the motor can be realized, and various working states of the motor can be judged through the detection of the current and the encoder.
Further, step S102 includes the steps of:
step S201, when the working state of the motor is no-load, corresponding to a first initial working current, the first initial working current is a no-load current I of the motor 1 ；
Step S202, when the working state of the motor is on-load, corresponding to a second initial working current, the second initial working current is on-load current I of the motor 2 ；
Step S203, when the working state of the motor is locked rotor, corresponding to a third initial working current, the third initial working current is the locked rotor current I of the motor 3 ；
Step S204, when the working state of the motor is starting, corresponding to a fourth initial working current, the fourth initial working current is a starting current I of the motor 4 ；
Wherein the first initial operating current I 1 Less than the second initial operating current I 2 Second initial operating current I 2 Less than the third initial operating current I 3 Third initial operating current I 3 Less than the fourth initial operating current I 4 。
Specifically, referring to fig. 2, the working currents in each state are different in magnitude, and the currents corresponding to the different states are: i is 1 、I 2 、I 3 And I 4 The horizontal axis represents time "t", and the vertical axis represents current "I".
When the motor is initially used, self-checking of the motor can be realized through the cooperation of a circuit and software, so that initial working currents corresponding to 4 working states of the motor are calibrated, wherein the initial working currents are I 1 、I 2 、I 3 And I 4 。
Further, step S103 includes the steps of:
step S301, if the current is the current no-load current and the current no-load current is larger than the first initial working current, the motor is aged; if the motor is normal, the motor rotates in a no-load way;
step S302, if the current is the current load current and the current load current is larger than the second initial working current, the load is aged; if the motor is normal, the motor rotates with load;
step S303, if the current is the current locked rotor current and the current locked rotor current is larger than the third initial working current, the motor is aged; if the motor is normal, the motor is locked;
step S304, if the current is the current starting current and the current starting current is larger than the fourth initial working current, the motor is aged; if normal, the motor starts.
In particular, by the use of the electric machine subsequently detected from time to time, e.g. the no-load current I of the electric machine 1 After the motor is used for a long time, compared with the initial calibration value, the aging standard is increased by more than 40 percent (the aging standard can be opened to a user through software), and the motor is judged to be aged; on-load current I of motor 2 If in use, the collected value is increased by 50% from the initial calibration value (The aging standard can be opened to the user through software), it can be determined that the load equipment driven by the motor is aged/abraded, and the like, so that the motor can drive the load to work only by increasing the current.
Further, step S105 includes the steps of:
step S401, when the first pulse output terminal generates a waveform which is changed from a low level to a high level before the second pulse output terminal, the rotation direction of the output shaft of the motor is clockwise;
in step S402, when the second pulse output terminal generates a waveform that changes from a low level to a high level prior to the first pulse output terminal, the rotation direction of the motor output shaft is counterclockwise.
Specifically, reference is made to the pulse waveform schematic of the encoder as shown in FIG. 4. As shown in fig. a, when the first pulse output terminal a (a-C terminal or TerminalA-C) generates a waveform that changes from low level to high level before the second pulse output terminal B (B-C terminal or TerminalB-C), the rotation direction of the motor output shaft is clockwise; as shown in fig. B, when the second pulse output terminal B (B-C terminal or TerminalB-C) generates a waveform that changes from low level to high level prior to the first pulse output terminal a (B-C terminal or TerminalB-C), the rotation direction of the motor output shaft is counterclockwise.
Further, step S105 includes the steps of:
step S501, when the first pulse output terminal generates a waveform which is changed from a high level to a low level before the second pulse output terminal, the rotation direction of the output shaft of the motor is clockwise;
in step S502, when the second pulse output terminal generates a waveform that changes from a high level to a low level prior to the first pulse output terminal, the rotation direction of the motor output shaft is counterclockwise.
