CN103368480A - Handheld electric-driven tool and control method thereof - Google Patents
Handheld electric-driven tool and control method thereof Download PDFInfo
- Publication number
- CN103368480A CN103368480A CN2012101054368A CN201210105436A CN103368480A CN 103368480 A CN103368480 A CN 103368480A CN 2012101054368 A CN2012101054368 A CN 2012101054368A CN 201210105436 A CN201210105436 A CN 201210105436A CN 103368480 A CN103368480 A CN 103368480A
- Authority
- CN
- China
- Prior art keywords
- current
- electric
- current threshold
- motor
- rotating speed
- 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.)
- Granted
Links
Images
Abstract
The invention discloses a control method of a handheld electric-driven tool, wherein a first current threshold value and a smaller second current threshold value are set; when the current of a motor achieves the second current threshold value, the rotary speed of the motor is maintained; and when the current of the motor achieves the first current threshold value, the motor is controlled to be stopped, thus improving the precision of torsion adjusting. The invention also provides a handheld electric-driven tool.
Description
Technical field
The present invention relates to a kind of electric hand tool and control method thereof.
Background technology
For electric hand tool, such as electric drill or screwdriver, usually need to the moment of torsion of its output be limited, in case stop loss bad workpiece or motor damage.
General electric drill or screwdriver are taken at cutter and are provided with the mechanical type safety clutch between moving part and the motor, with the restriction output torque.Yet the volume of mechanical type safety clutch is larger, and the accuracy of torque adjustment is lower.
Also have some electric drills or screwdriver to adopt the mode of electronics to limit output torque, because the moment of torsion of the direct current machine of permanent-magnet-field is roughly proportional with current of electric, basically can limit corresponding moment of torsion by the limiting motor electric current.This kind mode reduces compared with mechanical type safety clutch volume, and accuracy increases.Yet the moment of torsion of direct current machine has more than relevant with current of electric, only comes torque limiting by the limiting motor electric current, and its accuracy is still not high, therefore is necessary existing electric hand tool is improved.
Summary of the invention
For the deficiency that prior art exists, the invention provides the control method of the high electric hand tool of a kind of torque limited accuracy.
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 output first drives the described motor of signal controlling, said method comprising the steps of: set the first current threshold; Described controller control motor speed maintains the rotating speed predetermined value; The detecting current of electric, when current of electric reached described the first current threshold, described controller was controlled described motor stopping.
Further, after setting the first current threshold, set the second current threshold that is lower than described the first current threshold, when current of electric reached described the second current threshold, the rotating speed of described controller control motor remained on the rotating speed predetermined value.
Further, described the first current threshold equals the second current threshold and the constant sum of being scheduled to.
Further, described controller is kept the required voltage of rotating speed predetermined value according to current of electric and the rotating speed predetermined value calculating of detecting, and the virtual voltage of described motor is adjusted to the voltage that calculates.
Further, described controller is take the voltage that calculates as reference voltage, and the virtual voltage of detecting real-time motor, regulates first of described controller output according to the difference of the virtual voltage of motor and reference voltage and drives signal.
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 that is used for the control motor, described control circuit comprises: the first current threshold setup unit is used for setting the first current threshold; The controller that links to each other with described the first current threshold setup unit; The memory cell that links to each other with described controller is used for storing described the first current threshold; With the electronic switch that described motor links to each other, described controller output first drives signal to described electronic switch, and described controller is controlled described motor behind electric motor starting rotating speed remains on the rotating speed predetermined value; The current sense unit that links to each other with described electronic switch and controller is used for the detecting current of electric; Described controller is current of electric and described the first current threshold relatively, when current of electric reaches the first current threshold, stops to export described first and drives signal to described electronic switch, to control described motor stopping.
Further, described control circuit also comprises the second current threshold setup unit, be used for setting the second current threshold that is lower than described the first current threshold, described controller is current of electric and the second current threshold relatively, when current of electric reached the second current threshold, the rotating speed that described controller is controlled described motor remained on the rotating speed predetermined value.
Further, described controller calculates the second current threshold that is lower than described the first current threshold, and compare current of electric and the second current threshold, when current of electric reached the second current threshold, the rotating speed that described controller is controlled described motor remained on the rotating speed predetermined value.
Further, also store predetermined constant in the described memory cell, described the first current threshold equals the second current threshold and the constant sum of being scheduled to.
