CN103358289B - Electric hand tool and control method thereof - Google Patents
Electric hand tool and control method thereof Download PDFInfo
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- CN103358289B CN103358289B CN201210105619.XA CN201210105619A CN103358289B CN 103358289 B CN103358289 B CN 103358289B CN 201210105619 A CN201210105619 A CN 201210105619A CN 103358289 B CN103358289 B CN 103358289B
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Abstract
The invention discloses a kind of control method of electric hand tool, there is initial shift and the second working stage, according to the first parameter of electric machine setup parameter threshold value when shutting down in initial shift; In second working stage, when second parameter of electric machine reaches parameter threshold, control second parameter of electric machine and be not more than this parameter threshold, the degree of depth making workpiece reach consistent, the user that the experience that facilitates is less.Present invention also offers a kind of electric hand tool and current threshold establishing method thereof.
Description
Technical field
The present invention relates to a kind of electric hand tool and control method thereof.
Background technology
For electric hand tool, as electric drill or screwdriver, the moment of torsion to it exports usually is needed to limit, to prevent defective work piece or motor damage.
General electric drill or screwdriver are taken between moving part and motor at cutter and are provided with mechanical overload clutch, to limit output torque.But the volume of mechanical overload clutch is comparatively large, and the accuracy of torque adjustment is lower.
Also have some electric drills or screwdriver to adopt and electronically limit output torque, because the moment of torsion of the direct current generator of permanent-magnet-field is roughly proportional with current of electric, substantially can limit corresponding moment of torsion by limiting motor electric current.This kind of mode reduces compared with mechanical overload clutch volume, and accuracy increases.But for the less user of experience, unclearly under different operating modes how setting suitable target torque, the target torque often set is excessive or too small.If the target torque of setting is excessive, can defective work piece, if the target torque of setting is too small, then workpiece is to the position or the degree of depth that do not reach expection, is therefore necessary to improve existing electric hand tool.
Summary of the invention
For the deficiency that prior art exists, the invention provides the control method of the electric hand tool that a kind of user facilitating experience less uses.
Technical scheme of the present invention is achieved in that a kind of control method of electric hand tool, described electric hand tool comprises motor controller, described controller exports the first drive singal and controls described motor, described control method comprises initial shift and the second working stage: in initial shift, motor is run with rotating speed predetermined value, detect parameter of electric machine during described motor stopping, described controller is according to described parameter of electric machine setting current threshold; In second working stage, restart motor, and detecting real-time current of electric, when current of electric reaches described current threshold, control current of electric and be not more than described current threshold.
Further, described electric hand tool has working stage change-over switch, operates this working stage change-over switch, enters initial shift or the second working stage to control electric hand tool.
Further, in initial shift, detecting current of electric, described controller calculates according to the current of electric of detecting and rotating speed predetermined value the voltage maintained needed for rotating speed predetermined value, and the virtual voltage of described motor is adjusted to the voltage calculated.
Further, described controller is with the voltage calculated for reference voltage, and the virtual voltage of detecting real-time motor, according to the first drive singal that the virtual voltage of motor and the difference of reference voltage regulate described controller to export.
Further; detect electric current during described motor stopping; the moment of torsion when electric current that described controller calculates current of electric when being motor stopping and motor speed are rotating speed predetermined value; calculate and correspond to this moment of torsion and motor speed zero-speed current of electric when being 0 again, and described zero-speed current of electric is defined as current threshold.
Further, in the second working stage, the current value maintaining described motor is described current threshold, thus control current of electric is not more than described current threshold.
Further, described electric hand tool comprises comparator, comparator compares the current of electric of detecting and described current threshold, Continuity signal is exported when current of electric is less than current threshold, cut-off signals is exported when current of electric is more than or equal to current threshold, and in the first drive singal ON/OFF signal loading exported to described controller, thus to maintain motor current value be described current threshold.
Further, in the second working stage, maintaining described motor speed is rotating speed predetermined value; detecting current of electric; when current of electric reaches described current threshold, described controller controls described motor stopping, thus control current of electric is not more than described current threshold.
The present invention also provides a kind of current threshold establishing method of electric hand tool, and described electric hand tool comprises motor controller, and described current threshold establishing method comprises the following steps: maintaining motor speed is rotating speed predetermined value; Detect current of electric during described motor stopping; The moment of torsion when electric current that described controller calculates current of electric when being motor stopping and motor speed are rotating speed predetermined value; Calculate and correspond to this moment of torsion and motor speed zero-speed current of electric when being 0 again, and described zero-speed current of electric is set as current threshold.
