CN102441875A - Power tool and speed stabilizing control system thereof - Google Patents
Power tool and speed stabilizing control system thereof Download PDFInfo
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- CN102441875A CN102441875A CN2010105116330A CN201010511633A CN102441875A CN 102441875 A CN102441875 A CN 102441875A CN 2010105116330 A CN2010105116330 A CN 2010105116330A CN 201010511633 A CN201010511633 A CN 201010511633A CN 102441875 A CN102441875 A CN 102441875A
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Abstract
The invention discloses a speed stabilizing control system for a power tool. The power tool comprises a power supply and a motor, wherein the motor has at least one preset rotary speed. The speed stabilizing control system comprises a controller and a power switch unit connected with the power supply and the motor, wherein the controller monitors the working voltage and the load current of the motor, calculates the required target voltage for reaching the preset rotary speed according to the load current of the motor, adjusts the working voltage of the motor to the target voltage and keeps constant rotation of the motor at the preset rotary speed, so that the working efficiency of the power tool is improved.
Description
Technical field
The present invention relates to a kind of power tool, be specifically related to a kind of speed stabilizing control system of DC dynamo instrument.
Background technology
Multi Role Aircraft is the swing class power tool of the common hand-held of industry, and its operation principle is to do oscillating motion through the motor shaft drive output shaft of motor around the axis of himself, is installed in the terminal annex working head oscillating motion of output shaft thereby drive.Common annex working head comprises straight blade, saw blade, triangle frosted dish and shovel type scraper etc.Therefore, when the user is being equipped with different annex working heads on the output shaft after, can realize multiple different operation function, as sawing, cut, grind, scrape etc., to adapt to the different working demand.
Above-mentioned power tool is when reality is used, and the suffered load of working head is constantly to change, when load is big, and the corresponding reduction of rotating speed of motor meeting, the result causes the operating efficiency of this power tool to reduce.To this situation; A kind of speed stabilizing control system that power tool can be rotated under the rotating speed of approximately constant appears; This system generally include one be used to detect motor speed velocity sensor, microprocessor and energy control element; When velocity sensor detected the rotating speed of motor variation, microprocessor can send corresponding signal to the energy control element, thereby controlled the rotating speed of motor approximately constant through the voltage that changes the motor two ends.
Yet, though above-mentioned speed stabilizing control system can make power tool keep the rotating speed of approximately constant,, taken more spaces owing to increased velocity sensor, make whole power tool volume become big.In addition, this speed stabilizing control system is complicated, and cost is also higher.
Therefore, be necessary to provide a kind of improved power tool speed stabilizing to control system really, to overcome the existing deficiency of above-mentioned speed stabilizing control system.
Summary of the invention
One of the object of the invention provides a kind of speed stabilizing control system of power tool, and the motor of this power tool is rotated under the preset rotation speed of approximately constant.
For realizing above-mentioned purpose, the technical scheme that the present invention adopted is following: a kind of speed stabilizing control system that is used for power tool, and said power tool comprises power supply and motor, said motor has at least one preset rotation speed.The power switch unit that this speed stabilizing control system comprises controller and connects said power supply and said motor; Wherein, The operating voltage and the load current of the said motor of said monitoring control devices; And calculate according to the load current of said motor and to reach the required target voltage of preset rotation speed, adjust operating voltage to the said target voltage of said motor, make said motor constant rotation under preset rotation speed.
Preferably, said controller is specified corresponding dutycycle according to the difference of said operating voltage and target voltage, and with said dutycycle impose on said power switch unit with the operating voltage of regulating said motor to target voltage.
Preferably, the operating voltage of said motor detects and is input to said controller through differential amplifier circuit.
Preferably, the load current of said motor detects and is input to said controller through the current sample amplifying circuit.
Preferably; Said power switch unit comprises the metal-oxide layer-semiconductor-field-effect transistor MOSFET (abbreviating metal-oxide-semiconductor as) that is connected in series between said power supply and the said motor; Said metal-oxide-semiconductor switches between on off operating mode, to change the size of said dutycycle.
Another object of the present invention provides a kind of swing power tool, and this swing power tool can rotate under the preset rotation speed of approximately constant.
For realizing above-mentioned purpose, the technical scheme that the present invention adopted is following: a kind of power tool comprises: power supply; Motor has motor shaft, and this motor has at least one preset rotation speed; Output shaft is used for the installment work head; Eccentric drive mechanism is arranged between said motor shaft and the said output shaft, the rotation of said motor shaft is converted into the rotation reciprocally swinging of said output shaft; Controller; And the power switch unit, it connects said power supply and said motor.Wherein, The operating voltage and the load current of the said motor of said monitoring control devices; And calculate according to the load current of said motor and to reach the required target voltage of preset rotation speed, adjust operating voltage to the said target voltage of said motor, make said motor constant rotation under preset rotation speed.