Further, described controller calculates according to the current of electric of detecting and rotating speed predetermined value and keeps the required voltage of rotating speed predetermined value, and the virtual voltage of described motor is adjusted to the voltage that calculates.
Further, described control circuit also comprises the detecting voltage unit of virtual voltage for the detecting motor, and described controller is take the voltage that calculates as reference voltage, and regulates described the first driving signal according to the virtual voltage of detecting with the difference of reference voltage.
Electric hand tool of the present invention and control method thereof are by setting first and second current threshold; when reaching the second current threshold, keeps current of electric motor speed; when current of electric reaches the second current threshold, control motor stopping, thereby improved the accuracy of torque adjustment.
Description of drawings
The invention will be further described below in conjunction with drawings and Examples:
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 moment of torsion, current of electric and the motor speed of electric hand tool.
Fig. 4 is the graph of relation of current of electric, electric moter voltage and the motor speed of electric hand tool.
Fig. 5 is the circuit diagram of the first preferred embodiments of the artificial mode of electric hand tool of the present invention.
Fig. 6 is the circuit diagram of the second preferred embodiments 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 preferred embodiments of artificial mode of the control method of electric hand tool of the present invention.
Fig. 9 is the curve synoptic diagram of the first preferred embodiments of artificial mode of the control method of electric hand tool of the present invention.
Figure 10 is the flow chart of the second preferred embodiments of artificial mode of the control method of electric hand tool of the present invention.
Figure 11 is the curve synoptic diagram of the second preferred embodiments of artificial mode of the control method of electric hand tool of the present invention.
Figure 12 is the curve synoptic diagram of 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, anchor clamps; 50, power supply module;
60, control circuit; S1, electronic switch; S2, motor switch;
S3, mode selection switch; S4, working stage diverter 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, current limliting unit;
67, current sense unit; 68, detecting voltage unit;
Embodiment
With reference to shown in Figure 1, a kind of electric hand tool 100, such as electric drill or screwdriver, has housing 10, be arranged at the motor 20 in the housing 10, the transmission device 30 that links to each other with motor 20 is by the anchor clamps 40 of transmission device 30 drives, be used for the power supply module 50 to motor 20 power supplies, be used for the control circuit 60 that motor 20 is controlled.
Please refer to Fig. 2, control circuit 60 has controller 61, electronic switch S1, motor switch S2, mode selection switch S3, working stage diverter switch S4, resistance R 1, switch detecting unit 62, memory cell 63, the first current threshold setup unit 64, the second current threshold setup unit 65, current limliting unit 66, current sense unit 67 and detecting voltage unit 68.
The positive pole of motor 20 links to each other with the positive pole of power supply module 50 by motor switch S2, and negative pole links to each other with the first end of electronic switch S1.The second end of electronic switch S1 links to each other with the first end of controller 61, and the 3rd end links to each other by the negative pole of resistance R 1 with power supply module 50.
The second end of controller 61 is connected in the node between motor switch S2 and the motor 20, the 3rd end links to each other with the positive pole of motor 20 by detecting voltage unit 68, the 4th end links to each other with the second end of electronic switch S1 by current limliting unit 66, five terminal links to each other with the 3rd end of electronic switch S1 by current sense unit 67, the 6th end links to each other with the first current threshold setup unit 64, the 7th end links to each other with the second current threshold setup unit 65, the 8th end links to each other with mode selection switch S3, the 9th end links to each other with working stage diverter switch S4, and the tenth end links to each other with memory cell 63.In the present embodiment, controller 61 is MCU, and its output first drives signal to electronic switch S1.
The user as required operator scheme selector switch S3 to switch to artificial mode or automatic mode.In automatic mode, but initial shift or second working stage of operation element stage diverter switch S4 to switch to automatic mode.
In the present embodiment, mode selection switch S3, working stage diverter switch S4 and the first current threshold setup unit 64 can be triggered by same triggering part, and this triggering part is toggle switch.When toggle switch toggles it to diverse location, trigger different mode of operations, working stage or different current thresholds.
Respectively artificial mode and the automatic mode of electric hand tool 100 of the present invention 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 the motor speed N is: when current of electric was definite value, motor speed N was higher, and torque T is less; When motor speed N was definite value, current of electric was larger, and torque T is larger; When torque T was definite value, current of electric was larger, and motor speed N is higher.Therefore in the situation that motor speed N determines, there are corresponding relation in torque T and current of electric, come the torque T of limiting motor 20 by the limiting motor electric current, will greatly improve the accuracy of torque adjustment.
