CN106330052A - Method and system for driving pan-tilt motor - Google Patents
Method and system for driving pan-tilt motor Download PDFInfo
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- CN106330052A CN106330052A CN201510353496.5A CN201510353496A CN106330052A CN 106330052 A CN106330052 A CN 106330052A CN 201510353496 A CN201510353496 A CN 201510353496A CN 106330052 A CN106330052 A CN 106330052A
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Abstract
The invention discloses a method and system for driving a pan-tilt motor. The method comprises the steps of obtaining relative angular displacement of an output shaft of the motor relative to a zero point position; determining the minimum locking torque corresponding to the relative angular displacement according to a preset first motor load curve; determining self-locking torque of the motor and making the self-locking torque greater than the minimum locking torque; and driving the motor according to the self-locking torque. The method and the system can meet effective support on a camera to a certain extent, can effectively reduce the power consumption, achieve the targets of energy conservation and emission reduction, are good in environmental protection capability and conform to the basic state policy of energy conservation and emission reduction of our country.
Description
Technical field
The present invention relates to cradle head control technical field, particularly relate to a kind of method for driving horizontal stage electric machine, also
Relate to a kind of system for driving horizontal stage electric machine.
Background technology
In today that security protection industry is constantly ripe, various The Cloud Terraces or monopod video camera the most constantly go out
Existing.For all angles with different attitude (i.e. level angle and vertical angle) monitoring places, The Cloud Terrace bag
Include horizontal motor and motor vertical.In order to make video camera be held stationary at certain attitude, need to horizontal motor and
/ or motor vertical enough self-locking moment is provided.
For horizontal motor or motor vertical, prior art generally drives according to a certain fixedly locked moment
Motor, to realize the fixed point monitoring of full visual angle.Specifically, first prior art determines motor institute under every kind of attitude
The locking moment needed, it is then determined that the maximum in all locking moment, will be greater than the locking moment of this maximum
As specifying locking moment, and drive motor according to this appointment lock moment omnidistance (the whole process of cloud platform rotation).
But, during cloud platform rotation, drive motor according to above-mentioned appointment locking moment all the time, will certainly make
Becoming unnecessary power attenuation and energy waste, environmental-protecting performance is poor, does not meets the fundamental state policy of China's energy-saving and emission-reduction.
Summary of the invention
The technical problem to be solved is: in prior art, during cloud platform rotation, presses all the time
According to specifying locking moment (specifying the locking moment maximum more than the locking moment needed for motor under various attitudes)
Driving motor, this will certainly cause unnecessary power attenuation and energy waste, and environmental-protecting performance is poor, does not meets
The fundamental state policy of China's energy-saving and emission-reduction.
In order to solve above-mentioned technical problem, the invention provides a kind of for driving the method for horizontal stage electric machine and being
System, substantially increases the environmental-protecting performance of The Cloud Terrace.
According to an aspect of the invention, it is provided a kind of method for driving horizontal stage electric machine, comprising:
Obtain the output shaft relative angular displacement relative to dead-center position of described motor；
According to the first default motor load curve, determine the minimum latching force corresponding with described relative angular displacement
Square；
Determine the self-locking moment of described motor, and make described self-locking moment more than described minimum locking moment；
According to described self-locking moment, drive described motor.
Preferably, according to the first default motor load curve, determine corresponding with described relative angular displacement
Minimum locking moment, including:
Described first motor load curve is divided into multiple interval；
The first motor load curve in each described interval is fitted to straight line, and makes the amplitude of described straight line
Maximum equal to the first motor load curve in described interval；
According to the segmented linear being made up of all interval corresponding straight lines, determine corresponding with described relative angular displacement
Minimum locking moment.
Preferably, determine the self-locking moment of described motor, and make described self-locking moment more than described minimum locking
Moment, including:
According to the second default motor load curve, determine the maximum latching force corresponding with described relative angular displacement
Square；
Calculate described maximum locking moment and deduct the difference of described minimum locking moment；
Calculating the product of described difference and the percentage ratio preset, described percentage ratio is the reality more than 0 and less than 1
Number；
By described minimum locking moment and the described sum of products, it is defined as the self-locking moment of described motor.