Preferably, said controller is specified corresponding dutycycle according to the difference of said operating voltage and target voltage, and with said dutycycle impose on said power switch unit with the operating voltage of regulating said motor to target voltage.
Preferably; Said power switch unit comprises the metal-oxide layer-semiconductor-field-effect transistor MOSFET (abbreviating metal-oxide-semiconductor as) that is connected in series between said power supply and the said motor; Said metal-oxide-semiconductor switches between on off operating mode, to change the size of said dutycycle.
Preferably, said swing power tool comprises can drive the adjusting device that said eccentric drive mechanism is changed between different working modes, so that said output shaft has different pendulum angles.
Preferably; Said swing power tool is provided with and when the pendulum angle of said output shaft changes, regulates the arrangements for speed regulation of the hunting frequency of said output shaft; Said arrangements for speed regulation comprise shift adjusting circuit and controller; When the pendulum angle of said output shaft changed, said controller was regulated said rotating speed of motor through said shift adjusting circuit.
Compared with prior art, the invention has the beneficial effects as follows: operating voltage and load current through direct detection motor two ends, velocity sensor need be set, just can make the rotating speed of the motor maintenance approximately constant of power tool, simple in structure, performance is more stable.
Description of drawings
The structural representation of the power tool that Fig. 1 provides for embodiment of the present invention.
View when Fig. 2 is positioned at primary importance for the eccentric drive mechanism of power tool shown in Figure 1.
View when Fig. 3 is positioned at the second place for the eccentric drive mechanism of power tool shown in Figure 1.
Fig. 4 is the subelement perspective exploded view of power tool shown in Figure 1.
Fig. 5 is the vertical view of eccentric gearing structure shown in Figure 2.
Fig. 6 is the vertical view of eccentric gearing structure shown in Figure 3.
The speed stabilizing that Fig. 7 provides for embodiment of the present invention is controlled the theory diagram of system.
Fig. 8 is the circuit diagram that speed stabilizing shown in Figure 7 is controlled system.
Wherein, the tabulation of related elements reference numeral is as follows:
100, Multi Role Aircraft 1, casing 2, output shaft
3, motor shaft 31, eccentric shaft 311, flange portion
312, first section 313, second sections 32, accepting groove
4, eccentric drive mechanism 5, saw blade 6, shift fork
61, sleeve pipe 62, forked portion 621, adjutage
622, auxiliary section 623, madial wall 7, eccentric part
71, outer ring 72, inner ring 8, adjusting device
81, driving lever 82, push button 83, the collar
90, power supply 901, battery temperature testing circuit 902, battery voltage detection circuit
91, motor 911, continued flow tube 92, controller
93, power switch unit 931, metal-oxide-semiconductor 932, mosfet driver
94, main switch pass 95, reduction voltage circuit 96, differential amplifier circuit
97, current sample amplifying circuit 98, shift adjusting circuit 99, angular transducer
The specific embodiment
Below in conjunction with the accompanying drawing and the specific embodiment the present invention is done further explain.
See also Fig. 1 to Fig. 2, a kind of power tool, especially a kind of power tool of hand-held, promptly Multi Role Aircraft 100, the output shaft 2 that comprises casing 1 and in casing 1, vertically extend.Wherein, in casing 1, be provided with motor (not shown), by the motor shaft 3 of motor-driven rotation and horizontal direction setting and be arranged on motor shaft 3 and output shaft 2 between eccentric drive mechanism 4.Motor shaft 3 is approximately perpendicular to output shaft 2, through eccentric drive mechanism 4, the rotation of motor shaft 3 is converted into the rotation reciprocally swinging of output shaft 2.One end and the eccentric drive mechanism 4 of output shaft 2 connect, and the other end is equipped with working head, and for working head is specially saw blade 5, output shaft 2 can drive saw blade 5 together around himself axis X rotation reciprocally swinging in this embodiment.