The present invention also provides a kind of electric hand tool, comprise housing, be positioned at the motor of housing, by motor-driven transmission mechanism and the control circuit for controlling motor, it is characterized in that, described control circuit comprises: motor switch, described motor stopping when disconnecting described motor switch; Current sense unit, for detecting current of electric; The controller be connected with described current sense unit, described controller is according to current of electric setting current threshold during described motor stopping; The memory cell be connected with described controller, for storing described current threshold; The electronic switch be connected with described motor, described controller exports the first drive singal to described electronic switch; The flow-restriction be connected with described current sense unit and controller, described flow-restriction, when current of electric reaches current threshold, controls current of electric and is not more than described current threshold.
Further; described electric hand tool has the working stage change-over switch be connected with described controller; operate this working stage change-over switch and enter initial shift or the second working stage to control electric hand tool; at initial shift; described controller is according to the current of electric setting current threshold of shutting down; at the second working stage, when current of electric reaches current threshold, described flow-restriction controls current of electric and is not more than described current threshold.
Further, described control circuit also comprises the detecting voltage unit for detecting electric moter voltage, at initial shift, described controller calculates according to the current of electric of detecting and rotating speed predetermined value the voltage maintained needed for rotating speed predetermined value, with the voltage calculated for reference voltage, and regulate described first drive singal according to the virtual voltage of detecting and the difference of reference voltage.
Further; described memory cell prestores the data relationship between current of electric, moment of torsion and motor speed; at initial shift; described controller calculate current of electric be electric current when shutting down and motor speed is rotating speed predetermined value time moment of torsion; calculate and correspond to this moment of torsion and motor speed zero-speed current of electric when being 0 again, and this current of electric of described zero-speed is defined as current threshold.
Further, described flow-restriction has the comparator be connected with current sense unit and controller, at the second working stage, described comparator compares current of electric and the current threshold of detecting, and export Continuity signal when current of electric is less than current threshold, export cut-off signals when current of electric is more than or equal to current threshold, described Continuity signal/cut-off signals is loaded in described first drive singal by described comparator.
Electric hand tool of the present invention and control method thereof have initial shift and the second working stage.In initial shift, according to the first parameter of electric machine setup parameter threshold value when shutting down; In second working stage, when second parameter of electric machine reaches parameter threshold, control second parameter of electric machine and be not more than this parameter threshold, the degree of depth making workpiece reach consistent, the less user of the experience that facilitates operates electric hand tool.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described:
Fig. 1 is the schematic diagram of electric hand tool of the present invention.
Fig. 2 is the circuit diagram of electric hand tool of the present invention.
Fig. 3 is the graph of relation of the moment of torsion of electric hand tool, current of electric and motor speed.
Fig. 4 is the graph of relation of the current of electric of electric hand tool, electric moter voltage and motor speed.
Fig. 5 is the circuit diagram of the first better embodiment of the artificial mode of electric hand tool of the present invention.
Fig. 6 is the circuit diagram of the second better embodiment of the artificial mode of electric hand tool of the present invention.
Fig. 7 is the circuit diagram of the automatic mode of electric hand tool of the present invention.
Fig. 8 is the flow chart of the first better embodiment of the artificial mode of the control method of electric hand tool of the present invention.
Fig. 9 is the curve synoptic diagram of the first better embodiment of the artificial mode of the control method of electric hand tool of the present invention.
Figure 10 is the flow chart of the second better embodiment of the artificial mode of the control method of electric hand tool of the present invention.
Figure 11 is the curve synoptic diagram of the second better embodiment of the artificial mode of the control method of electric hand tool of the present invention.
Figure 12 is the curve synoptic diagram of the initial shift of the automatic mode of electric hand tool of the present invention.
Figure 13 is the curve synoptic diagram of the second working stage of the automatic mode of electric hand tool of the present invention.Wherein,
100, electric hand tool; 10, housing; 20, motor;
30, transmission device; 40, fixture; 50, power supply module;
60, control circuit; S1, electronic switch; S2, motor switch;
S3, mode selection switch; S4, working stage change-over switch; R1, resistance;
61, controller; 62, switch detecting unit; 63, memory cell;
64, the first current threshold setup unit; 65, the second current threshold setup unit; 66, flow-restriction;
67, current sense unit; 68, detecting voltage unit;
Detailed description of the invention
With reference to shown in Fig. 1, a kind of electric hand tool 100, as electric drill or screwdriver, there is housing 10, be arranged at the motor 20 in housing 10, the transmission device 30 be connected with motor 20, the fixture 40 driven by transmission device 30, for the power supply module 50 powering to motor 20, for the control circuit 60 controlled motor 20.
Please refer to Fig. 2, control circuit 60 has controller 61, electronic switch S1, motor switch S2, mode selection switch S3, working stage change-over switch S4, resistance R1, switch detecting unit 62, memory cell 63, first current threshold setup unit 64, second current threshold setup unit 65, flow-restriction 66, current sense unit 67 and detecting voltage unit 68.