Preferably, according to described self-locking moment, described motor is driven to include:
According to described self-locking moment, determine driving voltage；
Utilize described driving voltage that described motor is carried out constant voltage driving.
Preferably, according to described self-locking moment, described motor is driven to include:
According to described self-locking moment, determine driving electric current；
Utilize described driving electric current that described motor is carried out constant-current driving.
According to another aspect of the present invention, it is provided that a kind of for driving the system of horizontal stage electric machine, comprising:
Acquisition module, obtains the output shaft relative angular displacement relative to dead-center position of described motor；
Minimum locking moment determines module, according to the first default motor load curve, determines and described relative angle
The minimum locking moment that displacement is corresponding；
Self-locking moment determines module, determines the self-locking moment of described motor, and makes described self-locking moment more than described
Minimum locking moment；
Drive module, according to described self-locking moment, drive described motor.
Preferably, described minimum locking moment determines that module includes:
Division unit, is divided into multiple interval by described first motor load curve；
Fitting unit, fits to straight line by the first motor load curve in each described interval, and makes described straight line
Amplitude equal to the maximum of the first motor load curve in described interval；
Minimum locking moment determines unit, according to the segmented linear being made up of all interval corresponding straight lines, determines
The minimum locking moment corresponding with described relative angular displacement.
Preferably, described self-locking moment determines that module includes:
Maximum locking moment determines unit, according to the second default motor load curve, determines and described relative angle
The maximum locking moment that displacement is corresponding；
First computing unit, calculates described maximum locking moment and deducts the difference of described minimum locking moment；
Second computing unit, calculates the product of described difference and the percentage ratio preset, and described percentage ratio is more than 0
And the real number less than 1；
Self-locking moment determines unit, by described minimum locking moment and the described sum of products, is defined as described motor
Self-locking moment.
Preferably, described driving module includes:
Driving voltage determines unit, according to described self-locking moment, determines driving voltage；
First driver element, utilizes described driving voltage that described motor is carried out constant voltage driving.
Preferably, described driving module includes:
Drive current determination unit, according to described self-locking moment, determine driving electric current；
Second driver element, utilizes described driving electric current that described motor is carried out constant-current driving.
Compared with prior art, the one or more embodiments in such scheme can have the advantage that or useful
Effect:
Applying described driving method, determining relative to the relative angular displacement of dead-center position according to the output shaft of motor ought
The self-locking moment of front sampling instant motor, and utilize determined by self-locking moment drive motor.On the one hand, by
Self-locking moment determined by ensure that in the present invention locks moment more than minimum, therefore, it is possible to a certain extent
Meet the effective support to video camera；On the other hand, can export not for the different attitudes of The Cloud Terrace due to the present invention
Same self-locking moment, therefore compared in prior art, according to specifying locking moment, (appointment locking moment is big all the time
The maximum of locking moment needed for motor under various attitudes) drive the situation of motor, the present embodiment can have
Effect reduces power consumption, has reached the purpose of energy-saving and emission-reduction, good environmental protection, has met the basic state of China's energy-saving and emission-reduction
Plan.
Other features and advantages of the present invention will illustrate in the following description, and partly from description
Become apparent, or understand by implementing the present invention.The purpose of the present invention and other advantages can be passed through
Structure specifically noted in description, claims and accompanying drawing realizes and obtains.
Accompanying drawing explanation
Accompanying drawing is for providing a further understanding of the present invention, and constitutes a part for description, with the present invention
Embodiment be provided commonly for explain the present invention, be not intended that limitation of the present invention.In the accompanying drawings:
Fig. 1 shows the schematic flow sheet of the method for driving horizontal stage electric machine；
Fig. 2 shows the schematic flow sheet of the method determining minimum locking moment；
Fig. 3 shows the schematic flow sheet of the method for the self-locking moment determining motor；
Fig. 4 shows the structural representation of the system for driving horizontal stage electric machine；
Fig. 5 shows that minimum locking moment determines the structural representation of module；And
Fig. 6 shows that self-locking moment determines the structural representation of module.