Eccentric drive mechanism 4 comprises shift fork 6 and is connected the eccentric part 7 on the motor shaft 3, and motor shaft 3 is equipped with eccentric shaft 31 towards an end of shift fork 6, and eccentric part 7 is installed on the eccentric shaft 31.One end of shift fork 6 is connected the top of output shaft 2, and its other end matches with eccentric part 7.Shift fork 6 comprises that the sleeve pipe 61 that is set on the output shaft 2 reaches from sleeve pipe 61 1 sides towards motor shaft 3 horizontally extending forked portion 62.Eccentric part 7 is a ball bearing, and it has outer ring 71 and inner ring 72, and wherein, outer ring 71 has spherical outer surface, and inner ring 72 is set on the eccentric shaft 31.The axis of eccentric shaft 31 does not overlap with the axis of motor shaft 3, and radial deflection certain between crouch.The forked portion 62 of shift fork 6 roughly is the U type, and it comprises two adjutages that are oppositely arranged 621.These two adjutage 621 ends are respectively equipped with the auxiliary section 622 of the both sides of the outer ring 71 that is coated on eccentric part 7, and this auxiliary section 622 has the madial wall 623 that roughly is the plane, the intimate ground sliding-contact of madial wall 623 and outer ring 71.
When motor-driven motor shaft 3 rotates, the eccentric axis rotation of 31 relative motor shafts 3 under the drive of motor shaft 3 of eccentric shaft, and then the eccentric axis rotation of drive eccentric part 7 relative motor shafts 3.During eccentric part 7 eccentric rotations; Outer ring 71 through eccentric part 7 cooperates with the auxiliary section 622 of shift fork 6; Drive shift fork 6 and produce axis X rotation reciprocally swinging, drive output shaft 2 further and do the rotation oscillating traverse motion around himself axis X around output shaft 2.
The following while referring to figs. 2 and 3, the eccentric drive mechanism 4 of this embodiment Multi Role Aircraft 100 can be changed through being engaged between the different working pattern of shift fork 6 and eccentric part 7, when the different working pattern, can make the different pendulum angle α of output shaft 2 output.Multi Role Aircraft 100 also comprises the adjusting device 8 that is arranged on the eccentric shaft 31, and this adjusting device 8 can drive above-mentioned eccentric drive mechanism 4 and between the different working pattern, change.
The madial wall 623 of two auxiliary sections 622 of shift fork 6 parallels, and along continuous straight runs is extended with a segment distance.Adjusting device 8 comprises driving lever 81 and the push button 82 that is connected with driving lever 81, and wherein, driving lever 81 is positioned at a side of eccentric part 7 and comprises the collar 83 that is set on the eccentric shaft 31, push button 82 be connected in driving lever 81 free end and with driving lever 81 approximate vertical.Push button 82 is located at the outside of said machine casing 1, and can cooperate and lock at some diverse locations with casing 1, and when manually promoting push button 82, push button 82 can drive driving levers 81 and move together.
As shown in Figure 4, eccentric shaft 31 comprises flange portion 311 and lays respectively at first section 312 and second sections 313 of flange portion 311 both sides that motor shaft 3 axially offers deltiod accepting groove 32 towards an end of eccentric shaft 31.First section 312 both sides of eccentric shaft 31 are formed deltiod by excision, and are housed in slidably in the accepting groove 32 of motor shaft 3.Eccentric part 7 is installed on second section 313 of eccentric shaft 31, and the collar 83 of adjusting device 8 is between the flange portion 311 of eccentric part 7 and eccentric shaft 31.The internal diameter of the collar 83 is much larger than second section 313 external diameter, when motor shaft 3 drives eccentric shafts 31 and rotates, and second section 313 collar 83 that can not interfere with adjusting device 8 of eccentric shaft 31.
In the lump with reference to figure 5 and Fig. 6; When the push button 82 that promotes adjusting device 8 in drawing when moving left; Push button 82 drive push rods 81 move to left together, and push the right side of eccentric parts 7 through the collar 83 of push rod 81, are moved to the left thereby drive the relative together motor shaft 3 with eccentric shaft 31 of eccentric part 7.On the contrary; When the push button 82 that promotes adjusting device 8 in drawing when moving right; Push button 82 drive push rods 81 move to right together, and push the left side of the flange portion 311 of eccentric shafts 31 through the collar 83 of push rod 81, move right thereby drive the relative together motor shaft 3 with eccentric part 7 of eccentric shaft 31.Obviously, the moving of eccentric part 7 slided the madial wall 623 of auxiliary section 622 of the relative shift fork 6 of outer surface of its outer ring 71, thereby made shift fork 6 can make eccentric drive mechanism 4 have some different working patterns in the cooperation of some different positions with eccentric part 7.