The positive pole of motor 20 is connected with the positive pole of power supply module 50 by motor switch S2, and negative pole is connected with the first end of electronic switch S1.Second end of electronic switch S1 is connected with the first end of controller 61, and the 3rd end is connected with the negative pole of power supply module 50 by resistance R1.
Second end of controller 61 is connected to the node between motor switch S2 and motor 20,3rd end is connected with the positive pole of motor 20 by detecting voltage unit 68,4th end is connected with second end of electronic switch S1 by flow-restriction 66, five terminal is connected with the 3rd end of electronic switch S1 by current sense unit 67,6th end is connected with the first current threshold setup unit 64,7th end is connected with the second current threshold setup unit 65,8th end is connected with mode selection switch S3,9th end is connected with working stage change-over switch S4, and the tenth end is connected with memory cell 63.In present embodiment, controller 61 is MCU, and it exports the first drive singal to electronic switch S1.
Flow-restriction 66 is also connected with current sense unit 67.The first end of switch detecting unit 62 is connected with the positive pole of power supply module 50, and the second end is connected with the second end of controller 61.
Under electric hand tool 100 of the present invention can optionally be operated in artificial mode or automatic mode.In a manual mode, user carries out torque adjustment by the first current threshold setup unit 64 and can obtain very high accuracy; In automatic mode, electric hand tool 100 has the initial shift of setting current threshold automatically, and the second working stage of moment of torsion restriction is carried out according to the current threshold of setting, the user facilitating experience less operates electric hand tool 100, and makes the degree of depth that workpiece reaches consistent.
User can as required operator scheme selector switch S3 to be switched to artificial mode or automatic mode.In automatic mode, can operation element stage change-over switch S4 to be switched to initial shift or second working stage of automatic mode.
In present embodiment, mode selection switch S3, working stage change-over switch S4 and the first current threshold setup unit 64 can be triggered by same trigger member, and this trigger member is toggle switch.When toggle switch toggles it to diverse location, trigger different mode of operations, working stage or different current thresholds.
Respectively the artificial mode of electric hand tool 100 of the present invention and automatic mode are described below in conjunction with accompanying drawing.
Please refer to Fig. 3, the pass between the output torque T of motor 20 and current of electric and motor speed N is: when current of electric is definite value, motor speed N is higher, and torque T is less; When motor speed N is definite value, current of electric is larger, and torque T is larger; When torque T is definite value, current of electric is larger, and motor speed N is higher.Therefore when motor speed N determines, there is corresponding relation in torque T and current of electric, carried out the torque T of limiting motor 20 by limiting motor electric current, will greatly improve the accuracy of torque adjustment.
Please refer to Fig. 5, in the first better embodiment of the artificial mode of electric hand tool 100 of the present invention, control circuit 60 has controller 61, electronic switch S1, motor switch S2, resistance R1, detecting voltage unit 68, current sense unit 67, first current threshold setup unit 64, second current threshold setup unit 65 and memory cell 63.Motor 20 is controlled by controller 61 and electronic switch S1.
User operation first current threshold setup unit 64 is manually to set the first current threshold I1.
Second current threshold setup unit 65 sets the second current threshold I2 lower than the first current threshold I1.In present embodiment, some predetermined constants are stored in memory cell 63, each predetermined constant is corresponding from the first different current thresholds, second current threshold setup unit 65 is independent subtracter, first current threshold I1 is deducted predetermined constant by the second current threshold setup unit 65, obtains the second current threshold I2.Second current threshold I2 also calculates by the mode of software, and namely controller 61 has the function of the second current threshold setup unit 65 concurrently, calculates the second current threshold I2.In other embodiments, user also can direct control second current threshold setup unit 65 manually to set the second current threshold I2.
Memory cell 63 preserves the first current threshold I1 and the second current threshold I2.
Motor switch S2 is trigger, and user presses the trigger of electric hand tool 100 with starter motor 20.
Current sense unit 67 detects current of electric.The current of electric of detecting compares with the second current threshold I2 by controller 61, and when current of electric reaches the second current threshold I2, the rotating speed that controller 61 controls motor 20 remains on rotating speed predetermined value N1.Described rotating speed predetermined value N1 is lower than motor speed during general work state, and so in follow-up control, motor can be made a response rapidly.
Please refer to Fig. 4, because motor speed N is relevant with electric moter voltage and current of electric I, and when load increases, current of electric I also increases accordingly, if need maintain motor speed N, then needs to increase corresponding electric moter voltage.Therefore can calculate according to the current of electric I of detecting the magnitude of voltage maintained needed for rotating speed predetermined value N1, then the virtual voltage of motor 20 is adjusted to the magnitude of voltage that calculates to maintain motor speed N for rotating speed predetermined value N1.