Please refer to Fig. 5, in the first preferred embodiments 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 R 1, detecting voltage unit 68, current sense unit 67, the first current threshold setup unit 64, the second current threshold setup unit 65 and memory cell 63.Motor 20 is by controller 61 and electronic switch S1 control.
The user operates the first current threshold setup unit 64 with artificial setting the first current threshold I1.
The second current threshold setup unit 65 is set the second current threshold I2 that is lower than the first current threshold I1.In the present embodiment, store some predetermined constants in the memory cell 63, each predetermined constant is corresponding from the first different current thresholds, the second current threshold setup unit 65 is independent subtracter, the second current threshold setup unit 65 deducts predetermined constant with the first current threshold I1, obtains the second current threshold I2.The second current threshold I2 also can calculate 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 execution modes, but the user also direct control the second current threshold setup unit 65 with manual setting the second current threshold I2.
Motor switch S2 is trigger, and the user presses the trigger of electric hand tool 100 with starter motor 20.
Please refer to Fig. 4, because motor speed N is relevant with electric moter voltage and current of electric I, and when load increased, current of electric I also increased accordingly, if need keep motor speed N, then needed to increase corresponding electric moter voltage.Therefore can calculate according to the current of electric I of detecting and keep the required magnitude of voltage of rotating speed predetermined value N1, again the virtual voltage of motor 20 is adjusted to the magnitude of voltage that calculates to keep motor speed N as rotating speed predetermined value N1.
In the present embodiment, store rotating speed predetermined value N1 in the memory cell 63, current sense unit 67 detecting current of electric, controller 61 is kept the required magnitude of voltage of rotating speed predetermined value N1 according to the current of electric calculating of rotating speed predetermined value N1 and detecting.Controller 61 is take the magnitude of voltage that calculates as reference voltage.The virtual voltage of detecting voltage unit 68 detecting real-time motors 20, the first driving signal that controller 61 is exported according to the difference conditioning controller 61 of the virtual voltage of detecting and reference voltage, thus keep motor speed.
In the present embodiment, the first driving signal is pulse-width signal, if when the virtual voltage of motor 20 surpasses reference voltage, controller 61 reduces the duty ratio of the first driving signal; If the virtual voltage of motor 20 is during less than reference voltage, controller 61 increases the first duty ratio that drives signal.
When keeping motor speed; controller 61 continues the detecting current of electric by current sense unit 67; and with current of electric and the first current threshold I1 comparison detected; when current of electric reaches the first current threshold I1; controller 61 stops to export first and drives signal, shuts down with control motor 20.
Please refer to Fig. 6, in the second preferred embodiments 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 R 1, detecting voltage unit 68, current sense unit 67, current limliting unit 66, the first current threshold setup unit 64, the second current threshold setup unit 65 and memory cell 63.
The second current threshold setup unit 65 is set the second current threshold I2 that is lower than the first current threshold I1.In the present embodiment, store some predetermined constants in the memory cell 63, each predetermined constant is corresponding from the first different current thresholds, the second current threshold setup unit 65 is independent subtracter, the second current threshold setup unit 65 deducts predetermined constant with the first current threshold I1, obtains the second current threshold I2.The second current threshold I2 also can calculate 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 execution modes, but the user also direct control the second current threshold setup unit 65 with manual setting the second current threshold I2.
Motor switch S2 is trigger, and the user presses the trigger of electric hand tool 100 with starter motor 20.
Particularly, current limliting unit 66 has comparator, comparator the current of electric of detecting less than the second current threshold I2 time output Continuity signal, at the current of electric of detecting output cut-off signals during more than or equal to the second current threshold I2.Conducting/cut-off signals is fed back to first of controller 61 outputs and drives in the signal, obtains second and drives signal, thereby motor current value is maintained the second current threshold I2.
When keeping current of electric, the rotating speed of motor 20 judged by controller 61 and when motor speed dropped to rotating speed predetermined value N1, the rotating speed of controller 61 control motors 20 remained on rotating speed predetermined value N1.Motor speed when described rotating speed predetermined value N1 is lower than the general work state, so motor can be made a response rapidly in follow-up control.