As shown in Figure 5, eccentric drive mechanism 4 is positioned at first mode of operation, and this moment, eccentric part 7 cooperated with the right-hand member of the auxiliary section 622 of shift fork 6, and eccentric part 7 is D1 to the horizontal range in the axle center of output shaft 2, and this moment, output shaft 2 had pendulum angle α 1.As shown in Figure 6, eccentric drive mechanism 4 is positioned at second mode of operation, and this moment, eccentric part 7 cooperated with the left end of the auxiliary section 622 of shift fork 6, and eccentric part 7 is D2 to the horizontal range in the axle center of output shaft 2, and this moment, output shaft 2 had pendulum angle α 2.Obviously; When moving to second mode of operation by first mode of operation through adjusting device 8 driving eccentric drive mechanisms 4; Eccentric part 7 is reduced to D2 to the horizontal range in the axle center of output shaft 2 by D1 gradually, and correspondingly, the pendulum angle of output shaft 2 then increases to α 2 by α 1 gradually.
It is to be noted; The push button 82 of adjusting device 8 and casing 1 can cooperate and lock at some diverse locations; Therefore; Output shaft 2 can between first mode of operation and second mode of operation, other mode of operation be set, thereby eccentric drive mechanism 4 can be changed between a plurality of mode of operations, so that can select to export a plurality of different pendulum angle α.
It is pointed out that between motor shaft 3 and the output shaft 2 of power tool of the present invention any deceleration device is not set.Therefore, the hunting frequency of output shaft 2 equates with rotating speed of motor, changes rotating speed of motor, the then corresponding hunting frequency that changes output shaft 2.
Specify the speed stabilizing control system of this embodiment Multi Role Aircraft 100 below in conjunction with Fig. 7 and Fig. 8.
Shown in Figure 7 is the theory diagram of the speed stabilizing control system of Multi Role Aircraft 100, and this speed stabilizing control system comprises controller 92 and power switch unit 93.Multi Role Aircraft 100 is included as the power supply 90, motor 91 (be in the preceding text mentioned motor) of its power supply, and motor 91 has plurality of preset rotation speed n *, can rotate with certain concrete preset rotation speed n* according to selecting.
The operating voltage U at two ends during 91 work of controller 92 monitoring motors
cWith load current I
c, and according to the load current I of motor 91
cCalculate motor 91 and will reach the required target voltage U of preset rotation speed n*
o, and then based on operating voltage U
cWith target voltage U
oThe pulse-width modulation PWM dutycycle of difference adjustment power supply 90, and the PWM dutycycle imposed on power switch unit 93 to regulate the operating voltage U of motor 91
cTo target voltage U
oThereby, make motor 91 constant rotation approx under preset rotation speed n*.
In this embodiment; Power switch unit 93 comprises the metal-oxide layer-semiconductor-field-effect transistor MOSFET (abbreviating metal-oxide-semiconductor as) 931 that is connected in series between power supply 90 and the motor 91; Metal-oxide-semiconductor 931 switches between on off operating mode, to change the pulse width of pulse-width modulation PWM dutycycle.
Shown in Figure 8 is the detailed circuit diagram of the speed stabilizing control system of Multi Role Aircraft 100, below in conjunction with Fig. 7 and Fig. 8 the detailed operation principle that Multi Role Aircraft 100 speed stabilizings of the present invention are controlled system is described in further detail.
This circuit comprises main switch 94, and main switch 94 is used to control the disconnection and the closure of entire circuit.Motor 91 is a direct current generator, specifically can be direct current permanent magnet motor or other brush direct current motor.Power supply 90 is chargeable 10.8 volts of batteries, and power supply 90 links to each other with the input port VDD of controller 92 through reduction voltage circuit 95, for controller 92 provides 5 volts of stable power supplys.Motor 91 and metal-oxide-semiconductor 931 are connected with power supply 90 and main switch 94 together.
Be in series with current sample amplifying circuit 97 between motor 91 and the controller 92, the load current I when being used to detect motor 91 work
cLoad current I when this current sample amplifying circuit 97 is worked detected motor 91
cAmplify, pass through input port AN6 then load current I
cNumerical value is passed to controller 92.