In present embodiment, store rotating speed predetermined value N1 in memory cell 63, current sense unit 67 detects current of electric, and controller 61 calculates according to the current of electric of rotating speed predetermined value N1 and detecting the magnitude of voltage maintained needed for rotating speed predetermined value N1.Controller 61 with the magnitude of voltage calculated for reference voltage.The virtual voltage of detecting voltage unit 68 detecting real-time motor 20, the first drive singal that controller 61 exports according to the virtual voltage of detecting and the difference adjustment control 61 of reference voltage, thus maintain motor speed.
In present embodiment, the first drive singal is pulse-width signal, if when the virtual voltage of motor 20 exceedes reference voltage, controller 61 reduces the dutycycle of the first drive singal; If when the virtual voltage of motor 20 is less than reference voltage, controller 61 increases the dutycycle of the first drive singal.
While maintenance motor speed; controller 61 continues detecting current of electric by current sense unit 67; and the current of electric of detecting is compared with the first current threshold I1; when current of electric reaches the first current threshold I1; controller 61 stops output first drive singal, shuts down to control motor 20.
Please refer to Fig. 6, in the second better embodiment of the artificial mode of electric hand tool 100 of the present invention, control circuit 60 has controller 61, electronic switch S1, motor switch S2, resistance R1, detecting voltage unit 68, current sense unit 67, flow-restriction 66, first current threshold setup unit 64, second current threshold setup unit 65 and memory cell 63.
Second current threshold setup unit 65 sets the second current threshold I2 lower than the first current threshold I1.In present embodiment, some predetermined constants are stored in memory cell 63, each predetermined constant is corresponding from the first different current thresholds, second current threshold setup unit 65 is independent subtracter, first current threshold I1 is deducted predetermined constant by the second current threshold setup unit 65, obtains the second current threshold I2.Second current threshold I2 also calculates by the mode of software, and namely controller 61 has the function of the second current threshold setup unit 65 concurrently, calculates the second current threshold I2.In other embodiments, user also can direct control second current threshold setup unit 65 manually to set the second current threshold I2.
Memory cell 63 preserves the first current threshold I1 and the second current threshold I2.
Motor switch S2 is trigger, and user presses the trigger of electric hand tool 100 with starter motor 20.
Current sense unit 67 detects current of electric.The current of electric of detecting compares with the second current threshold I2 by flow-restriction 66, and when current of electric reaches the second current threshold I2, flow-restriction 66 controls current of electric and remains on the second current threshold I2, and now the rotating speed of motor 20 declines thereupon.
Particularly, flow-restriction 66 has comparator, and comparator exports Continuity signal when the current of electric detected is less than the second current threshold I2, exports cut-off signals when the current of electric detected is more than or equal to the second current threshold I2.ON/OFF signal is fed back in the first drive singal of controller 61 output, obtains the second drive singal, thus motor current value is maintained the second current threshold I2.
While maintenance current of electric, controller 61 judges the rotating speed of motor 20 and when motor speed drops to rotating speed predetermined value N1, the rotating speed that controller 61 controls motor 20 remains on rotating speed predetermined value N1.Described rotating speed predetermined value N1 is lower than motor speed during general work state, and so in follow-up control, motor can be made a response rapidly.
Please refer again to Fig. 4, when current of electric is constant, electric moter voltage is less, and motor speed is lower, and controller 61 detects the virtual voltage of motor 20 by detecting voltage unit 68, thus judges motor speed.
Rotating speed predetermined value N1 is stored in memory cell 63, electric moter voltage when controller 61 calculates that motor speed is N1, current of electric is I2, detecting voltage unit 68 detects the virtual voltage of motor 20, when the virtual voltage of motor 20 drops to the electric moter voltage value of controller 61 calculating, the rotating speed that controller 61 controls motor 20 remains on rotating speed predetermined value N1.
Controller 61 calculates the magnitude of voltage maintained needed for rotating speed predetermined value N1 according to the current of electric of rotating speed predetermined value N1 and detecting, and to maintain magnitude of voltage needed for rotating speed predetermined value N1 for reference voltage.Controller 61 detects the virtual voltage of motor 20 by detecting voltage unit 68, according to the first drive singal that the virtual voltage of detecting and the difference adjustment control 61 of reference voltage export, thus maintains motor speed.
While maintenance motor speed; controller 61 continues detecting current of electric by current sense unit 67; and the current of electric of detecting is compared with the first current threshold I1; when the current of electric detected reaches the first current threshold I1; controller 61 stops output first drive singal, shuts down to control motor 20.
In the automatic mode of electric hand tool 100 of the present invention, control circuit 60 has controller 61, electronic switch S1, motor switch S2, resistance R1, working stage change-over switch S4, detecting voltage unit 68, current sense unit 67, memory cell 63, flow-restriction 66 and switch detecting unit 62.Motor 20 is controlled by controller 61 and electronic switch S1.