Specifically, refer to a pulse waveform schematic of another encoder as shown in FIG. 5. As shown in the figure (a), when the first pulse output terminal a (a-C terminal or TerminalA-C) generates a waveform which changes from high level to low level before the second pulse output terminal (B-C terminal or TerminalB-C), the rotation direction of the motor output shaft is clockwise; as shown in fig. B, when the second pulse output terminal (B-C terminal or TerminalB-C) generates a waveform that changes from high level to low level before the first pulse output terminal a (a-C terminal or TerminalA-C), the rotation direction of the motor output shaft is counterclockwise. In addition, whether the pulse waveform is complete or not is judged, and if yes, the rotation angle of the output shaft of the motor is calculated; if not, the motor is abnormal.
Further, step S101 includes:
calculating the present current according to equation (1):
I 1 ＝(Vad1-Vad2)/R 1 (1)
wherein, I 1 Vad1 is the voltage at the first end of the first sampling resistor, vad2 is the voltage at the second end of the first sampling resistor, R is the current 1 Is a first sampling resistor.
Further, step S101 includes:
calculating the present current according to equation (2):
I 2 ＝(Vad4-Vad3)/R 2 (2)
wherein, I 2 Vad3 is the voltage at the first end of the second sampling resistor, vad4 is the voltage at the second end of the second sampling resistor, R is the current 2 Is a second sampling resistor.
This application passes through the mode that software and hardware combined together, and during software was through monitoring hardware circuit often, the electric current of motor during operation and motor rotated the in-process, and the pulse output of encoder changes to can realize the normal operating of motor, ageing and the judgement whether locked rotor.
The second embodiment:
fig. 6 is a schematic circuit structure diagram of an intelligent control dc motor according to a second embodiment of the present invention.
Referring to fig. 6, the circuit includes: the device comprises an MCU, a coder, a motor drive integrated circuit and a motor; the MCU is respectively connected with the encoder and the motor driving integrated circuit, and the motor driving integrated circuit is connected with the motor; the circuit also includes a first sampling resistor R1 and a second sampling resistor R2. The two sampling resistors are used for collecting the current of the motor during working, and then the AD pins (Vad 1, vad2, vad3 and Vad 4) of the MCU are used for collecting the voltage values at two ends of the current sampling resistor at all times, so that the current of the motor during working can be obtained, and the working state of the motor can be judged. Refer specifically to equations (1) and (2). Meanwhile, the motor output shaft gear is matched with the encoder, pulse output of the encoder is collected through GPIO1 and GPIO2 pins of the MCU, and the rotation direction of the motor, whether the motor is locked up or not and the like can be judged.
Example three:
fig. 7 is a schematic view of another apparatus for intelligently controlling a dc motor according to a third embodiment of the present invention.
Referring to fig. 7, the method is applied to an MCU, the MCU is connected to an encoder and a motor driving integrated circuit, respectively, and the motor driving integrated circuit is connected to a motor;
the acquisition module 11 is used for controlling the motor driving integrated circuit to drive the motor to rotate in a pulse width modulation mode so as to acquire the current of the motor;
the acquisition module 12 is used for acquiring initial working currents corresponding to different working states of the motor;
a current state determining module 13, configured to determine a current state of the motor according to a current and an initial working current of the motor;
the detection module 14 is configured to detect a pulse signal output by a first pulse output terminal and a pulse signal output by a second pulse output terminal of the encoder to obtain a detection result;
a rotation direction determining module 15, configured to determine a rotation direction of the output shaft of the motor according to the detection result;
and the rotation angle determining module 16 is used for determining the rotation angle of the output shaft of the motor according to the detected number of the square waves of the first pulse output terminal or the second pulse output terminal.
The embodiment of the invention provides a method and a device for intelligently controlling a direct current motor, which comprises the following steps: controlling a motor driving integrated circuit to drive a motor to rotate in a pulse width modulation mode, so as to acquire the current of the motor; acquiring initial working currents corresponding to different working states of a motor; determining the current state of the motor according to the current and the initial working current of the motor; detecting a pulse signal output by a first pulse output terminal and a pulse signal output by a second pulse output terminal of the encoder to obtain a detection result; determining the rotation direction of the motor output shaft according to the detection result; determining the rotation angle of the output shaft of the motor according to the detected number of the square waves of the first pulse output terminal or the second pulse output terminal; the rotation angle detection of the motor output shaft gear, the direction detection of the motor output shaft and the state detection and early warning during the working of the motor can be realized.