Detailed description of the invention
Embodiments of the present invention are described in detail, whereby to the present invention how below with reference to drawings and Examples
Application technology means solve technical problem, and the process that realizes reaching technique effect can fully understand and real according to this
Execute.As long as it should be noted that do not constitute conflict, in each embodiment in the present invention and each embodiment
Each feature can be combined with each other, and the technical scheme formed is all within protection scope of the present invention.
Before elaborating each specific embodiment, the first structure of brief description cradle head mechanism.This The Cloud Terrace machine
Structure mainly includes base, horizontal motor, head seat, motor vertical and the first support and the second support.Specifically,
Head seat is rotatably arranged on the upper surface of base by rotating shaft, and the output shaft of horizontal motor is vertically
Arranging, the output shaft of horizontal motor is in transmission connection with rotating shaft (such as passing through belt), to drive cloud by rotating shaft
Pedestal horizontally rotates relative to the upper surface of base.Motor vertical, the first support and the second support are arranged at cloud
On pedestal.What the first support and the second support were spaced is oppositely arranged, and offers on the first support
One through hole, offers the second through hole on the secondary support bracket, is fixed with clutch shaft bearing in the first through hole, the second through hole
Inside it is fixed with the second bearing.Camera pedestal is located between the first support and the second support, in the left and right two of video camera
Side is fixed with the first rotating shaft and the second rotating shaft respectively, and the first rotating shaft is rotatably connected with clutch shaft bearing, and second
Rotating shaft rotatably coordinates with the second bearing.The output shaft of motor vertical in horizontal direction, the output shaft of motor vertical
It is in transmission connection with the first rotating shaft or the second rotating shaft (such as passing through belt), with by the first rotating shaft or second
Rotating shaft drives video camera to rock back and forth relative to the first support and the second support.
It is pointed out that the present embodiment is not limited to above-mentioned cradle head mechanism, such as, can be only to include horizontal motor
Or the cradle head mechanism of motor vertical.
In prior art, during cloud platform rotation, all the time according to specifying locking moment (to specify locking moment
Maximum more than the locking moment needed for motor under various attitudes) drive motor, this will certainly cause need not
The power attenuation wanted and energy waste, environmental-protecting performance is poor, does not meets the fundamental state policy of China's energy-saving and emission-reduction.For solving
Certainly above-mentioned technical problem, present embodiments provides a kind of method for driving horizontal stage electric machine.
As it is shown in figure 1, be the schematic flow sheet of the method for driving horizontal stage electric machine of the present embodiment.This enforcement
The method being used for driving horizontal stage electric machine described in example, mainly comprises the steps that
Step 101: obtain the output shaft relative angular displacement relative to dead-center position of motor.
Specifically, after The Cloud Terrace powers on, first pass through detection Zero-point switch or position sensor to obtain motor
The dead-center position of output shaft.Then, after cloud platform rotation, current sample time is obtained by position sensor
The output shaft of motor is relative to the relative angular displacement of dead-center position.Here, relative angular displacement is current sample time
The angular displacement of output shaft of the motor obtained deducts the difference that the output shaft of motor is in the angular displacement of dead-center position.
Step 102: according to the first default motor load curve, determine the minimum corresponding with relative angular displacement
Locking moment.
In specific implementation process, load for certain, set up the phase of the output shaft of motor by test experiment
Relation corresponding between diagonal displacement and required minimum locking moment.I.e. pass through test experiment, it is established that electricity
During the output shaft of machine is transitioned into appointment position from dead-center position, the change of the minimum locking moment needed for motor
Change curve.When performing this step, directly obtain in this first motor load curve and step 101 acquisition
The minimum locking moment that relative angular displacement is corresponding.