Electric hand tool 100 can be switched to initial shift by operation element stage change-over switch S4, now operates electric hand tool 100 by veteran user, and the rotating speed that controller 61 controls motor 20 remains on rotating speed predetermined value N1.
Particularly, rotating speed predetermined value N1 is stored in memory cell 63, current sense unit 67 detects current of electric, controller 61 calculates the magnitude of voltage maintained needed for rotating speed predetermined value N1 according to the current of electric of rotating speed predetermined value N1 and detecting, and to maintain magnitude of voltage needed for rotating speed predetermined value N1 for reference voltage.Controller 61 detects the virtual voltage of motor 20 by detecting voltage unit 68, according to the first drive singal that the virtual voltage of detecting and the difference adjustment control 61 of reference voltage export, thus maintains motor speed.
While maintenance motor speed, user, according to operating mode, as workpiece reaches the degree of depth, position etc. of expectation, disconnects motor switch S2 and shuts down to control motor 20.Switch detecting unit 62 detects the state of this motor switch S2, and sends corresponding signal to controller 61.
When switch detecting unit 62 detects that motor switch S2 closes; controller 61 records current of electric Ia now by current sense unit 67; and automatically set current threshold Ib according to current of electric Ia when shutting down, the corresponding corresponding target torque of this current threshold Ib.
Particularly, described controller 61 is according to the data relationship in Fig. 2 between current of electric, torque T and motor speed N, calculate when current of electric be Ia, motor speed be rotating speed predetermined value N1 time torque T 1, calculate again when moment of torsion be T1, motor speed be 0 time current of electric, and this current of electric is defined as current threshold Ib.
At automatic mode in the second working stage, current sense unit 67 detects current of electric.The current of electric of detecting compares with current threshold Ib by flow-restriction 66, when the current of electric detected reaches current threshold Ib, flow-restriction 66 controls current of electric and remains on current threshold Ib, thus control current of electric is not more than described current threshold Ib, and now motor speed declines.
Particularly, flow-restriction 66 has comparator, comparator exports Continuity signal when the current of electric detected is less than current threshold Ib, cut-off signals is exported when the current of electric detected is more than or equal to current threshold Ib, and by ON/OFF signal feedback in the first drive singal, obtain the second drive singal, thus maintenance motor current value is described current threshold Ib.
While maintenance current of electric, controller 61 judges the rotating speed of motor 20 and when motor speed drops to definite value, controller 61 controls motor 20 and shuts down.Due to current of electric constant time, electric moter voltage is less, and motor speed is lower, therefore by detecting electric moter voltage judge motor speed.
In present embodiment; the dutycycle of the second drive singal detected by controller 61; when the second drive singal dutycycle lower than 0.1 time; represent that electric moter voltage is lower than predetermined value; further expression motor speed is lower than definite value; this Time Controller 61 stops output first drive singal, thus control motor 20 is shut down.
Present invention also offers the control method of two kinds of electric hand tools 100: artificial mode and automatic mode.
Please refer to Fig. 8, the first better embodiment of described artificial mode comprises the following steps:
Step S1: artificial setting the first current threshold I1, user sets the current threshold corresponding with target torque by the first current threshold setup unit 64 on operation electric hand tool 100.
Step S2: artificial setting or automatically calculating the second current threshold I2, and the second current threshold I2 is lower than the first current threshold I1, the first current threshold I1 equals the second current threshold I2 and predetermined constant sum.In present embodiment, the second current threshold I2 is calculated by the controller 61 in electric hand tool 100.
Step S3: user presses the trigger of electric hand tool 100 with starter motor 20.
Step S4: detecting real-time current of electric.
Step S5: judge whether current of electric reaches the second current threshold I2, is enter step S6, otherwise returns step S4.
Step S6: when current of electric reaches the second current threshold I2, the rotating speed controlling motor 20 remains on rotating speed predetermined value N1.Described rotating speed predetermined value N1 is lower than motor speed during general work state.
Step S7: judge whether current of electric reaches the first current threshold I1, is enter step S8, otherwise returns step S6.
Step S8: when current of electric reaches the first current threshold I1, controls motor 20 and shuts down.
As shown in Figure 9, in time t1, motor 20 starts moment, and motor speed N rises fast, and current of electric I is stable to rise; In time t1-t2, along with the increase of load, current of electric I continues to increase; In time t2-t3, control motor speed N and drop quickly to rotating speed predetermined value N1; In time t3-t4, motor speed N is maintained at rotating speed predetermined value N1, and current of electric I continues to rise simultaneously; When time t4, current of electric I reaches the first current threshold I1, controls motor 20 and shuts down.In present embodiment, when current of electric I reaches the first current threshold I1, controller 61 stops output first drive singal, thus control motor 20 is shut down.