The embodiment of the present invention further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor, and when the processor executes the computer program, the steps of the method for intelligently controlling a dc motor provided in the above embodiment are implemented.
Embodiments of the present invention further provide a computer-readable medium having non-volatile program codes executable by a processor, where the computer-readable medium stores a computer program, and the computer program is executed by the processor to perform the steps of the method for intelligently controlling a dc motor according to the above embodiments.
The computer program product provided in the embodiment of the present invention includes a computer-readable storage medium storing a program code, where instructions included in the program code may be used to execute the method described in the foregoing method embodiment, and specific implementation may refer to the method embodiment, which is not described herein again.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The functions, if implemented in the form of software functional units 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 invention may be embodied in the form of 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, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. 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.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. A method of intelligently controlling a dc motor, the method comprising:
controlling a motor driving integrated circuit to drive a motor to rotate in a pulse width modulation mode, so as to acquire the current of the motor;
acquiring initial working currents corresponding to different working states of the motor;
determining the current state of the motor according to the current of the motor and the initial working current;
detecting a pulse signal output by a first pulse output terminal and a pulse signal output by a second pulse output terminal of the encoder to obtain a detection result;
determining the rotation direction of the motor output shaft according to the detection result;
and determining the rotation angle of the motor output shaft according to the detected number of the square waves of the first pulse output terminal or the second pulse output terminal.
2. The method of claim 1, wherein obtaining initial operating currents corresponding to different operating states of the motor comprises:
when the working state of the motor is no-load, corresponding to a first initial working current, wherein the first initial working current is the no-load current of the motor;
when the working state of the motor is on-load, corresponding to a second initial working current, wherein the second initial working current is the on-load current of the motor;
when the working state of the motor is locked rotor, corresponding to a third initial working current, wherein the third initial working current is the locked rotor current of the motor;
when the working state of the motor is starting, corresponding to a fourth initial working current, wherein the fourth initial working current is the starting current of the motor;
wherein the first initial operating current is less than the second initial operating current, the second initial operating current is less than the third initial operating current, and the third initial operating current is less than the fourth initial operating current.
3. The method of intelligently controlling a dc motor according to claim 2, wherein determining the present state of the motor based on the present current of the motor and the initial operating current comprises:
if the current is the current no-load current and the current no-load current is larger than the first initial working current, the motor is aged;
if the current is the current load current and the current load current is greater than the second initial working current, the load is aged;
if the current is a current locked-rotor current and the current locked-rotor current is greater than the third initial working current, the motor is aged;
if the present current is a present starting current and the present starting current is greater than the fourth initial operating current, the motor ages.
4. The method of intelligently controlling a dc motor according to claim 1, wherein determining a rotation direction of the motor output shaft based on the detection result comprises:
when the first pulse output terminal generates a waveform which is changed from a low level to a high level before the second pulse output terminal, the rotation direction of the output shaft of the motor is clockwise;
when the second pulse output terminal generates a waveform which is changed from the low level to the high level before the first pulse output terminal, the rotation direction of the motor output shaft is counterclockwise.
5. The method of intelligently controlling a dc motor according to claim 1, wherein determining a rotation direction of the motor output shaft based on the detection result comprises:
when the first pulse output terminal generates a waveform which is changed from a high level to a low level before the second pulse output terminal, the rotation direction of the motor output shaft is clockwise;
when the second pulse output terminal generates a waveform which is changed from the high level to the low level before the first pulse output terminal, the rotation direction of the motor output shaft is counterclockwise.
6. The method of intelligently controlling a dc motor according to claim 1, wherein collecting the present current of the motor comprises:
calculating the present current according to:
I 1 ＝(Vad1-Vad2)/R 1
wherein, I 1 Vad1 is the voltage at the first end of the first sampling resistor, vad2 is the voltage at the second end of the first sampling resistor, R is the current 1 Is the first sampling resistance.