Introduce power switch unit 93 below in detail and regulate the operating voltage U at motor 91 two ends
cPrinciple.At first, metal-oxide-semiconductor has according to the pulse-width modulation PWM dutycycle that receives, the effect of conducting rapidly, shutoff.In the present embodiment, controller 92 is with the frequency output pulse width modulation (PWM) dutycycle of 8000HZ, and promptly the pulse-width modulation PWM duty cycle signals has cycle T=0.125 millisecond.This pulse-width modulation PWM duty cycle signals amplifies through mosfet driver 932, becomes 12 volts by 5 volts, with conducting of driven MOS pipe or shutoff.In cycle T, pulse signal has a high level and a low level, and the ratio of high level and low level duration length in cycle T is transformable pulse-width modulation PWM dutycycle.Wherein, When pulse signal was high level, metal-oxide-semiconductor was in the state of conducting, and this moment, the voltage of power supply 90 can be applied on the motor 91 through metal-oxide-semiconductor; Motor 91 is rotated further through inertia, and the anti-phase electromotive force that motor 91 two ends produce discharges through fly-wheel diode 911; When pulse signal was low level, metal-oxide-semiconductor was in closing state, and this moment, the voltage of power supply 90 can't be applied on the motor 91 through metal-oxide-semiconductor, but can be through the continued flow tube 911 at motor 91 two ends.Like this; Through regulating the pulse-width modulation PWM dutycycle of metal-oxide-semiconductor; The voltage of power supply 90 effectively is applied to the time on the motor 91 in can regulating cycle T, promptly can regulating cycle T in power supply 90 be transferred to the energy of motor 91, thereby regulate the operating voltage U at motor 91 two ends
cBecause the cycle T duration is short, the operator on the appreciable time motor 91 be driven all the time.
This system also comprises the cell voltage U that is used for detecting power supply 90
bBattery voltage detection circuit 902, be used for protecting power supply 90, prevent that power supply 90 from crossing to put.This battery voltage detection circuit 902 is with the cell voltage U of detected power supply 90
b Export controller 92 to through input port AN3, as cell voltage U
bWhen being lower than certain predetermined value, controller 92 can break off metal-oxide-semiconductors 931 cut off whole system, 90 the power supply of cutting off the electricity supply.
In order to protect power supply 90, native system further is provided with battery temperature testing circuit 901, the battery temperature T when working to detect power supply 90
b, and battery temperature is inputed to controller 92 through input port AN7.As battery temperature T
bWhen surpassing certain preset value, controller 92 can break off whole system equally, 90 the power supply of cutting off the electricity supply.
The speed stabilizing control system of introducing Multi Role Aircraft 100 in this embodiment below regulates the detailed process of Multi Role Aircraft 100 speed.
When main switch 94 is opened, control whole system power on circuitry, controller 92 is preset, and presets the initialization of register that comprises in the controller 92, and the timer adjustment that resets.In this stage, the signal of controller 92 meeting reading speed setting section inputs selects to set a preset rotation speed n* according to the user, and motor 91 beginnings are rotated with preset rotation speed n*.
Meanwhile, differential amplifier circuit 96 is with the operating voltage U of detected motor 91
cPass to controller 92, current sample amplifying circuit 97 is then with the load current I of detected motor 91
cBe passed to controller 92 equally.Controller 92 is through the preset rotation speed n* of motor 91 and the load current I of the motor 91 that real-time monitors
c, calculate at load current I according to corresponding formulas
cThe time, make the actual speed n of motor 91 remain the needed target voltage U of preset rotation speed n*
oThe dutycycle that controller 92 is regulated the pulse-width modulation PWM duty cycle signals of output according to respective algorithms, thus the ON time that mosfet driver 932 is controlled metal-oxide-semiconductors 931 passed through.When metal-oxide-semiconductor 931 conductings, the two ends of motor 91 just can receive the voltage of power supply 90; When not conducting; The two ends of motor 91 do not receive voltage; Like this; Through regulating the dutycycle of pulse-width modulation PWM duty cycle signals, can regulate certain hour imposes on motor 91 effective voltages in the cycle time scale, and then be adjusted in macroscopical operating voltage U that is applied to motor 91 two ends in the certain hour that goes up
c, and the energy of power supply 90 outputs, and then regulate actual speed n.Operating voltage U when motor 91
cBe higher than target voltage U
oThe time, controller 92 is regulated the dutycycle that reduces the pulse-width modulation PWM duty cycle signals, and the energy that motor 91 is accepted reduces the operating voltage U at motor 91 two ends
cReduce and approach target voltage U
oThereby, the actual speed n of motor 91 is minimized, make it to approach preset rotation speed n*.Vice versa, as the operating voltage U of motor 91
cBe lower than target voltage U
oThe time, controller 92 is regulated the dutycycle that improves the pulse-width modulation PWM duty cycle signals, and the energy that motor 91 is accepted increases the operating voltage U at motor 91 two ends
cIncrease and approach target voltage U
oThereby, make the actual speed n of motor 91 be able to raise, make it to approach preset rotation speed n*.