Please refer to Fig. 4, because motor speed N is relevant with electric moter voltage and current of electric I, and when load increases, current of electric I also increases accordingly, if need maintain motor speed N, then needs to increase corresponding electric moter voltage.Therefore can calculate according to the current of electric I of detecting the magnitude of voltage maintained needed for rotating speed predetermined value N1, then by regulating electric moter voltage to maintain motor speed N for rotating speed predetermined value N1.
In present embodiment, store rotating speed predetermined value N1 in memory cell 63, current sense unit 67 detects current of electric, and controller 61 calculates according to the current of electric of rotating speed predetermined value N1 and detecting the magnitude of voltage maintained needed for rotating speed predetermined value N1.Controller 61 is to maintain magnitude of voltage needed for rotating speed predetermined value N1 for reference voltage.Controller 61 passes through the virtual voltage of detecting voltage unit 68 detecting real-time motor 20, and according to the first drive singal that the virtual voltage of detecting and the difference adjustment control 61 of reference voltage export, thus maintain motor speed.
Please refer to Figure 10, in the second better embodiment of described artificial mode, first with the second current threshold I2 for reference threshold, and maintain this current threshold a period of time, then maintain motor speed, to complete the fastening of workpiece.Before work piece, so prevent the sudden change of current of electric, effectively protect motor 20.Particularly, the second better embodiment of described artificial mode comprises the following steps:
Step S1: artificial setting the first current threshold I1.
Step S2: artificial setting or automatically calculating the second current threshold I2, and the second current threshold I2 is lower than the first current threshold I1, the first current threshold I1 equals the second current threshold I2 and predetermined constant sum.
Step S3: user presses the trigger of electric hand tool 100 with starter motor 20.
Step S4: detecting real-time current of electric.
Step S5: judge whether current of electric reaches the second current threshold I2, is enter step S6, otherwise returns step S4.
Step S6: when current of electric reaches the second current threshold I2, maintaining current of electric is the second current threshold I2.
Step S7: judge whether motor speed drops to rotating speed predetermined value N1, is, enters step S8, otherwise return step S6.Described rotating speed predetermined value N1 is lower than motor speed during general work state.
Step S8: the rotating speed controlling motor 20 remains on rotating speed predetermined value N1.
Step S9: judge whether current of electric reaches the first current threshold I1, is enter step S10, otherwise returns step S8.
Step S10: when current of electric reaches the first current threshold I1, controls motor 20 and shuts down.
As shown in figure 11, in time t1, motor 20 starts moment, and motor speed N rises fast, and current of electric I is stable to rise; In time t1-t2, along with the increase of load, current of electric I continues to increase; In time t2-t3, current of electric reaches the second current threshold I2, and controlling motor maintenance current of electric is the second current threshold I2, and motor speed declines simultaneously; In time t3-t4, motor speed N is maintained at rotating speed predetermined value N1, and current of electric I continues to rise simultaneously; When time t4, current of electric I reaches the first current threshold I1, controls motor 20 and shuts down.
In a manual mode; when current of electric reaches the second current threshold I2; control motor speed N constant; when current of electric reaches the first current threshold I1; control motor 20 to shut down; thus limiting motor electric current I, the output torque T of further limiting motor 20, makes the accuracy of torque adjustment greatly improve.
Described automatic mode has initial shift and the second working stage, and electric hand tool 100 setup parameter threshold value automatically during initial shift, during the second working stage, electric hand tool 100 carries out moment of torsion restriction according to the parameter threshold of setting.
Please refer to Figure 12; at initial shift; electric hand tool 100 is operated by veteran user; user is according to operating mode; as workpiece reaches the degree of depth, position etc. of expectation, disconnect motor switch S2 and shut down to control motor 20, at least one parameter of electric machine when Auto-Sensing is shut down; and according to the automatic setup parameter threshold value of this parameter of electric machine, the corresponding corresponding target torque of this parameter threshold.
At the second working stage, restart motor 20, electric hand tool 100 is operated by the user that experience is less, the corresponding parameter of electric machine of detecting real-time, and by the parameter of electric machine of detecting compared with above-mentioned parameter threshold value, when the parameter of electric machine reaches above-mentioned parameter threshold value, control the parameter of electric machine and be not more than this parameter threshold, moment of torsion is so made to be not more than target torque, the degree of depth making workpiece reach consistent with during initial shift, the operation of the user that the experience that facilitates is less.
In present embodiment, this parameter of electric machine is current of electric, current of electric Ia when record is shut down in initial shift, and sets current threshold Ib according to current of electric Ia.Please refer again to Fig. 3, due to motor speed N be definite value time, current of electric is larger, and torque T is larger, therefore in initial shift, maintains motor speed, make according to shut down time current of electric setting parameter threshold more accurate.Conveniently design, in present embodiment, the motor speed in initial shift maintains rotating speed predetermined value N1.
In present embodiment, maintaining motor speed by regulating electric moter voltage is rotating speed predetermined value N1, and concrete grammar is identical with the step S6 in the first better embodiment of artificial mode.
According to the data relationship in Fig. 3 between current of electric, torque T and motor speed N, torque T 1 when described controller 61 calculates that current of electric is Ia, motor speed is rotating speed predetermined value N1, current of electric when calculated torque T1, motor speed are 0 again, and this current of electric is defined as current threshold Ib.
In the second working stage, when current of electric reaches current threshold Ib, the current value maintaining motor 20 is described current threshold Ib, thus control current of electric is not more than described current threshold Ib.
As shown in figure 13, in time t1, motor 20 starts moment, and motor speed rises fast, and current of electric is stable to rise; In time t1-t2, along with the increase of load, current of electric continues to increase; In time t2-t3, after current of electric reaches current threshold Ib, control current of electric and maintain current threshold Ib, motor speed declines simultaneously.When time t3, control motor 20 when motor speed drops to certain value (if rotating speed is zero) and shut down.
In other embodiments, also can adopt the mode that other moments of torsion limit in the second working stage, as shown in Figure 9, now the first current threshold I1 is the current threshold Ib of setting automatically in initial shift.
Electric hand tool 100 in the present embodiment there is artificial mode and automatic mode.In a manual mode, artificial first and second current threshold of setting, maintains motor speed when current of electric reaches the second current threshold, controls motor 20 and shuts down, thus improve the accuracy of torque adjustment when current of electric reaches the second current threshold.When the initial shift of automatic mode; veteran user shuts down according to operating conditions motor 20; according to parameter of electric machine setup parameter threshold value when shutting down; when the parameter of electric machine reaches parameter threshold; control the parameter of electric machine and be not more than this parameter threshold; the degree of depth making workpiece reach consistent, the less user of the experience that facilitates operates electric hand tool 100.
What it may occur to persons skilled in the art that is; in the present invention, the concrete structure of hay mover and docking charging system can have a lot of versions; but the technical characteristics of the used technical solution and the present invention same or similar, all should be covered by scope.
Claims (14)
1. a control method for electric hand tool, described electric hand tool comprises motor controller, and described controller exports the first drive singal and controls described motor, it is characterized in that, described control method comprises initial shift and the second working stage:
In initial shift, run motor with rotating speed predetermined value (N1), detect parameter of electric machine during described motor stopping, described controller is according to described parameter of electric machine setting current threshold (Ib);
In second working stage, restart motor, and detecting real-time current of electric, when current of electric reaches described current threshold (Ib), control current of electric and be not more than described current threshold (Ib).
2. control method according to claim 1, is characterized in that: described electric hand tool has working stage change-over switch, operates this working stage change-over switch, enters initial shift or the second working stage to control electric hand tool.
3. control method according to claim 1, it is characterized in that: in initial shift, detecting current of electric, described controller calculates according to the current of electric of detecting and rotating speed predetermined value (N1) voltage maintained needed for rotating speed predetermined value (N1), and the virtual voltage of described motor is adjusted to the voltage calculated.
4. control method according to claim 3, it is characterized in that: described controller with the voltage calculated for reference voltage, and the virtual voltage of detecting real-time motor, according to the first drive singal that the virtual voltage of motor and the difference of reference voltage regulate described controller to export.
5. control method according to claim 1; it is characterized in that: detect the electric current (Ia) during described motor stopping; moment of torsion (T1) when the electric current (Ia) that described controller calculates current of electric when being motor stopping and motor speed are rotating speed predetermined value (N1); calculate and correspond to this moment of torsion (T1) and motor speed zero-speed current of electric when being 0 again, and described zero-speed current of electric is defined as current threshold (Ib).
6. control method according to claim 1, is characterized in that: in the second working stage, and the current value maintaining described motor is described current threshold (Ib), thus control current of electric is not more than described current threshold (Ib).
7. control method according to claim 6, it is characterized in that: described electric hand tool comprises comparator, comparator compares current of electric and the described current threshold (Ib) of detecting, Continuity signal is exported when current of electric is less than current threshold (Ib), cut-off signals is exported when current of electric is more than or equal to current threshold (Ib), and in the first drive singal ON/OFF signal loading exported to described controller, thus to maintain motor current value be described current threshold (Ib).
8. control method according to claim 1; it is characterized in that: in the second working stage; maintaining described motor speed is rotating speed predetermined value (N1); detecting current of electric; when current of electric reaches described current threshold (Ib); described controller controls described motor stopping, thus control current of electric is not more than described current threshold (Ib).
9. a current threshold establishing method for electric hand tool, described electric hand tool comprises motor controller, it is characterized in that, described current threshold establishing method comprises the following steps: maintaining motor speed is rotating speed predetermined value (N1); Detect the current of electric (Ia) during described motor stopping; Moment of torsion (T1) when the electric current (Ia) that described controller calculates current of electric when being motor stopping and motor speed are rotating speed predetermined value (N1); Calculate and correspond to this moment of torsion (T1) and motor speed zero-speed current of electric when being 0 again, and described zero-speed current of electric is set as current threshold (Ib).
10. an electric hand tool, comprising housing, being positioned at the motor of housing, by motor-driven transmission mechanism and the control circuit for controlling motor, it is characterized in that, described control circuit comprises:
Motor switch, described motor stopping when disconnecting described motor switch;
Current sense unit, for detecting current of electric;
The controller be connected with described current sense unit, described controller sets current threshold (Ib) according to the current of electric (Ia) during described motor stopping;
The memory cell be connected with described controller, for storing described current threshold (Ib);
The electronic switch be connected with described motor, described controller exports the first drive singal to described electronic switch; The flow-restriction be connected with described current sense unit and controller, described flow-restriction, when current of electric reaches current threshold (Ib), controls current of electric and is not more than described current threshold (Ib).
11. electric hand tools according to claim 10, it is characterized in that: described electric hand tool has the working stage change-over switch be connected with described controller, operate this working stage change-over switch, initial shift or the second working stage is entered to control electric hand tool, at initial shift, described controller sets current threshold (Ib) according to the current of electric (Ia) of shutting down, at the second working stage, when current of electric reaches current threshold (Ib), described flow-restriction controls current of electric and is not more than described current threshold (Ib).
12. electric hand tools according to claim 11, it is characterized in that: described control circuit also comprises the detecting voltage unit of the virtual voltage for detecting motor, at initial shift, described controller calculates according to the current of electric of detecting and rotating speed predetermined value (N1) voltage maintained needed for rotating speed predetermined value (N1), with the voltage calculated for reference voltage, and regulate described first drive singal according to the virtual voltage of detecting and the difference of reference voltage.
13. electric hand tools according to claim 11; it is characterized in that: described memory cell prestores the data relationship between current of electric, moment of torsion and motor speed; at initial shift; described controller calculate current of electric be electric current (Ia) when shutting down and motor speed is rotating speed predetermined value (N1) time moment of torsion (T1); calculate and correspond to this moment of torsion (T1) and motor speed zero-speed current of electric when being 0 again, and described zero-speed current of electric is defined as current threshold (Ib).
14. electric hand tools according to claim 11, it is characterized in that: described flow-restriction has the comparator be connected with current sense unit and controller, at the second working stage, described comparator compares current of electric and the current threshold (Ib) of detecting, and export Continuity signal when current of electric is less than current threshold (Ib), export cut-off signals when current of electric is more than or equal to current threshold (Ib), described Continuity signal/cut-off signals is loaded in described first drive singal by described comparator.
Priority Applications (2)
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| CN201210105619.XA CN103358289B (en) | 2012-03-31 | 2012-03-31 | Electric hand tool and control method thereof |
| PCT/CN2013/073449 WO2013143489A1 (en) | 2012-03-31 | 2013-03-29 | Hand-held electric tool and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210105619.XA CN103358289B (en) | 2012-03-31 | 2012-03-31 | Electric hand tool and control method thereof |
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| CN103358289A CN103358289A (en) | 2013-10-23 |
| CN103358289B true CN103358289B (en) | 2016-03-30 |
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| CN105301987B (en) * | 2014-05-28 | 2019-02-12 | 苏州宝时得电动工具有限公司 | Electric hand tool and its control method |
| JP7017022B2 (en) * | 2015-11-20 | 2022-02-08 | マックス株式会社 | tool |
| US11154975B2 (en) | 2015-11-20 | 2021-10-26 | Max Co., Ltd. | Tool |
| CN109702871B (en) * | 2019-02-22 | 2020-05-05 | 叶传俊 | Electric control celadon glazing clamp and control method thereof |
| CN111775118B (en) * | 2019-04-04 | 2023-06-20 | 南京泉峰科技有限公司 | Intelligent electric tool, system and control method thereof |
| CN110289794A (en) * | 2019-07-29 | 2019-09-27 | 无锡青禾小贝科技有限公司 | A kind of direct current generator voltage control circuit and method |
| CN112398417B (en) * | 2019-08-13 | 2022-11-11 | 宁波拓邦智能控制有限公司 | Working circuit protection method and device and electronic equipment |
| CN113224994B (en) * | 2021-04-19 | 2023-03-03 | 惠州拓邦电气技术有限公司 | Electric tool torque force adjusting method and device and electric tool |
| CN114285134A (en) * | 2021-12-29 | 2022-04-05 | 格力博(江苏)股份有限公司 | System, power supply system and electric tool system |
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