CN106426027A - Multi-motor intelligent lifting worktable control system and method - Google Patents
Multi-motor intelligent lifting worktable control system and method Download PDFInfo
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- CN106426027A CN106426027A CN201610599979.8A CN201610599979A CN106426027A CN 106426027 A CN106426027 A CN 106426027A CN 201610599979 A CN201610599979 A CN 201610599979A CN 106426027 A CN106426027 A CN 106426027A
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- motor
- circuit
- table top
- control system
- lifting
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/14—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting the bench top
- B25H1/16—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting the bench top in height
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Multiple Motors (AREA)
Abstract
The invention discloses a multi-motor intelligent lifting worktable control system and a method. The system comprises four lifting mechanisms symmetrically distributed at four corners of a worktable surface, a motor for driving the lifting mechanisms, a motor driving circuit, a key circuit, a dip angle sensor sampling circuit, an orthogonal encoder and a main control module; the dip angle sensor sampling circuit includes two dip angle sensors mounted in X and Y directions; the two dip angle sensors are used for measuring inclined angles of the worktable surface in the X and Y directions; and the compensation is increased/decreased for each stepper motor according to the measured values, so that the output rotating speed of the motor follows up the set rotating speed of the system in real time, the intelligent control of synchronous compensation for multiple motors is realized, the platform gesture requirements in unbalanced worktable surface loads are guaranteed, and the lifting is stable.
Description
Technical field
The present invention relates to a kind of many intelligent motors lifting work bench control system and method.
Background technology
Automatic elevating platform be widely portable to construction operation, maintenance process on-the-spot it can also be used to office building office with
And the multiple indoor environment such as home theater.Automatic elevating platform uses a kind of compact big stroke lifting mechanism, this mechanism by
Motor drives and is connected with table top, it is achieved stage platform lifts.Control system generally utilizes the multiple motor of Single-chip Controlling, drives
Dynamic elevating mechanism realizes worktable lifting, and highly stroke is 0.5m to 1m, how to control the difference in height reducing multiple elevating mechanism,
It is that those skilled in the art are badly in need of solving the technical problem that.
Content of the invention
It is an object of the invention to provide a kind of many intelligent motors lifting work bench control system and method, use based on
Compensating for coupling method is synchronized control to multiple stage stepper motor, it is ensured that the steady lifting of workbench.
The present invention solves that its technical problem employed technical scheme comprise that：
A kind of many intelligent motors lifting work bench control system, including the multiple elevating mechanism being connected with work top and each liter
Corresponding multiple motors, motor-drive circuit, key circuit and the main control module connecting of descending mechanism, described main control module is defeated
Go out to control signal to motor-drive circuit, control electric machine rotation by motor-drive circuit, to drive elevating mechanism to lift, described
Key circuit is used for inputting control worktable lifting order, and described elevating mechanism has four, is symmetrically distributed in the four of work top
At angle, each elevating mechanism is operated alone by a motor；Also include obliquity sensor sample circuit and for real-time detection electricity
The orthogonal encoder of machine rotating speed, described obliquity sensor sample circuit includes the inclination angle that two difference are installed in X direction with Y-direction
Sensor；Described obliquity sensor sample circuit and orthogonal encoder are connected with main control module respectively, described main control module
It is connected with supply module.
Further, also include the signal deteching circuit that puts in place reaching the limit of position for detecting elevating mechanism, described put in place
Signal deteching circuit is connected with main control module.
Further, the described signal deteching circuit that puts in place includes Hall element.
Further, described main control module and key circuit, motor-drive circuit, the signal deteching circuit that puts in place, orthogonal volume
It is connected with optocoupler isolator part between code device.
Further, described main control module includes single-chip microcomputer and peripheral circuit thereof.
Further, described motor uses screw mandrel stepper motor.
Further, also including display module, described display module is connected with main control module.
Present invention also offers described many intelligent motors self-powered platform control method, comprise the following steps：
Judge current keystroke pattern, perform corresponding mode of operation, when selecting rising or drop mode, start motor, hold
The corresponding mode of operation of row, until next button selects or stop signal detected；
Lifting structure, when rising or decline, first gives each motor speed n, and described motor includes M1, M2, M3, M4, described electricity
Machine M1, M2, M3, M4 correspondence is connected and installed in elevating mechanism H1, H2, H3, H4 of table top upper right, bottom right, lower-left, left upper；
Then measurement table top is in tilt angle theta the 1st, θ 2 of X-direction, Y-direction, judges whether table top balances according to θ the 1st, θ 2, if imbalance,
Carry out table-surface level regulating calculation, give the plus/minus compensation that varies in size respectively to M1, M2, M3, M4, make the output speed of motor
The setting speed of real-time system for tracking, reaches control table top and lifts in the range of specified inclination angle.
Described method farther includes：In the course of the work, whether table top reaches capacity position detection motor, when table top reaches
During to extreme position, leave the motor off work.
The invention has the beneficial effects as follows：It for the requirement of Intelligent lifting workbench, is evenly arranged four in table top corner and rises
Descending mechanism, each elevating mechanism is operated alone by stepper motor, by two obliquity sensor measurement table tops in X-direction, Y-direction
Angle of inclination, according to measured value, plus/minus compensation is carried out to each stepper motor, makes the real-time system for tracking of output speed of motor
Setting speed, it is achieved the Based Intelligent Control to the synchroballistic of multiple motors, it is ensured that the appearance of platform when table top load is unbalanced
State requires, and can steadily lift.
Brief description
Fig. 1 is the circuit block diagram of many intelligent motors lifting work bench control system of the present invention；
Fig. 2 is the installation site figure of four elevating mechanisms of the present invention and two two obliquity sensors.
Detailed description of the invention
As it is shown in figure 1, one many intelligent motors lifting work bench control system of the present invention, including be connected with work top
Multiple motors of multiple elevating mechanism connection corresponding with each elevating mechanism, motor-drive circuit, key circuit, inclination angle sensing
Device sample circuit, orthogonal encoder, the signal deteching circuit that puts in place, display module, main control module, described main control module connects
There is supply module.
As in figure 2 it is shown, described elevating mechanism includes H1, H2, H3, H4, described elevating mechanism H1, H2, H3, H4 set gradually
In table top upper right, bottom right, lower-left, left upper and symmetrical arrangement.Each elevating mechanism is operated alone by a motor,
Described elevating mechanism H1, H2, H3, H4 are corresponding to be driven by motor M1, M2, M3, M4.Described obliquity sensor sample circuit includes edge
The obliquity sensor S1 of X-direction installation and the obliquity sensor S2 installing along Y-direction.
Described motor select can the 42BYG250F stepper motor of wire distribution bar, driving stepper motor screw mandrel rotates, and drives lifting
Table vertical moves.
Described motor-drive circuit selects L297+L298N chip, can drive the screw mandrel stepper motor of relatively high power, simultaneously
Constitute Double power driving system, improve high frequency response characteristic, reduce the vibration causing when being run by mechanically and electrically machine.
Described key circuit is used for inputting control worktable lifting order, and it includes several selection keys, optional work
The mode of operation of station：Rise, decline, stop, starting.
Described obliquity sensor uses single axle obliquity sensor SCA60C, internal by a silicon micro-sensor and signal
Reason chip composition, SMD form encapsulates, and by component on measurement direction for the measurement terrestrial gravitation, then is converted into inclination angle
Degree.
Described orthogonal encoder is for real-time detection motor speed.
Whether the described signal deteching circuit that puts in place uses Hall element, reached by Hall element detection work top
Extreme position, i.e. peak or minimum point, the described signal deteching circuit that puts in place.
Described main control module is mainly made up of DSPIC33FJ128MC708 single-chip microcomputer and peripheral circuit thereof.Described monolithic
Machine output control pwm signal simultaneously controls stepper motor rotation by light-coupled isolation device control motor-drive circuit；In using
Portion's A/D converter circuit gathers the voltage signal of obliquity sensor；Simultaneously I/O mouth by light-coupled isolation device detect a signal, by
Key order and orthogonal encoder signal；Also output display signal is to display module, the work of control display module display workbench
Make state.
In order to prevent from disturbing reliable control and voltage conversion, Cai pwm signal is by driving electricity with motor after light-coupled isolation
Road connects.Put signal and lifting key in place simultaneously and code device signal be connected with single-chip microcomputer in be also carried out light-coupled isolation.PWM
Signal and code device signal have employed High-Speed Coupled Device 6N137 because frequency is higher, put signal in place and selection key then uses
Ordinary optical coupler EL817 isolates.
Present invention also offers described many intelligent motors self-powered platform control method, comprise the following steps：Judge current
Keystroke pattern, performs corresponding mode of operation, when selecting rising or drop mode, starts motor, performs corresponding work
Pattern, until next button selects or stop signal detected；Use the coupling of the synchroballistic based on obliquity sensor
Control mode, control lifting structure, when rising or decline, first gives each motor speed n；Then table top is measured in X-direction, Y
According to θ the 1st, θ 2, the tilt angle theta in direction the 1st, θ 2, judge whether table top balances, if imbalance, carry out table-surface level regulating calculation,
Give the plus/minus compensation that varies in size respectively to M1, M2, M3, M4, make the setting of the real-time system for tracking of output speed of motor turn
Speed, reaches control table top and lifts in the range of specified inclination angle；As shown in the table, list wherein 6 kinds of benefits for θ the 1st, θ 2 measured value
Repaying scheme, it should be noted that, table top allows heeling error ± 2 °, when motor just can be carried out by table top angle of inclination more than 2 ° of systems
Compensate leveling.
Described method farther includes：In the course of the work, whether table top reaches capacity position detection motor, when table top reaches pole
During extreme position, control motor quits work.
The present invention is directed to the requirement of Intelligent lifting workbench, be evenly arranged four elevating mechanisms in table top corner, each rises
Descending mechanism is operated alone by stepper motor, by two obliquity sensor measurement table tops in the angle of inclination of X-direction, Y-direction, root
According to measured value, plus/minus compensation is carried out to each stepper motor, makes the setting speed of the real-time system for tracking of output speed of motor, it is achieved
Based Intelligent Control to the synchroballistic of multiple motors, it is ensured that the Gesture of platform when table top load is unbalanced, and can put down
Steady lifting.
The above, simply presently preferred embodiments of the present invention, the invention is not limited in above-mentioned embodiment, as long as
It reaches the technique effect of the present invention with identical means, all should belong to protection scope of the present invention.
Claims (9)
1. more than intelligent motor lifting work bench control system, including the multiple elevating mechanism being connected with work top with respectively lift
Corresponding multiple motors, motor-drive circuit, key circuit and the main control module connecting of mechanism, described main control module exports
Control signal to motor-drive circuit, control electric machine rotation by motor-drive circuit, to drive elevating mechanism to lift, described press
Key circuit is used for inputting control worktable lifting order, it is characterised in that：Described elevating mechanism has four, is symmetrically distributed in work
At the corner of table top, each elevating mechanism is operated alone by a motor；Also include obliquity sensor sample circuit and for reality
When detection motor speed orthogonal encoder, described obliquity sensor sample circuit include two difference in X direction with Y-direction peace
The obliquity sensor of dress；Described obliquity sensor sample circuit and orthogonal encoder are connected with main control module respectively, described master
Control module is connected with supply module.
2. many intelligent motors lifting work bench control system according to claim 1, it is characterised in that：Also include for examining
Surveying elevating mechanism and reaching the limit of the signal deteching circuit that puts in place of position, the described signal deteching circuit that puts in place connects with main control module
Connect.
3. many intelligent motors lifting work bench control system according to claim 2, it is characterised in that：The described signal that puts in place
Testing circuit includes Hall element.
4. many intelligent motors lifting work bench control system according to claim 2, it is characterised in that：Described master control molding
It block and key circuit, motor-drive circuit, the signal deteching circuit that puts in place, is connected with optocoupler isolator between orthogonal encoder
Part.
5. many intelligent motors lifting work bench control system according to claim 1, it is characterised in that：Described master control molding
Block includes single-chip microcomputer and peripheral circuit thereof.
6. many intelligent motors lifting work bench control system according to claim 1, it is characterised in that：Described motor uses
Screw mandrel stepper motor.
7. many intelligent motors lifting work bench control system according to claim 1, it is characterised in that：Also include showing mould
Block, described display module is connected with main control module.
8. intelligent motor self-powered platform control method more than a kind, it is characterised in that comprise the following steps：
Judge current keystroke pattern, perform corresponding mode of operation, when selecting rising or drop mode, start motor, hold
The corresponding mode of operation of row, until next button selects or stop signal detected；
Lifting structure, when rising or decline, first gives each motor speed n, and described motor includes M1, M2, M3, M4, described electricity
Machine M1, M2, M3, M4 correspondence is connected and installed in elevating mechanism H1, H2, H3, H4 of table top upper right, bottom right, lower-left, left upper；
Then measurement table top is in tilt angle theta the 1st, θ 2 of X-direction, Y-direction, judges whether table top balances according to θ the 1st, θ 2, if imbalance,
Carry out table-surface level regulating calculation, give the plus/minus compensation that varies in size respectively to M1, M2, M3, M4, make the output speed of motor
The setting speed of real-time system for tracking, reaches control table top and lifts in the range of specified inclination angle.
9. one many intelligent motors self-powered platform control method according to claim 8, it is characterised in that wrap further
Include：In the course of the work, whether table top reaches capacity position detection motor, when table top reaches capacity position, leaves the motor off
Work.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610599979.8A CN106426027A (en) | 2016-07-26 | 2016-07-26 | Multi-motor intelligent lifting worktable control system and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610599979.8A CN106426027A (en) | 2016-07-26 | 2016-07-26 | Multi-motor intelligent lifting worktable control system and method |
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| CN106426027A true CN106426027A (en) | 2017-02-22 |
Family
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| CN201610599979.8A Pending CN106426027A (en) | 2016-07-26 | 2016-07-26 | Multi-motor intelligent lifting worktable control system and method |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107538442A (en) * | 2017-09-21 | 2018-01-05 | 宜昌船舶柴油机有限公司 | Vertical rotary workbench |
| CN108820131A (en) * | 2018-08-27 | 2018-11-16 | 中交海洋建设开发有限公司 | Underwater measurement of ship wave active compensation device |
| CN109000951A (en) * | 2018-07-17 | 2018-12-14 | 杭州为诺智能科技有限公司 | The quickly method and system of detection same table consistency |
| CN109129481A (en) * | 2018-08-28 | 2019-01-04 | 浙江工业大学 | A kind of service robot load platform balance control method based on increment type PID |
| CN109143916A (en) * | 2017-11-16 | 2019-01-04 | 湖北汉丹机电有限公司 | Adaptive leveling device |
| CN109343436A (en) * | 2018-11-26 | 2019-02-15 | 杭州为诺智能科技有限公司 | The controller and its application method that No. 2 bi-motors can work independently |
| CN109397851A (en) * | 2018-11-16 | 2019-03-01 | 罗博特科智能科技股份有限公司 | A kind of adjustable printing equipment |
| CN110203726A (en) * | 2019-05-31 | 2019-09-06 | 广东电网有限责任公司 | A kind of slope control device for automatic loading and unloading cargo device |
| CN111716108A (en) * | 2020-06-10 | 2020-09-29 | 重庆市机电设计研究院 | Platform capable of realizing multi-angle precise adjustment and working method thereof |
| CN114908793A (en) * | 2022-06-28 | 2022-08-16 | 江苏道达风电设备科技有限公司 | Horizontal control process for onshore flange construction of composite cylindrical foundation |
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| CN205928552U (en) * | 2016-07-26 | 2017-02-08 | 五邑大学 | Many motors intelligence elevating platform control system |
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| CN201465797U (en) * | 2009-09-10 | 2010-05-12 | 保定天威集团有限公司 | Large-scale power transformer servo control coil assembly rack |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107538442A (en) * | 2017-09-21 | 2018-01-05 | 宜昌船舶柴油机有限公司 | Vertical rotary workbench |
| CN109143916A (en) * | 2017-11-16 | 2019-01-04 | 湖北汉丹机电有限公司 | Adaptive leveling device |
| CN109143916B (en) * | 2017-11-16 | 2023-08-18 | 湖北汉丹机电有限公司 | Self-adaptive horizontal adjusting device |
| CN109000951A (en) * | 2018-07-17 | 2018-12-14 | 杭州为诺智能科技有限公司 | The quickly method and system of detection same table consistency |
| CN108820131A (en) * | 2018-08-27 | 2018-11-16 | 中交海洋建设开发有限公司 | Underwater measurement of ship wave active compensation device |
| CN108820131B (en) * | 2018-08-27 | 2023-12-08 | 中交海洋建设开发有限公司 | Marine wave active compensation device for underwater measurement |
| CN109129481B (en) * | 2018-08-28 | 2020-06-30 | 浙江工业大学 | Incremental PID (proportion integration differentiation) -based service robot load platform balance control method |
| CN109129481A (en) * | 2018-08-28 | 2019-01-04 | 浙江工业大学 | A kind of service robot load platform balance control method based on increment type PID |
| CN109397851A (en) * | 2018-11-16 | 2019-03-01 | 罗博特科智能科技股份有限公司 | A kind of adjustable printing equipment |
| CN109397851B (en) * | 2018-11-16 | 2023-10-13 | 罗博特科智能科技股份有限公司 | Adjustable printing device |
| CN109343436A (en) * | 2018-11-26 | 2019-02-15 | 杭州为诺智能科技有限公司 | The controller and its application method that No. 2 bi-motors can work independently |
| CN110203726A (en) * | 2019-05-31 | 2019-09-06 | 广东电网有限责任公司 | A kind of slope control device for automatic loading and unloading cargo device |
| CN111716108A (en) * | 2020-06-10 | 2020-09-29 | 重庆市机电设计研究院 | Platform capable of realizing multi-angle precise adjustment and working method thereof |
| CN111716108B (en) * | 2020-06-10 | 2021-07-20 | 重庆市机电设计研究院 | Platform capable of realizing multi-angle precise adjustment and working method thereof |
| CN114908793A (en) * | 2022-06-28 | 2022-08-16 | 江苏道达风电设备科技有限公司 | Horizontal control process for onshore flange construction of composite cylindrical foundation |
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Application publication date: 20170222 |
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