Please refer again to Fig. 4, when current of electric was constant, electric moter voltage was less, and motor speed is lower, and controller 61 is by the virtual voltage of detecting voltage unit 68 detecting motors 20, thus the judgement motor speed.
Store rotating speed predetermined value N1 in the memory cell 63, it is N1, the electric moter voltage when current of electric is I2 that controller 61 calculates motor speed, the virtual voltage of detecting voltage unit 68 detecting motors 20, when the virtual voltage of motor 20 dropped to the electric moter voltage value of controller 61 calculating, the rotating speed of controller 61 control motors 20 remained on rotating speed predetermined value N1.
When keeping motor speed; controller 61 continues the detecting current of electric by current sense unit 67; and with current of electric and the first current threshold I1 comparison detected; when the current of electric of detecting reaches the first current threshold I1; controller 61 stops to export first and drives signal, shuts down with 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 R 1, working stage diverter switch S4, detecting voltage unit 68, current sense unit 67, memory cell 63, current limliting unit 66 and switch detecting unit 62.Motor 20 is by controller 61 and electronic switch S1 control.
Operation element stage diverter switch S4 can switch to initial shift with electric hand tool 100, and operate electric hand tool 100 by veteran user this moment, and the rotating speed of controller 61 control motors 20 remains on rotating speed predetermined value N1.
Particularly, store rotating speed predetermined value N1 in the memory cell 63, current sense unit 67 detecting current of electric, controller 61 is kept the required magnitude of voltage of rotating speed predetermined value N1 according to the current of electric calculating of rotating speed predetermined value N1 and detecting, and to keep the required magnitude of voltage of rotating speed predetermined value N1 as reference voltage.Controller 61 according to the virtual voltage of detecting and the first driving signal of difference conditioning controller 61 outputs of reference voltage, thereby is kept motor speed by the virtual voltage of detecting voltage unit 68 detecting motors 20.
When keeping motor speed, the user is according to operating mode, reaches the degree of depth, position of expectation etc. such as workpiece, disconnects motor switch S2 and shuts down with 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 motor switch S2 and closes; controller 61 is by current sense unit 67 record current of electric Ia at this moment; and the current of electric Ia automatic setting current threshold Ib when shutting down, the corresponding corresponding target torque of this current threshold Ib.
Particularly, described controller 61 is according to the data relationship between current of electric, torque T and the motor speed N among Fig. 2, calculate when current of electric be Ia, the motor speed torque T 1 when being rotating speed predetermined value N1, calculate again when moment of torsion is T1, current of electric when motor speed is 0, and this current of electric is defined as current threshold Ib.
Automatic mode in the second working stage, current sense unit 67 detecting current of electric.Current limliting unit 66 compares current of electric and the current threshold Ib of detecting, when the current of electric of detecting reaches current threshold Ib, current limliting unit 66 control current of electric remain on current threshold Ib, thereby the control current of electric is not more than described current threshold Ib, and this moment, motor speed descended.
Particularly, current limliting unit 66 has comparator, comparator the current of electric of detecting less than current threshold Ib time output Continuity signal, the current of electric of detecting more than or equal to current threshold Ib time output cut-off signals, and conducting/cut-off signals is fed back to first drive in the signal, obtaining second and drive signal, is described current threshold Ib thereby keep motor current value.
When keeping current of electric, the rotating speed of motor 20 judged by controller 61 and when motor speed dropped to definite value, controller 61 control motors 20 were shut down.Because when current of electric was constant, electric moter voltage was less, motor speed is lower, therefore can judge motor speed by the detecting electric moter voltage.
In the present embodiment; controller 61 detectings second drive the duty ratio of signal; when the second duty ratio that drives signal is lower than 0.1; the expression electric moter voltage is lower than predetermined value; further the expression motor speed is lower than definite value; this Time Controller 61 stops to export first and drives signal, thereby control motor 20 is shut down.
The present invention also provides the control method of two kinds of electric hand tools 100: artificial mode and automatic mode.
Please refer to Fig. 8, the first preferred embodiments of described artificial mode may further comprise the steps:
Step S1: manually set the first current threshold I1, the user can set the current threshold corresponding with target torque by the first current threshold setup unit 64 on the operation electric hand tool 100.
Step S2: manually set or automatically calculate 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 the present embodiment, the second current threshold I2 is calculated by the controller 61 in the electric hand tool 100.
Step S3: the 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 then to enter step S6, otherwise return step S4.