The operating voltage U concrete, that controller 92 is current with motor 1
cWith target voltage U
oRelatively, draw the deviation delta U of voltage, controller 92 calculates current for reaching target voltage U according to deviation delta U
oAnswer output pulse width modulation (PWM) duty cycle signals, the pulse-width modulation PWM duty cycle signals amplifies and is delivered to metal-oxide-semiconductor 931 through mosfet driver 932, to flow to the energy of motor 91 in control power supply 90 special times, makes the current operating voltage U of motor 1
cReach target voltage U
o
In the present embodiment, to calculate the algorithm that the pulse signal dutycycle of its outputs adopted be proportional-integral-differential algorithm (abbreviation pid algorithm) for controller 92.Pid algorithm is that common control algolithm is gone up in industry, in pid algorithm, this algorithm can calculate ratio, integration, differential response and this three's and, calculate real output with this.
Further, present embodiment adopts increment type PID algorithm.In adjustment process, processor 92 per 50 milliseconds of operating voltage U to motor 91 two ends
cThe calculating of taking a sample, and with its storage, processor 92 is according to the work at present voltage U
C1, operating voltage U last time
C2, operating voltage U last time again
C3Carry out PID and calculate, draw output pulse width modulation (PWM) duty cycle signals.
Concrete, the dutycycle of pulse width modulating signal can be calculated according to following method and obtain:
The first, differential amplifier circuit 96 is measured the operating voltage U of motor 91
c, and the output signal is to controller 92.
The second, the work at present voltage U of controller 92 record motors 91
C1, operating voltage U last time
C2, operating voltage U last time again
C3, and calculate their deviation.
Three, according to operating voltage U
cDeviation, adjustment pulse-width modulation PWM dutycycle (PWM dutycycle) signal.
Four, metal-oxide-semiconductor 931 is regulated the operating voltage U at motor 91 two ends according to the pulse-width modulation PWM duty cycle signals that receives
cReach target voltage U
oThereby the actual speed n of regulating motor 91 approaches preset rotation speed n*.
The speed stabilizing control system of Multi Role Aircraft 100 of the present invention is through the operating voltage U at direct detection motor 91 two ends
cAnd load current I
c, the rotating speed that velocity sensor detects motor 91 need be set, just can make the preset rotation speed n* of the motor 91 maintenance approximately constants of Multi Role Aircraft 100, simple in structure, performance is more stable.
In addition, as shown in Figure 7, because the output shaft 2 of Multi Role Aircraft 100 of the present invention can be exported different pendulum angle α, and the pendulum angle α of output shaft 2 is not simultaneously, and the corresponding vibrations size that produces is also different.Therefore, Multi Role Aircraft 100 is provided with arrangements for speed regulation.When the pendulum angle α of output shaft 2 changes, the hunting frequency of these arrangements for speed regulation output shaft 2 capable of automatic changing.
Above-mentioned arrangements for speed regulation comprise the shift adjusting circuit 98 and the controller 2 of the angular transducer that is connected with controller 92 99 and preceding text introduction; Angular transducer 99 is passed to controller 92 with the pendulum angle α of detected output shaft 2; When the pendulum angle α of output shaft 2 changed, controller 2 changed the preset rotation speed n* of motor 91 automatically through shift adjusting circuit 98.Be readily appreciated that,, therefore change the preset rotation speed n* of motor 91, with regard to the corresponding hunting frequency that changes output shaft 2 owing between motor 91 and the output shaft 2 any deceleration device is not set.
Lift body, the output shaft 2 of Multi Role Aircraft 100 has pendulum angle α 1, α 2, the α 3 that increases successively, and motor 91 then has the preset rotation speed n that increases successively
1, n
2, n
3In this embodiment, pendulum angle α 1, α 2, α 3 and preset rotation speed n
1, n
2, n
3Corresponding successively.Promptly when the pendulum angle α of output shaft 2 increases; The preset rotation speed n* of corresponding reduction motor 91, so that output shaft 2 is when bigger pendulum angle α, corresponding hunting frequency is less; Thereby make the vibrations of output shaft 2 less relatively, make Multi Role Aircraft 100 have operating handle preferably.The concrete course of work of arrangements for speed regulation is following: angular transducer 99 is monitored the pendulum angle α of output shaft 2 in real time and is passed to controller 92; When controller 92 found that the pendulum angle α of output shaft becomes α 2 or α 3 by α 1, the preset rotation speed n* that then passes through shift adjusting circuit 98 adjusting motors 91 was by n
1Become n
2Or n
3
The component that is appreciated that system of the present invention is not limited to concrete form cited in the above-mentioned embodiment, knows easily that like the people in the industry selection of the concrete form of these elements is various.For example, controller 92 also can be analog comparator; Also can detect the operating voltage U at motor 91 two ends through other circuit
cWith load current I
cPower switch unit 93 also can adopt the field-effect transistor of other type except that metal-oxide-semiconductor 931; The pendulum angle α of output shaft 2 and the preset rotation speed n* of motor 91 also are not limited to three kinds, also can when pendulum angle α increases, improve preset rotation speed n* simultaneously, to have higher operating efficiency.
Claims (10)
1. a speed stabilizing that is used for power tool is controlled system, and said power tool comprises power supply and motor, and said motor has at least one preset rotation speed, and this speed stabilizing control system comprises:
Controller; And
The power switch unit, it connects said power supply and said motor;
It is characterized in that: the operating voltage and the load current of the said motor of said monitoring control devices; And calculate according to the load current of said motor and to reach the required target voltage of preset rotation speed; Adjust operating voltage to the said target voltage of said motor, make said motor constant rotation under preset rotation speed.
2. speed stabilizing according to claim 1 is controlled system; It is characterized in that: said controller is specified corresponding dutycycle according to the difference of said operating voltage and target voltage, and with said dutycycle impose on said power switch unit with the operating voltage of regulating said motor to target voltage.
3. speed stabilizing according to claim 1 is controlled system, it is characterized in that: the operating voltage of said motor detects and is input to said controller through differential amplifier circuit.
4. speed stabilizing according to claim 1 is controlled system, it is characterized in that: the load current of said motor detects and is input to said controller through the current sample amplifying circuit.
5. speed stabilizing according to claim 1 is controlled system; It is characterized in that: said power switch unit comprises the metal-oxide layer-semiconductor-field-effect transistor MOSFET (abbreviating metal-oxide-semiconductor as) that is connected in series between said power supply and the said motor; Said metal-oxide-semiconductor switches between on off operating mode, to change the size of said dutycycle.
6. power tool comprises:
Power supply;
Motor has motor shaft, and this motor has at least one preset rotation speed;
Output shaft is used for the installment work head;
Eccentric drive mechanism is arranged between said motor shaft and the said output shaft, the rotation of said motor shaft is converted into the rotation reciprocally swinging of said output shaft;
Controller; And
The power switch unit, it connects said power supply and said motor;
It is characterized in that: the operating voltage and the load current of the said motor of said monitoring control devices; And calculate according to the load current of said motor and to reach the required target voltage of preset rotation speed; Adjust operating voltage to the said target voltage of said motor, make said motor constant rotation under preset rotation speed.
7. power tool according to claim 6; It is characterized in that: said controller is specified corresponding dutycycle according to the difference of said operating voltage and target voltage, and with said dutycycle impose on said power switch unit with the operating voltage of regulating said motor to target voltage.
8. speed stabilizing according to claim 6 is controlled system; It is characterized in that: said power switch unit comprises the metal-oxide layer-semiconductor-field-effect transistor MOSFET (abbreviating metal-oxide-semiconductor as) that is connected in series between said power supply and the said motor; Said metal-oxide-semiconductor switches between on off operating mode, to change the size of said dutycycle.
9. power tool according to claim 6 is characterized in that: said swing power tool comprises can drive the adjusting device that said eccentric drive mechanism is changed between different working modes, so that said output shaft has different pendulum angles.
10. power tool as claimed in claim 6; It is characterized in that: said swing power tool is provided with and when the pendulum angle of said output shaft changes, regulates the arrangements for speed regulation of the hunting frequency of said output shaft; Said arrangements for speed regulation comprise shift adjusting circuit and controller; When the pendulum angle of said output shaft changed, said controller was regulated said rotating speed of motor through said shift adjusting circuit.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105116330A CN102441875A (en) | 2010-10-01 | 2010-10-01 | Power tool and speed stabilizing control system thereof |
| PCT/CN2011/080193 WO2012041211A1 (en) | 2010-10-01 | 2011-09-27 | Oscillating power tool |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010105116330A CN102441875A (en) | 2010-10-01 | 2010-10-01 | Power tool and speed stabilizing control system thereof |
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| CN102441875A true CN102441875A (en) | 2012-05-09 |
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| CN2010105116330A Pending CN102441875A (en) | 2010-10-01 | 2010-10-01 | Power tool and speed stabilizing control system thereof |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103488172A (en) * | 2012-06-13 | 2014-01-01 | 苏州宝时得电动工具有限公司 | Automatic working system and control method thereof |
| CN104669218A (en) * | 2013-11-29 | 2015-06-03 | 苏州宝时得电动工具有限公司 | Swing power tool |
| CN106597907A (en) * | 2016-12-30 | 2017-04-26 | 深圳市优必选科技有限公司 | Drive control circuit and robot |
| CN107520816A (en) * | 2016-06-21 | 2017-12-29 | 苏州宝时得电动工具有限公司 | The guard method of power tool and system |
| CN107671360A (en) * | 2017-09-09 | 2018-02-09 | 浙江亚特电器有限公司 | For reducing the control method of reciprocating saw vibration |
| CN108282118A (en) * | 2018-01-18 | 2018-07-13 | 厦门芯阳科技股份有限公司 | A kind of control method of hair scissors motor rotary speed |
| CN109921720A (en) * | 2019-03-07 | 2019-06-21 | Oppo广东移动通信有限公司 | Control device, electronic equipment and its control method of motor |
| CN110880902A (en) * | 2019-11-30 | 2020-03-13 | Oppo广东移动通信有限公司 | Network device |
| CN110995077A (en) * | 2019-12-19 | 2020-04-10 | 广东尚研电子科技有限公司 | Constant-voltage output control device and method for battery-powered motor |
| CN114123887A (en) * | 2021-09-30 | 2022-03-01 | 江苏华频电子科技有限公司 | Constant speed control method and device for brush motor |
| CN115338762A (en) * | 2022-08-12 | 2022-11-15 | 铜陵市华创新材料有限公司 | Online polishing machine swing mechanism and using method thereof |
| US12005560B2 (en) | 2019-09-04 | 2024-06-11 | Milwaukee Electric Tool Corporation | Oscillating power tool with adjustable angular amplitude of oscillation |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103488172B (en) * | 2012-06-13 | 2016-10-05 | 苏州宝时得电动工具有限公司 | Automatic working system and control method thereof |
| CN103488172A (en) * | 2012-06-13 | 2014-01-01 | 苏州宝时得电动工具有限公司 | Automatic working system and control method thereof |
| CN104669218A (en) * | 2013-11-29 | 2015-06-03 | 苏州宝时得电动工具有限公司 | Swing power tool |
| CN107520816A (en) * | 2016-06-21 | 2017-12-29 | 苏州宝时得电动工具有限公司 | The guard method of power tool and system |
| CN106597907A (en) * | 2016-12-30 | 2017-04-26 | 深圳市优必选科技有限公司 | Drive control circuit and robot |
| WO2018121727A1 (en) * | 2016-12-30 | 2018-07-05 | 深圳市优必选科技有限公司 | Drive control circuit and robot |
| CN106597907B (en) * | 2016-12-30 | 2024-05-03 | 深圳市优必选科技股份有限公司 | Drive control circuit and robot |
| CN107671360A (en) * | 2017-09-09 | 2018-02-09 | 浙江亚特电器有限公司 | For reducing the control method of reciprocating saw vibration |
| CN108282118B (en) * | 2018-01-18 | 2020-04-17 | 厦门芯阳科技股份有限公司 | Method for controlling rotating speed of hair clipper motor |
| CN108282118A (en) * | 2018-01-18 | 2018-07-13 | 厦门芯阳科技股份有限公司 | A kind of control method of hair scissors motor rotary speed |
| CN109921720A (en) * | 2019-03-07 | 2019-06-21 | Oppo广东移动通信有限公司 | Control device, electronic equipment and its control method of motor |
| US12005560B2 (en) | 2019-09-04 | 2024-06-11 | Milwaukee Electric Tool Corporation | Oscillating power tool with adjustable angular amplitude of oscillation |
| CN110880902B (en) * | 2019-11-30 | 2023-11-28 | Oppo广东移动通信有限公司 | Network equipment |
| CN110880902A (en) * | 2019-11-30 | 2020-03-13 | Oppo广东移动通信有限公司 | Network device |
| CN110995077A (en) * | 2019-12-19 | 2020-04-10 | 广东尚研电子科技有限公司 | Constant-voltage output control device and method for battery-powered motor |
| CN114123887A (en) * | 2021-09-30 | 2022-03-01 | 江苏华频电子科技有限公司 | Constant speed control method and device for brush motor |
| CN115338762A (en) * | 2022-08-12 | 2022-11-15 | 铜陵市华创新材料有限公司 | Online polishing machine swing mechanism and using method thereof |
| CN115338762B (en) * | 2022-08-12 | 2024-04-12 | 安徽华创新材料股份有限公司 | Online polishing machine swinging mechanism and application method thereof |
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Application publication date: 20120509 |