Here, it is those skilled in the art's owing to being obtained the method for the first motor load curve by test experiment
Routine techniques means, belong to known technology, no longer carry out the method the most in this article launching explanation.
Step 103: determine the self-locking moment of motor, and make self-locking moment be more than minimum locking moment.
In this step, in principle under conditions of self-locking moment determined by ensureing is more than minimum locking moment,
Self-locking moment can be determined flexibly and comfortably.But, during specific embodiment, still need to consider cradle head mechanism
Overall hardware parameter.Determine that the method for optimizing of the self-locking moment of motor is carried out hereinafter in conjunction with Fig. 2 in detail
Ground illustrates.
Step 104: according to self-locking moment, drives motor.According to self-locking moment drive motor method will under
Literary composition combines Fig. 3 be set forth in.
It should be noted that the method for the present embodiment is not only suitable for the horizontal motor of cradle head mechanism, be also applied for cloud
The motor vertical of platform mechanism.
Application driving method described in the present embodiment, according to the output shaft of motor relative to the relative angle of dead-center position
Displacement determines the self-locking moment of current sample time motor, and self-locking moment determined by utilization drives motor.
On the one hand, determined by the present embodiment ensure that, self-locking moment is more than minimum locking moment, therefore, it is possible to
Meet the effective support to video camera to a certain extent；On the other hand, can be for The Cloud Terrace due to the present embodiment
The self-locking moment that different attitude outputs are different, therefore locks moment according to appointment all the time compared in prior art
(specifying the locking moment maximum more than the locking moment needed for motor under various attitudes) drives the feelings of motor
Condition, the present embodiment can effectively reduce power consumption, has reached the purpose of energy-saving and emission-reduction, good environmental protection, has met me
The fundamental state policy of state's energy-saving and emission-reduction.
As in figure 2 it is shown, determine that the schematic flow sheet of the method for minimum locking moment.The present embodiment is according to presetting
The first motor load curve, the method determining corresponding with relative angular displacement minimum locking moment, mainly wrap
Include following steps:
Step 201: the first motor load curve is divided into multiple interval.
Step 202: the first motor load curve in each interval is fitted to straight line, and makes the width of straight line
Value is equal to the maximum of the first interval motor load curve.
Step 203: according to the segmented linear being made up of all interval corresponding straight lines, determine and relative angular displacement
Corresponding minimum locking moment.
In the present embodiment, it is intended to the first motor load curve is fitted to segmented linear, after then according to matching
The corresponding minimum locking moment of the relative angular displacement that segmented linear determines with current sample time obtains.Specifically
Ground, is first divided into multiple continuous print interval by the first motor curve, then by bent for first motor in each interval
Line fits to straight line.The rule of matching is, makes the amplitude of straight line equal to the first motor curve in this interval
Maximum.So, the segmented linear being made up of all interval corresponding straight lines has just been obtained.
Application the present embodiment, can lock moment according to the i.e. available minimum of relatively simple segmented linear, compared to
A upper embodiment, owing to segmented linear is more simply too much than the first complicated motor load curve, therefore this enforcement
Example can reduce the complexity of information processing on the basis of energy-saving and emission-reduction, improves the control performance of system.
In actual implementation process, can suitably increase the interval number of division according to hardware device condition, to reach
Energy-saving and emission-reduction are organic equilibrium with system control performance.
As it is shown on figure 3, determine that the schematic flow sheet of the method for the self-locking moment of motor.The present embodiment determines electricity
The self-locking moment of machine, and make self-locking moment be more than the minimum method locking moment, mainly comprise the steps that
Step 301: according to the second default motor load curve, determine the maximum corresponding with relative angular displacement
Locking moment.
Specifically, with the first motor load curve to set up process similar, in specific implementation process, for
Certain load, sets up the relative angular displacement of the output shaft of motor and required maximum latching force by test experiment
Relation corresponding between square.I.e. pass through test experiment, it is established that the output shaft of motor is transitioned into from dead-center position
During specifying position, the change curve of the maximum locking moment needed for motor.When performing this step, directly
It is connected in this second motor load curve and obtains the maximum locking corresponding with the relative angular displacement that step 101 obtains
Moment.
Here, it is those skilled in the art's owing to being obtained the method for the second motor load curve by test experiment
Routine techniques means, belong to known technology, no longer carry out the method the most in this article launching explanation.
Step 302: calculate maximum locking moment and deduct the difference of minimum locking moment.
Step 303: calculate the product of difference and the percentage ratio preset, percentage ratio is more than 0 and less than 1
Real number.
Step 304: minimum locks moment and the sum of products, is defined as the self-locking moment of motor.
In the present embodiment, according to expression formula T=Tmin+α(Tmax-Tmin) determine the self-locking moment of motor.
Wherein T represents the self-locking moment determined, TminRepresent minimum locking moment, TmaxRepresent maximum locking moment, α
Representing the percentage ratio in step 303, it meets 0 < α < 1.
In a preferred embodiment, utilize the driving motor drive schemes of constant voltage to drive motor.Above-mentioned steps
104 methods according to self-locking moment driving motor related to are: first according to self-locking moment, determine driving voltage.
Then, utilize driving voltage that motor is carried out constant voltage driving.Here, in specific implementation process, need from
Determining the driving voltage corresponding with self-locking moment in the first driving data storehouse that line builds, then utilization determines
Driving voltage carrys out constant voltage and drives motor.
First driving data storehouse is built-up by a series of off-line testing.Specifically, off-line structure first drives
The method of dynamic data base comprises determining that multiple driving voltage for test；Successively to each driving voltage, profit
Drive motor with described driving voltage and gather the self-locking moment of driving motor；By corresponding described driving voltage
Self-locking moment is saved in the first driving data storehouse.
In a preferred embodiment, utilize constant-current driving type motor drive schemes to drive motor.Above-mentioned steps
104 methods according to self-locking moment driving motor related to are: first according to self-locking moment, determine driving electric current.
Then, utilize driving electric current that motor is carried out constant-current driving.Here, in specific implementation process, need from
Determining the driving electric current corresponding with self-locking moment in the second driving data storehouse that line builds, then utilization determines
Electric current is driven to carry out constant-current driving motor.
Similarly, the second driving data storehouse is built-up by a series of off-line testing.Specifically, off-line structure
The method building the second driving data storehouse comprises determining that multiple driving electric current for test；Successively each is driven
Electric current, utilizes described driving electric current to drive motor and to gather the self-locking moment of driving motor；Drive described in correspondence
The self-locking moment of streaming current is saved in the second driving data storehouse.
Correspondingly, the present embodiment additionally provides a kind of system for driving horizontal stage electric machine.
As shown in Figure 4, it is that the present embodiment is for driving the structural representation of the system of horizontal stage electric machine.This system master
Determine that module 402, self-locking moment determine including the acquisition module 401 sequentially electrically connected, minimum locking moment
Module 403 and driving module 404.
Specifically, acquisition module 401, it is set to the output shaft the obtaining motor relative angle relative to dead-center position
Displacement.Especially, acquisition module 401 is preferably Zero-point switch or displacement transducer.
Minimum locking moment determines module 402, is set to according to the first motor load curve preset, determine with
The minimum locking moment that relative angular displacement is corresponding.
Self-locking moment determines module 403, is set to determine the self-locking moment of motor, and makes self-locking moment be more than
Little locking moment.
Drive module 404, be set to, according to self-locking moment, drive motor.
As it is shown in figure 5, be the structural representation that in the present embodiment, minimum locking moment determines module 402.This is
Little locking moment determines division unit 501, fitting unit 502 and that module 402 mainly includes sequentially electrically connecting
Minimum locking moment determines unit 503.
Specifically, division unit 501, it is set to the first motor load curve is divided into multiple interval.
Fitting unit 502, is set to fit to the first motor load curve in each interval straight line, and makes straight
The amplitude of line is equal to the maximum of the first interval motor load curve.
Minimum locking moment determines unit 503, is set to according to the segmentation being made up of all interval corresponding straight lines
Straight line, determines the minimum locking moment corresponding with relative angular displacement.
As shown in Figure 6, it is the structural representation that in the present embodiment, self-locking moment determines module 403.This self-lock force
It is single that square determines that the maximum locking moment that module 403 mainly includes sequentially electrically connecting determines that unit 601, first calculates
Unit's the 602, second computing unit 603 and self-locking moment determine unit 604.
Specifically, maximum locking moment determines unit 601, is set to according to the second motor load curve preset,
Determine the maximum locking moment corresponding with relative angular displacement.
First computing unit 602, is set to calculate maximum locking moment and deducts the difference of minimum locking moment.
Second computing unit 603, is set to the product calculating difference with the percentage ratio preset, and percentage ratio is for being more than
0 and less than 1 real number.
Self-locking moment determines unit 604, is set to lock minimum moment and the sum of products, is defined as motor
Self-locking moment.
In a preferred embodiment, utilize the driving motor drive schemes of constant voltage to drive motor, drive module
404 include that the driving voltage being connected to each other determines unit and the first driver element.
Specifically, driving voltage determines unit, is set to, according to self-locking moment, determine driving voltage.
First driver element, is set to utilize driving voltage that motor is carried out constant voltage driving.
In a preferred embodiment, utilize constant-current driving type motor drive schemes to drive motor, drive module
404 include driving current determination unit and the second driver element being connected to each other.
Specifically, drive current determination unit, be set to according to self-locking moment, determine driving electric current.
Second driver element, is set to utilize driving electric current that motor is carried out constant-current driving.
In sum, application drive system described in the present embodiment, according to the output shaft of motor relative to zero point position
The relative angular displacement put determines the self-locking moment of current sample time motor, and determined by utilization, self-locking moment comes
Drive motor.On the one hand, determined by the present embodiment ensure that, self-locking moment is more than minimum locking moment,
Therefore, it is possible to meet the effective support to video camera to a certain extent；On the other hand, can pin due to the present embodiment
The different attitudes of The Cloud Terrace are exported different self-locking moments, therefore locks according to appointment all the time compared in prior art
Determine moment (specifying the locking moment maximum more than the locking moment needed for motor under various attitudes) and drive motor
Situation, the present embodiment can effectively reduce power consumption, has reached the purpose of energy-saving and emission-reduction, good environmental protection, symbol
Close the fundamental state policy of China's energy-saving and emission-reduction.
The concrete refinement of the operation in above-mentioned each module, can be found in above in conjunction with Fig. 1 to Fig. 3 correlation technique
Illustrating, in this not go into detail.
Those skilled in the art should be understood that each module of the above-mentioned present invention or each step can be with general
Calculating device to realize, they can concentrate on single calculating device, or is distributed in multiple calculating device
On the network formed, alternatively, they can realize with calculating the executable program code of device, thus,
Can be stored in storing in device and be performed by calculating device, or they are fabricated to respectively each collection
Become circuit module, or the multiple modules in them or step are fabricated to single integrated circuit module realize.
So, the present invention is not restricted to the combination of any specific hardware and software.
While it is disclosed that embodiment as above, but described content is only to facilitate understand the present invention
And the embodiment used, it is not limited to the present invention.Technology people in any the technical field of the invention
Member, on the premise of without departing from spirit and scope disclosed in this invention, can be in the formal and details implemented
On make any amendment and change, but protection scope of the present invention, still must be defined with appending claims
In the range of standard.
Claims (10)
1. the method being used for driving horizontal stage electric machine, it is characterised in that including:
Obtain the output shaft relative angular displacement relative to dead-center position of described motor；
According to the first default motor load curve, determine the minimum latching force corresponding with described relative angular displacement
Square；
Determine the self-locking moment of described motor, and make described self-locking moment more than described minimum locking moment；
According to described self-locking moment, drive described motor.
Method the most according to claim 1, it is characterised in that bent according to the first default motor load
Line, determines the minimum locking moment corresponding with described relative angular displacement, including:
Described first motor load curve is divided into multiple interval；
The first motor load curve in each described interval is fitted to straight line, and makes the amplitude of described straight line
Maximum equal to the first motor load curve in described interval；
According to the segmented linear being made up of all interval corresponding straight lines, determine corresponding with described relative angular displacement
Minimum locking moment.
Method the most according to claim 1, it is characterised in that determine the self-locking moment of described motor,
And make described self-locking moment lock moment more than described minimum, including:
According to the second default motor load curve, determine the maximum latching force corresponding with described relative angular displacement
Square；
Calculate described maximum locking moment and deduct the difference of described minimum locking moment；
Calculating the product of described difference and the percentage ratio preset, described percentage ratio is the reality more than 0 and less than 1
Number；
By described minimum locking moment and the described sum of products, it is defined as the self-locking moment of described motor.
The most according to the method in any one of claims 1 to 3, it is characterised in that according to described self-locking
Moment, drives described motor to include:
According to described self-locking moment, determine driving voltage；
Utilize described driving voltage that described motor is carried out constant voltage driving.
The most according to the method in any one of claims 1 to 3, it is characterised in that according to described self-locking
Moment, drives described motor to include:
According to described self-locking moment, determine driving electric current；
Utilize described driving electric current that described motor is carried out constant-current driving.
6. the system being used for driving horizontal stage electric machine, it is characterised in that including:
Acquisition module, obtains the output shaft relative angular displacement relative to dead-center position of described motor；
Minimum locking moment determines module, according to the first default motor load curve, determines and described relative angle
The minimum locking moment that displacement is corresponding；
Self-locking moment determines module, determines the self-locking moment of described motor, and makes described self-locking moment more than described
Minimum locking moment；
Drive module, according to described self-locking moment, drive described motor.
System the most according to claim 6, it is characterised in that described minimum locking moment determines module
Including:
Division unit, is divided into multiple interval by described first motor load curve；
Fitting unit, fits to straight line by the first motor load curve in each described interval, and makes described straight line
Amplitude equal to the maximum of the first motor load curve in described interval；
Minimum locking moment determines unit, according to the segmented linear being made up of all interval corresponding straight lines, determines
The minimum locking moment corresponding with described relative angular displacement.
System the most according to claim 6, it is characterised in that described self-locking moment determines that module includes:
Maximum locking moment determines unit, according to the second default motor load curve, determines and described relative angle
The maximum locking moment that displacement is corresponding；
First computing unit, calculates described maximum locking moment and deducts the difference of described minimum locking moment；
Second computing unit, calculates the product of described difference and the percentage ratio preset, and described percentage ratio is more than 0
And the real number less than 1；
Self-locking moment determines unit, by described minimum locking moment and the described sum of products, is defined as described motor
Self-locking moment.
9. according to the system according to any one of claim 6 to 8, it is characterised in that described driving module
Including:
Driving voltage determines unit, according to described self-locking moment, determines driving voltage；
First driver element, utilizes described driving voltage that described motor is carried out constant voltage driving.
10. according to the system according to any one of claim 6 to 8, it is characterised in that described driving module
Including:
Drive current determination unit, according to described self-locking moment, determine driving electric current；
Second driver element, utilizes described driving electric current that described motor is carried out constant-current driving.
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| CN201113864Y (en) * | 2007-07-26 | 2008-09-10 | 深圳市艾立克电子有限公司 | Electric motor locking structure for cloud platform |
| CN102371907A (en) * | 2010-07-23 | 2012-03-14 | 株式会社日立制作所 | Drive control device for electric vehicle, and electric vehicle |
| CN103001563A (en) * | 2012-11-28 | 2013-03-27 | 天津市亚安科技股份有限公司 | Driving method for vertical motor of tripod head |
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| CN106330052B (en) | 2019-10-29 |
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