Step S6: when current of electric reached the second current threshold I2, the rotating speed of control motor 20 remained on rotating speed predetermined value N1.Motor speed when described rotating speed predetermined value N1 is lower than the general work state.
Step S7: judge whether current of electric reaches the first current threshold I1, is then to enter step S8, otherwise return step S6.
Step S8: when current of electric reached the first current threshold I1, control motor 20 was shut down.
As shown in Figure 9, in time t1, motor 20 starts moment, motor speed N fast rise, 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 fast-descending is to rotating speed predetermined value N 1; 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, and control motor 20 is shut down.In the present embodiment, when current of electric I reached the first current threshold I1, controller 61 stopped to export first and drives signal, thereby 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 increased, current of electric I also increased accordingly, if need keep motor speed N, then needed to increase corresponding electric moter voltage.Therefore can calculate according to the current of electric I of detecting and keep the required magnitude of voltage of rotating speed predetermined value N1, again by regulating electric machine voltage to keep motor speed N as rotating speed predetermined value N1.
In the present embodiment, store rotating speed predetermined value N1 in the memory cell 63, current sense unit 67 detecting current of electric, controller 61 is kept the required magnitude of voltage of rotating speed predetermined value N1 according to the current of electric calculating of rotating speed predetermined value N1 and detecting.Controller 61 is to keep the required magnitude of voltage of rotating speed predetermined value N1 as reference voltage.Controller 61 is by the virtual voltage of detecting voltage unit 68 detecting real-time motors 20, and according to the virtual voltage of detecting and the first driving signal of difference conditioning controller 61 outputs of reference voltage, thereby keep motor speed.
Please refer to Figure 10, in the second preferred embodiments of described artificial mode, first take the second current threshold I2 as reference threshold, and keep this current threshold a period of time, then keep motor speed, to finish the fastening of workpiece.So before workpiece is fastening, prevent the sudden change of current of electric, effectively protected motor 20.Particularly, the second preferred embodiments of described artificial mode may further comprise the steps:
Step S1: manually set the first current threshold I1.
Step S2: manually set or automatically calculate 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: the 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 then to enter step S6, otherwise return step S4.
Step S6: when current of electric reached the second current threshold I2, keeping current of electric was the second current threshold I2.
Step S7: judge whether motor speed drops to rotating speed predetermined value N1, is then to enter step S8, otherwise return step S6.Motor speed when described rotating speed predetermined value N1 is lower than the general work state.
Step S8: the rotating speed of control motor 20 remains on rotating speed predetermined value N1.
Step S9: judge whether current of electric reaches the first current threshold I1, is then to enter step S10, otherwise return step S8.
Step S10: when current of electric reached the first current threshold I1, control motor 20 was shut down.
As shown in figure 11, in time t1, motor 20 starts moment, motor speed N fast rise, 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 it is the second current threshold I2 that the control motor is kept current of electric, and motor speed descends 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, and control motor 20 is shut down.
Under artificial mode; when current of electric reaches the second current threshold I2; N is constant for the control motor speed; when current of electric reaches the first current threshold I1; control motor 20 is shut down; thereby the limiting motor electric current I, the output torque T of further limiting motor 20 is so that the accuracy of torque adjustment improves greatly.
Described automatic mode has initial shift and the second working stage, electric hand tool 100 automatic setting parameter thresholds during initial shift, and electric hand tool 100 carries out torque limited according to the parameter threshold of setting during the second working stage.
Please refer to Figure 12; at initial shift; operate electric hand tool 100 by veteran user; the user is according to operating mode; reach the degree of depth, position of expectation etc. such as workpiece, disconnect motor switch S2 and shut down at least one parameter of electric machine when Auto-Sensing is shut down with control motor 20; and according to this parameter of electric machine automatic setting parameter threshold, the corresponding corresponding target torque of this parameter threshold.
At the second working stage, restart motor 20, less user operates electric hand tool 100 by experience, the corresponding parameter of electric machine of detecting real-time, and with the parameter of electric machine and the above-mentioned parameter threshold detected, when the parameter of electric machine reaches the above-mentioned parameter threshold value, the control parameter of electric machine is not more than this parameter threshold, so so that moment of torsion is not more than target torque, so that workpiece consistent degree of depth when reaching with initial shift has made things convenient for the less user's of experience operation.
In the present embodiment, this parameter of electric machine is current of electric, the current of electric Ia when record is shut down in the initial shift, and according to current of electric Ia setting current threshold Ib.Please refer again to Fig. 3, because motor speed N is when being definite value, current of electric is larger, and torque T is larger, therefore keeps motor speed in initial shift, so that the parameter threshold that the current of electric when shutting down is set is more accurate.For convenient design, in the present embodiment, the motor speed in the initial shift maintains rotating speed predetermined value N1.
In the present embodiment, keeping motor speed by regulating electric machine voltage is rotating speed predetermined value N1, and the step S6 in the first preferred embodiments of concrete grammar and artificial mode is identical.
According to the data relationship between current of electric, torque T and the motor speed N among Fig. 3, it is Ia, the motor speed torque T 1 when being rotating speed predetermined value N1 that described controller 61 calculates current of electric, calculated torque T1, motor speed are 0 o'clock current of electric again, and this current of electric is defined as current threshold Ib.
In the second working stage, when current of electric reached current threshold Ib, the current value of keeping motor 20 was described current threshold Ib, thereby the control current of electric is not more than described current threshold Ib.
As shown in figure 13, in time t1, motor 20 starts moment, the motor speed fast rise, 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 reached current threshold Ib, the control current of electric maintained current threshold Ib, and motor speed descends simultaneously.When time t3, control motor 20 was shut down when motor speed dropped to certain value (be zero such as rotating speed).
In other execution modes, also can adopt the mode of other torque limited in the second working stage, as shown in Figure 9, this moment, the first current threshold I1 was the current threshold Ib of automatic setting in the initial shift.
What it may occur to persons skilled in the art that is; the concrete structure of hay mover and docking charging system can have a lot of versions among the present invention; but technical characteristics and the present invention of the used technical solution are same or similar, all should be covered by in the protection range of the present invention.
Claims (11)
1. the control method of an electric hand tool, described electric hand tool comprises motor controller, described controller output first drives the described motor of signal controlling, it is characterized in that, said method comprising the steps of: set the first current threshold (I1);
Described controller control motor speed maintains rotating speed predetermined value (N1);
The detecting current of electric, when current of electric reached described the first current threshold (I1), described controller was controlled described motor stopping.
2. control method according to claim 1, it is characterized in that: after setting the first current threshold (I1), setting is lower than second current threshold (I2) of described the first current threshold (I1), when current of electric reached described the second current threshold (I2), the rotating speed of described controller control motor remained on rotating speed predetermined value (N1).
3. control method according to claim 2 is characterized in that: the constant sum that described the first current threshold (I1) equals the second current threshold (I2) and is scheduled to.
4. control method according to claim 1, it is characterized in that: described controller is kept the required voltage of rotating speed predetermined value (N1) according to current of electric and rotating speed predetermined value (N1) calculating of detecting, and the virtual voltage of described motor is adjusted to the voltage that calculates.
5. control method according to claim 4, it is characterized in that: described controller is take the voltage that calculates as reference voltage, and the virtual voltage of detecting real-time motor, regulate the first driving signal that described controller is exported according to the virtual voltage of motor and the difference of reference voltage.
6. electric hand tool comprises housing, is positioned at the motor of housing, by motor-driven transmission mechanism and the control circuit that is used for the control motor, it is characterized in that described control circuit comprises:
The first current threshold setup unit is used for setting the first current threshold (I1);
The controller that links to each other with described the first current threshold setup unit;
The memory cell that links to each other with described controller is used for storing described the first current threshold (I1);
With the electronic switch that described motor links to each other, described controller output first drives signal to described electronic switch,
Described controller is controlled described motor behind electric motor starting rotating speed remains on rotating speed predetermined value (N1);
The current sense unit that links to each other with described electronic switch and controller is used for the detecting current of electric;
Described controller is current of electric and described the first current threshold (I 1) relatively, when current of electric reaches the first current threshold (I1), stops to export described first and drives signal to described electronic switch, to control described motor stopping.
7. electric hand tool according to claim 6, it is characterized in that: described control circuit also comprises the second current threshold setup unit, be used for setting the second current threshold (I2) that is lower than described the first current threshold (I1), described controller is current of electric and the second current threshold (I2) relatively, when current of electric reached the second current threshold (I2), the rotating speed that described controller is controlled described motor remained on rotating speed predetermined value (N1).
8. electric hand tool according to claim 6, it is characterized in that: described controller calculates the second current threshold (I2) that is lower than described the first current threshold (I1), and comparison current of electric and the second current threshold (I2), when current of electric reached the second current threshold (I2), the rotating speed that described controller is controlled described motor remained on rotating speed predetermined value (N1).
9. according to claim 7 or 8 described electric hand tools, it is characterized in that: also store predetermined constant in the described memory cell, described the first current threshold (I1) equals the second current threshold (I2) and predetermined constant sum.
10. electric hand tool according to claim 6, it is characterized in that: described controller calculates according to the current of electric of detecting and rotating speed predetermined value (N1) and keeps the required voltage of rotating speed predetermined value (N1), and the virtual voltage of described motor is adjusted to the voltage that calculates.
11. electric hand tool according to claim 10, it is characterized in that: described control circuit also comprises the detecting voltage unit for the virtual voltage of detecting motor, described controller is take the voltage that calculates as reference voltage, and regulates described the first driving signal according to the virtual voltage of detecting with the difference of reference voltage.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210105436.8A CN103368480B (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 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210105436.8A CN103368480B (en) | 2012-03-31 | 2012-03-31 | Electric hand tool and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103368480A true CN103368480A (en) | 2013-10-23 |
| CN103368480B CN103368480B (en) | 2016-11-16 |
Family
ID=49369170
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210105436.8A Active CN103368480B (en) | 2012-03-31 | 2012-03-31 | Electric hand tool and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103368480B (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104865852A (en) * | 2014-01-14 | 2015-08-26 | 罗伯特·博世有限公司 | Freely programmable objective function and monitoring function |
| CN105082038A (en) * | 2014-05-07 | 2015-11-25 | 苏州博来喜电器有限公司 | Hand-held electric tool and automatic stopping method thereof |
| CN105388922A (en) * | 2014-09-02 | 2016-03-09 | 苏州宝时得电动工具有限公司 | Control method and control system for electric tool, and electric tool |
| CN105500264A (en) * | 2015-12-31 | 2016-04-20 | 宁波中旺工具有限公司 | Electric screwdriver and control method thereof |
| CN105500263A (en) * | 2015-12-31 | 2016-04-20 | 宁波中旺工具有限公司 | Electric screw driver with adjustable output torque |
| CN105538242A (en) * | 2015-12-31 | 2016-05-04 | 宁波中旺工具有限公司 | Electric screw driver |
| CN105563401A (en) * | 2015-12-31 | 2016-05-11 | 宁波中旺工具有限公司 | Electric screwdriver provided with circuit protection unit storage batteries |
| CN105666392A (en) * | 2015-12-31 | 2016-06-15 | 宁波中旺工具有限公司 | Electric screw driver capable of automatically adjusting output torque |
| TWI677408B (en) * | 2017-12-08 | 2019-11-21 | 日商肯耐克科技股份有限公司 | Tool, operation management device, operation management method and operation management system |
| CN111823193A (en) * | 2019-04-19 | 2020-10-27 | 苏州宝时得电动工具有限公司 | Electric tool and control method thereof |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7268509B2 (en) * | 2002-04-16 | 2007-09-11 | Metabowerke Gmbh | Electric driven tool device |
| CN101247100A (en) * | 2007-02-16 | 2008-08-20 | 苏州宝时得电动工具有限公司 | Electric tool control method and electric tool using the same |
| CN101256910A (en) * | 2007-03-01 | 2008-09-03 | 苏州宝时得电动工具有限公司 | Switch of electric tool and electric tool using the switch |
| CN101499763A (en) * | 2008-02-03 | 2009-08-05 | 苏州宝时得电动工具有限公司 | Controlling method for electric tool and electric tool executing the controlling method |
| CN101789748A (en) * | 2009-01-19 | 2010-07-28 | 日立工机株式会社 | Electric tool |
| CN102300677A (en) * | 2009-02-02 | 2011-12-28 | 日立工机株式会社 | Electric boring tool |
| CN102770241A (en) * | 2010-02-22 | 2012-11-07 | 日立工机株式会社 | Impact tool |
-
2012
- 2012-03-31 CN CN201210105436.8A patent/CN103368480B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7268509B2 (en) * | 2002-04-16 | 2007-09-11 | Metabowerke Gmbh | Electric driven tool device |
| CN101247100A (en) * | 2007-02-16 | 2008-08-20 | 苏州宝时得电动工具有限公司 | Electric tool control method and electric tool using the same |
| CN101256910A (en) * | 2007-03-01 | 2008-09-03 | 苏州宝时得电动工具有限公司 | Switch of electric tool and electric tool using the switch |
| CN101499763A (en) * | 2008-02-03 | 2009-08-05 | 苏州宝时得电动工具有限公司 | Controlling method for electric tool and electric tool executing the controlling method |
| CN101789748A (en) * | 2009-01-19 | 2010-07-28 | 日立工机株式会社 | Electric tool |
| CN102300677A (en) * | 2009-02-02 | 2011-12-28 | 日立工机株式会社 | Electric boring tool |
| CN102770241A (en) * | 2010-02-22 | 2012-11-07 | 日立工机株式会社 | Impact tool |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104865852A (en) * | 2014-01-14 | 2015-08-26 | 罗伯特·博世有限公司 | Freely programmable objective function and monitoring function |
| CN105082038A (en) * | 2014-05-07 | 2015-11-25 | 苏州博来喜电器有限公司 | Hand-held electric tool and automatic stopping method thereof |
| CN105388922A (en) * | 2014-09-02 | 2016-03-09 | 苏州宝时得电动工具有限公司 | Control method and control system for electric tool, and electric tool |
| CN105500264A (en) * | 2015-12-31 | 2016-04-20 | 宁波中旺工具有限公司 | Electric screwdriver and control method thereof |
| CN105500263A (en) * | 2015-12-31 | 2016-04-20 | 宁波中旺工具有限公司 | Electric screw driver with adjustable output torque |
| CN105538242A (en) * | 2015-12-31 | 2016-05-04 | 宁波中旺工具有限公司 | Electric screw driver |
| CN105563401A (en) * | 2015-12-31 | 2016-05-11 | 宁波中旺工具有限公司 | Electric screwdriver provided with circuit protection unit storage batteries |
| CN105666392A (en) * | 2015-12-31 | 2016-06-15 | 宁波中旺工具有限公司 | Electric screw driver capable of automatically adjusting output torque |
| CN105666392B (en) * | 2015-12-31 | 2019-03-08 | 宁波中旺工具有限公司 | A kind of electric screw driver automatically adjusting output torque |
| TWI677408B (en) * | 2017-12-08 | 2019-11-21 | 日商肯耐克科技股份有限公司 | Tool, operation management device, operation management method and operation management system |
| CN111823193A (en) * | 2019-04-19 | 2020-10-27 | 苏州宝时得电动工具有限公司 | Electric tool and control method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103368480B (en) | 2016-11-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103368480A (en) | Handheld electric-driven tool and control method thereof | |
| CN103358289B (en) | Electric hand tool and control method thereof | |
| US9707671B2 (en) | Electric tool and controlling method thereof | |
| US9923492B2 (en) | Electric power tool and motor control method thereof | |
| US9073186B2 (en) | Electric power tool | |
| US10562160B2 (en) | Impact tool and method of controlling impact tool | |
| CN103368483B (en) | Electric hand tool and control method thereof | |
| CN102487210B (en) | Electric tool and control method thereof | |
| CN106576569A (en) | Electric tool and control method thereof | |
| CN112140066B (en) | Electric tool | |
| US8729845B2 (en) | Method and device for controlling an electric motor | |
| CN101521369A (en) | Method and system of providing overload and short-circuit protection for a switched mode power supply | |
| EP3840211A1 (en) | Electric tool and method for starting same | |
| US20140352992A1 (en) | Rotation speed control method for impact type fastening tools | |
| US20200078897A1 (en) | Systems and methods for heat management using speed control for a power tool | |
| WO2013143489A1 (en) | Hand-held electric tool and control method thereof | |
| JP2013188825A (en) | Electric tool | |
| US11811347B2 (en) | Selectable current limiting for power tool | |
| JP5520177B2 (en) | Battery powered power tool | |
| CN106142020A (en) | Utilize the method that trigger controls motor | |
| CN105490588A (en) | Separately excited DC motor soft starter based on XE164FN | |
| US20230163706A1 (en) | Power tool, impact wrench, and tool control method | |
| JP2020104244A (en) | Electric work machine | |
| CN113497573A (en) | Electric tool rotation speed control method and electric tool | |
| US11133766B2 (en) | Electric working machine, and method for supplying electric power to controller of electric working machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |