CN108199622A - The synchronous lift control method of motor in Table top type electronic whiteboard - Google Patents
The synchronous lift control method of motor in Table top type electronic whiteboard Download PDFInfo
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- CN108199622A CN108199622A CN201711423974.0A CN201711423974A CN108199622A CN 108199622 A CN108199622 A CN 108199622A CN 201711423974 A CN201711423974 A CN 201711423974A CN 108199622 A CN108199622 A CN 108199622A
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- motor
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- speed
- motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
- H02P5/50—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another by comparing electrical values representing the speeds
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Multiple Motors (AREA)
Abstract
The synchronous lift control method of motor in Table top type electronic whiteboard provided by the invention, by the way that the entire lifting travel of main motor is divided into tens sections, one point of observation of every section of setting.Four motor Zhong Mou roads are preferentially arrived in point of observation, read the current stroke umber of pulse of all motors, compare its whether permission error range.If there is all the way or two-way has been more than error range, then accelerating slower one grade of motor speed.If other three tunnel is all slow, the preferential speed for reaching this road of point of observation should be reduced.That road speed preferentially reached is preferably minimized the speed of service, waits for another three tunnels pursuit；In tri- tunnels of Dang Ling, after certain road pulls up to, the speed on this road is also just preferably minimized the speed of service, then wait for.After being synchronized to allowable range of error to four road strokes repeatedly, restore the original speed of No. four motor, but that road speed preferentially reached is reduced than former speed.It is achieved thereby that the purpose of motor synchronization lifting, effectively reduces motor damage, prolongs the service life.
Description
Technical field
The present invention relates to the motor control methods in a kind of control method of motor more particularly to Table top type electronic whiteboard.
Background technology
As interactive electric whiteboard applies more and more extensive, product diversification on the market.One of which compares higher-end
Be can automatic lifting Table top type electronic whiteboard.If it is desired to smoothly lifting this desktop electronic blank, four are needed
Leg all can independent-lifting, and four legs need synchronization lifting.This demand just needs to solve the skill of four motor synchronization liftings
Art difficult point.
Invention content
Technical problem underlying to be solved by this invention is to provide a kind of synchronization lifting of motor in Table top type electronic whiteboard
Control method, and motor damage is reduced, prolong the service life.
The present invention provides a kind of synchronous lift control methods of motor in Table top type electronic whiteboard, include the following steps：
1) control signal is sent out by control interface so that four main motors drive four supporting legs of electronic whiteboard respectively
Lifting/lowering；
2) add up umber of pulse of each main motor during lifting/lowering respectively；
3) when one of main motor reaches point of observation, the umber of pulse of the main motor and other three main motors are carried out pair
Than；
4) if the umber of pulse of other three main motors is all identical with the main motor, four main motors are continued with current rotating speed
It is moved to next point of observation, and repeats step 3；
If 5) in other three main motors there are one or two main motors umber of pulse less than the main motor, by the two
The faster rotational speed of the relatively low main motor of umber of pulse, and keep the rotating speed of other two main motor constant；And repeat step 3；
If 6) umber of pulse of other three main motors is below the main motor, by this highest main motor of umber of pulse
Rotating speed is near minimum, and other three main motors is waited for reach point of observation；Speed after each arrival point of observation of these three main motors
Degree all minimizes；After all main motors all reach point of observation, the rotating speed of this highest main motor of umber of pulse is lowered,
Rotating speed before its three main motors recovery；And repeat step 3.
In a preferred embodiment：Before the control interface sends out four main motor lifting/lowering signals of control, control is first sent out
Signal processed causes four motors that a bolt is driven to extract；When the bolt is plugged, four supporting legs of electronic whiteboard are limited
Current location can not lifting/lowering, and withstand the gap between table leg shell and motor, stablize table leg, avoid causing due to gap
It can roll.
In a preferred embodiment：Further include the step of stopping four main motors；It specifically includes：
1) control signal is sent out by control interface so that four main motors stop operating respectively；
2) first by the most fast motor stalls of rotating speed, and the height where the corresponding supporting leg of the motor is recorded；
3) the same height of that supporting leg whether other three supporting legs move to and stop lifting/lowering being detected；
4) if so, then stopping the rotation of the motor；Step 3 is repeated if nothing；Until three supporting legs all stop rise/
Drop.
In a preferred embodiment：After four main motors all stop operating, the control interface sends out control signal,
So that bolt is driven to plug from motor, four supporting legs of electronic whiteboard be limited in current location can not lifting/lowering, and withstand table
Gap between leg shell and motor stablizes table leg, avoids to roll since gap causes.
Compared to the prior art, technical scheme of the present invention has following advantageous effect：
The synchronous lift control method of motor in a kind of Table top type electronic whiteboard provided by the invention, by by main motor
Entire lifting travel is divided into tens sections, one point of observation of every section of setting.Four motor Zhong Mou roads are preferentially arrived in point of observation, are read
Take the stroke umber of pulse that all motors are current, compare its whether permission error range.If there is all the way or two-way is more than
Error range, then accelerate slower one grade of motor speed.If other three tunnel is all slow, preferential reach should be reduced and observed
The speed on Dian Zhe roads.In order to which tri- tunnels of Rang Ling can be caught up with as early as possible, the method for reduction of speed is that road speed preferentially reached is preferably minimized
The speed of service waits for another three tunnels pursuit；In tri- tunnels of Dang Ling, after certain road pulls up to, the speed on this road is also just preferably minimized operation
Speed, then wait for what is do not caught up with.After being synchronized to allowable range of error to four road strokes repeatedly, it is originally fast to restore No. four motors
Degree, but that road speed preferentially reached drops a grade than former speed.It is achieved thereby that the purpose of motor synchronization lifting, effectively
Motor damage is reduced, is prolonged the service life.
Description of the drawings
Fig. 1 is the circuit module figure of the synchronization lifting control of motor in the preferred embodiment of the present invention；
Fig. 2 is the method and step flow chart of the synchronization lifting control of motor in the preferred embodiment of the present invention.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is further illustrated.
From fig. 1, it can be seen that the present invention is used as control chip using Mstar828 main control chips, it is Android framework TV core
Piece can control screen display interface, and the APK on display interface is controlled to run, and be communicated by serial ports with MCU.MCU distinguishes
Control main motor and from two modules of motor.The characteristics of main motor module controls four main motors, each main motor be：1. master
When motor drives the supporting leg operation stroke of electronic whiteboard to reach minimum or highest, feedback current can be 0.Main motor operational process
Can feedback current be changed according to loading condition.For MCU according to this feature, judgement is currently stroke state, if overload is abnormal
Deng；2. main motor internal operation one encloses, a pulse can be fed back, MCU calculates the stroke of current kinetic motor according to this feature
Value, according to stroke to determine whether with other motors with height.3. adjust the PWM electric currents of main motor module control main motor
Value, thus it is possible to vary the speed of motor operation constantly adjusts motor operation speed, control motor synchronous operation according to this feature.
4. main motor has logic control foot, its lifting can be controlled to stop three actions respectively.Four are also controlled from motor module from motor,
Major function is after lifting desk surface stopping, and control insert is inserted into, and each table leg is made not rock, in stable state.
As shown in Fig. 2, the workflow of the system is：The synchronization lifting controlling party of motor in a kind of Table top type electronic whiteboard
Method for lifting part, includes the following steps：
0) it before the control interface sends out four main motor lifting/lowering signals of control, first sends out control signal and causes four
Secondary motor drives a bolt to extract；Release position-limiting action of the bolt to supporting leg；
1) control signal is sent out by control interface so that four main motors drive four supporting legs of electronic whiteboard respectively
Lifting/lowering；
2) add up umber of pulse of each main motor during lifting/lowering respectively；
3) when one of main motor reaches point of observation, the umber of pulse of the main motor and other three main motors are carried out pair
Than；
4) if the umber of pulse of other three main motors is all identical with the main motor, four main motors are continued with current rotating speed
It is moved to next point of observation, and repeats step 3；
If 5) in other three main motors there are one or two main motors umber of pulse less than the main motor, by the two
The faster rotational speed of the relatively low main motor of umber of pulse, and keep the rotating speed of other two main motor constant；And repeat step 3；
If 6) umber of pulse of other three main motors is below the main motor, by this highest main motor of umber of pulse
Rotating speed is near minimum, and other three main motors is waited for reach point of observation；Speed after each arrival point of observation of these three main motors
Degree all minimizes；After all main motors all reach point of observation, the rotating speed of this highest main motor of umber of pulse is lowered,
Rotating speed before its three main motors recovery；And repeat step 3.
The above method by the entire lifting travel of main motor by being divided into tens sections, one point of observation of every section of setting.Four
A motor Zhong Mou roads are preferentially arrived in point of observation, are read the current stroke umber of pulse of all motors, are compared whether it is allowing
Error range.If there is all the way or two-way has been more than error range, then accelerating slower one grade of motor speed (according to error
Size, it is also possible to which speed increases by two grades).If other three tunnel is all slow, preferential this road of arrival point of observation should be reduced
Speed.In order to which tri- tunnels of Rang Ling can be caught up with as early as possible, the method for reduction of speed is that road speed preferentially reached is preferably minimized operation speed
Degree waits for another three tunnels pursuit；In tri- tunnels of Dang Ling, after certain road pulls up to, the speed on this road is also just preferably minimized the speed of service, then
Wait for what is do not caught up with.After being synchronized to allowable range of error to four road strokes repeatedly, restore the original speed of No. four motor, but preferential
That road speed reached drops a grade than former speed.
For stop section, include the following steps：
1) control signal is sent out by control interface so that four main motors stop operating respectively；
2) first by the most fast motor stalls of rotating speed, and the height where the corresponding supporting leg of the motor is recorded；
3) the same height of that supporting leg whether other three supporting legs move to and stop lifting/lowering being detected；
4) if so, then stopping the rotation of the motor；Step 3 is repeated if nothing；Until three supporting legs all stop rise/
Drop.
5) after four main motors all stop operating, the control interface sends out control signal so that is driven from motor
Bolt is plugged, and four supporting legs of electronic whiteboard are limited in current location can not lifting/lowering.
When operating personnel initiate stopping action, MCU first controls PWM, motor speed has all been dropped one compared with low velocity, then
First stop stroke Kuai Na roads, Bing Yizhe roads are as a reference point, stop remaining motor by road, make motor height in error model
In enclosing, and remember mutual difference, the initial value as operation next time.Finally so that plugging insert from motor, desktop is allowed
Machine is in stable state, does not rock.
The foregoing is merely present pre-ferred embodiments, therefore the technical scope of the present invention cannot be limited according to this, therefore Fan Yiben
The equivalent changes and modifications that the technical spirit and description of invention are made, in the range of should all belonging to technical solution of the present invention.
Claims (4)
1. the synchronous lift control method of motor in a kind of Table top type electronic whiteboard, it is characterised in that include the following steps：
1) control signal is sent out by control interface so that four main motors drive respectively four supporting leg liters of electronic whiteboard/
Drop；
2) add up umber of pulse of each main motor during lifting/lowering respectively；
3) when one of main motor arrival point of observation, the umber of pulse of the main motor and other three main motors are compared；
If 4) umber of pulse of other three main motors is all identical with the main motor, four main motors are continued downward with current rotating speed
One point of observation movement, and repeat step 3；
If 5) in other three main motors there are one or two main motors umber of pulse less than the main motor, by the two pulses
The faster rotational speed of the relatively low main motor of number, and keep the rotating speed of other two main motor constant；And repeat step 3；
If 6) umber of pulse of other three main motors is below the main motor, by the rotating speed of this highest main motor of umber of pulse
It is near minimum, and other three main motors is waited for reach point of observation；Speed after each arrival point of observation of these three main motors
It minimizes；After all main motors all reach point of observation, the rotating speed of this highest main motor of umber of pulse is lowered, Qi Tasan
Rotating speed before a main motor recovery；And repeat step 3.
2. the synchronous lift control method of motor, feature exist in a kind of Table top type electronic whiteboard according to claim 1
In：Before the control interface sends out four main motor lifting/lowering signals of control, first send out control signal and cause four motor bands
Dynamic bolt is extracted；When the bolt is plugged, four supporting legs of electronic whiteboard be limited in current location can not lifting/lowering, and
Withstand the gap between table leg shell and motor.
3. the synchronous lift control method of motor, feature exist in a kind of Table top type electronic whiteboard according to claim 1
In：Further include the step of stopping four main motors；It specifically includes：
1) control signal is sent out by control interface so that four main motors stop operating respectively；
2) first by the most fast motor stalls of rotating speed, and the height where the corresponding supporting leg of the motor is recorded；
3) the same height of that supporting leg whether other three supporting legs move to and stop lifting/lowering being detected；
4) if so, then stopping the rotation of the motor；Step 3 is repeated if nothing；Until three supporting legs all stop lifting/lowering.
4. the synchronous lift control method of motor, feature exist in a kind of Table top type electronic whiteboard according to claim 3
In：After four main motors all stop operating, the control interface sends out control signal so that bolt is driven to insert from motor
On, four supporting legs of electronic whiteboard be limited in current location can not lifting/lowering, and between withstanding between table leg shell and motor
Gap.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711423974.0A CN108199622B (en) | 2017-12-25 | 2017-12-25 | Synchronous lifting control method for motor in desktop type electronic whiteboard |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711423974.0A CN108199622B (en) | 2017-12-25 | 2017-12-25 | Synchronous lifting control method for motor in desktop type electronic whiteboard |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108199622A true CN108199622A (en) | 2018-06-22 |
| CN108199622B CN108199622B (en) | 2020-03-24 |
Family
ID=62583845
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711423974.0A Active CN108199622B (en) | 2017-12-25 | 2017-12-25 | Synchronous lifting control method for motor in desktop type electronic whiteboard |
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| Country | Link |
|---|---|
| CN (1) | CN108199622B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN109687774A (en) * | 2018-12-28 | 2019-04-26 | 厦门厦华科技有限公司 | A kind of capacitor table being freely lifted and its control method |
| CN110719053A (en) * | 2019-10-16 | 2020-01-21 | 杭州师范大学钱江学院 | Single-motor closed-loop control circuit for automatic lifting table and control method thereof |
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| CN201080403Y (en) * | 2007-05-30 | 2008-07-02 | 广州市京龙工程机械有限公司 | Double guiding rail holder hoist |
| CN201242687Y (en) * | 2008-08-18 | 2009-05-20 | 中国船舶重工集团公司第七一三研究所 | Synchronous drive control device for lifting platform position |
| CN201467046U (en) * | 2009-07-24 | 2010-05-12 | 刘超英 | Multi-DC motor synchronous controller with principal and subordinate structure |
| CN104767427A (en) * | 2015-04-20 | 2015-07-08 | 赛诺威盛科技（北京）有限公司 | Synchronous control system and method for multiple motors in CT machine |
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2017
- 2017-12-25 CN CN201711423974.0A patent/CN108199622B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201080403Y (en) * | 2007-05-30 | 2008-07-02 | 广州市京龙工程机械有限公司 | Double guiding rail holder hoist |
| CN201242687Y (en) * | 2008-08-18 | 2009-05-20 | 中国船舶重工集团公司第七一三研究所 | Synchronous drive control device for lifting platform position |
| CN201467046U (en) * | 2009-07-24 | 2010-05-12 | 刘超英 | Multi-DC motor synchronous controller with principal and subordinate structure |
| CN104767427A (en) * | 2015-04-20 | 2015-07-08 | 赛诺威盛科技（北京）有限公司 | Synchronous control system and method for multiple motors in CT machine |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN109687774A (en) * | 2018-12-28 | 2019-04-26 | 厦门厦华科技有限公司 | A kind of capacitor table being freely lifted and its control method |
| CN110719053A (en) * | 2019-10-16 | 2020-01-21 | 杭州师范大学钱江学院 | Single-motor closed-loop control circuit for automatic lifting table and control method thereof |
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|---|---|
| CN108199622B (en) | 2020-03-24 |
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