7. The method of intelligently controlling a dc motor according to claim 1, wherein collecting the present current of the motor comprises:
calculating the present current according to:
I 2 ＝(Vad4-Vad3)/R 2
wherein, I 2 Vad3 is the voltage at the first end of the second sampling resistor, vad4 is the voltage at the second end of the second sampling resistor, R is the current 2 Is the second sampling resistance.
8. The device for intelligently controlling the direct current motor is characterized by being applied to an MCU (microprogrammed control unit), wherein the MCU is respectively connected with an encoder and a motor driving integrated circuit, and the motor driving integrated circuit is connected with the motor;
the acquisition module is used for controlling the motor driving integrated circuit to drive the motor to rotate in a pulse width modulation mode so as to acquire the current of the motor;
the acquisition module is used for acquiring initial working currents corresponding to different working states of the motor;
the current state determining module is used for determining the current state of the motor according to the current of the motor and the initial working current;
the detection module is used for detecting a pulse signal output by a first pulse output terminal and a pulse signal output by a second pulse output terminal of the encoder to obtain a detection result;
the rotation direction determining module is used for determining the rotation direction of the output shaft of the motor according to the detection result;
and the rotation angle determining module is used for determining the rotation angle of the output shaft of the motor according to the detected square wave number of the first pulse output terminal or the second pulse output terminal.
9. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of any of claims 1 to 7 when executing the computer program.
10. A computer-readable medium having non-volatile program code executable by a processor, wherein the program code causes the processor to perform the method of any of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211691181.8A CN115833667A (en) | 2022-12-27 | 2022-12-27 | Method and device for intelligently controlling direct current motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211691181.8A CN115833667A (en) | 2022-12-27 | 2022-12-27 | Method and device for intelligently controlling direct current motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115833667A true CN115833667A (en) | 2023-03-21 |
Family
ID=85518786
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211691181.8A Pending CN115833667A (en) | 2022-12-27 | 2022-12-27 | Method and device for intelligently controlling direct current motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115833667A (en) |
-
2022
- 2022-12-27 CN CN202211691181.8A patent/CN115833667A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3809580B1 (en) | Electric vehicle, method and device for diagnosing rotary transformer initial position, and computer readable medium | |
| JP4820061B2 (en) | Battery tools | |
| JP2006509670A (en) | Apparatus and method for monitoring power of automobile | |
| US20050092105A1 (en) | Method for the detection of abnormalities of electric motors | |
| CN104953901B (en) | Motor driver | |
| US20170113360A1 (en) | Electric shaver with a cleaning indicator | |
| JP2018082581A (en) | Motor drive controller and motor drive control method | |
| JP5072727B2 (en) | Insulation resistance detection device and insulation resistance detection method | |
| CN115833667A (en) | Method and device for intelligently controlling direct current motor | |
| KR20150041388A (en) | Image forming apparatus, motor controlling apparatus and method for controlling of motor | |
| JP5496257B2 (en) | Electric power steering control device | |
| JP4065685B2 (en) | Control device for electric power steering device | |
| JP2005292035A (en) | Method of detecting battery condition | |
| JP2004053365A (en) | Earth detector | |
| JP2000236685A (en) | Fault-diagnosing device | |
| CN109774482B (en) | Vehicle and motor discharge control method and device thereof | |
| JP5405903B2 (en) | Control device for vehicle electrical components | |
| WO2021053798A1 (en) | Power supply device and lifespan diagnosis method | |
| JP4827470B2 (en) | Battery status monitoring device | |
| JP4413686B2 (en) | DC motor restraint current calculation method, DC motor manufacturing method, and DC motor manufacturing apparatus | |
| EP2361819A2 (en) | Relay welding detecting device | |
| JP2005083798A (en) | Method of detecting battery condition | |
| JP2007038748A (en) | Battery degrading detection device | |
| JPS6361782A (en) | Self-diagnosing device for fuel pump | |
| CN117826872A (en) | Display position method and device of flip screen, electronic equipment and medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |