CN109450308B - 摇摆驱动控制装置及方法 - Google Patents

摇摆驱动控制装置及方法 Download PDF

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CN109450308B
CN109450308B CN201811273088.9A CN201811273088A CN109450308B CN 109450308 B CN109450308 B CN 109450308B CN 201811273088 A CN201811273088 A CN 201811273088A CN 109450308 B CN109450308 B CN 109450308B
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CN109450308A (zh
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邹学明
朱萱
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Suzhou Leqi Intelligent Technology Co.,Ltd.
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Kunshan Lucky Child Product Co ltd
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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47C—CHAIRS; SOFAS; BEDS
    • A47C3/00—Chairs characterised by structural features; Chairs or stools with rotatable or vertically-adjustable seats
    • A47C3/02—Rocking chairs
    • A47C3/025—Rocking chairs with seat, or seat and back-rest unit elastically or pivotally mounted in a rigid base frame
    • A47C3/0255—Rocking chairs with seat, or seat and back-rest unit elastically or pivotally mounted in a rigid base frame pivotally mounted in the base frame, e.g. swings
    • 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
    • H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
    • H02P7/03—Arrangements for regulating or controlling the speed or torque of electric DC motors for controlling the direction of rotation of DC motors
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47C—CHAIRS; SOFAS; BEDS
    • A47C3/00—Chairs characterised by structural features; Chairs or stools with rotatable or vertically-adjustable seats
    • A47C3/02—Rocking chairs
    • A47C3/025—Rocking chairs with seat, or seat and back-rest unit elastically or pivotally mounted in a rigid base frame
    • A47C3/0251—Rocking chairs with seat, or seat and back-rest unit elastically or pivotally mounted in a rigid base frame driven by electric motors
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47D—FURNITURE SPECIALLY ADAPTED FOR CHILDREN
    • A47D13/00—Other nursery furniture
    • A47D13/10—Rocking-chairs; Indoor swings ; Baby bouncers
    • A47D13/105—Rocking-chairs; Indoor swings ; Baby bouncers pivotally mounted in a frame
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47D—FURNITURE SPECIALLY ADAPTED FOR CHILDREN
    • A47D9/00—Cradles ; Bassinets
    • A47D9/02—Cradles ; Bassinets with rocking mechanisms
    • A47D9/057—Cradles ; Bassinets with rocking mechanisms driven by electric motors
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63G—MERRY-GO-ROUNDS; SWINGS; ROCKING-HORSES; CHUTES; SWITCHBACKS; SIMILAR DEVICES FOR PUBLIC AMUSEMENT
    • A63G9/00—Swings
    • A63G9/16—Driving mechanisms, such as ropes, gear, belt, motor drive
    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
    • 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
    • H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
    • H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
    • H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
    • 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
    • H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
    • H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
    • H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
    • H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
    • H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
    • H02P7/285—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only
    • H02P7/29—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only using pulse modulation

Abstract

本发明公开了一种摇摆驱动控制装置，包括控制器和电机，控制器检测电机反电动势，并根据检测结果驱动电机。同时还公开了相应的方法，包括测量上一周期电机反电动势；反电动势最大值与预设值比较，计算下一周期ＰＷＭ脉冲占空比。本发明不使用传感器而是直接检测电机反电动势，实现摇动频率、相位跟踪以及摇动幅度控制，简化了控制系统。

Description

摇摆驱动控制装置及方法
技术领域
本发明涉及一种摇摆驱动控制装置及方法，具体涉及一种秋千、摇椅的摇摆驱动控制装置及方法，属于摇摆控制领域。
背景技术
现有的自动秋千和摇椅，一般由电机带动摇动件摇动，摇动共振控制器都需要有专门的传感器实现摇动频率、相位跟踪以及摇动幅度控制，成本高。
发明内容
为了解决上述技术问题，本发明提供了一种摇摆驱动控制装置及方法，不使用传感器实现摇动频率、相位跟踪以及摇动幅度控制。
为了达到上述目的，本发明所采用的技术方案是：
摇摆驱动控制装置，包括控制器和电机，控制器检测电机反电动势，并根据检测结果驱动电机。
在摇动对象的一个摇动周期内，前半周期是控制器驱动电机推动摇动对象摇动的时间，后半周期是控制器检测电机反电动势的时间。
控制器根据上一周期电机反电动势的开始和结束时间，控制下一周期驱动电机时间，实现对摇动对象摇动频率和相位的跟踪。
控制器根据上一周期电机反电动势最大值，控制下一周期ＰＷＭ脉冲占空比，实现对摇动对象摇动幅度的控制。
一种秋千，包括所述的摇摆驱动控制装置。
一种摇椅，包括所述的摇摆驱动控制装置。
摇摆驱动控制方法，包括以下步骤，
检测上一周期电机反电动势；
反电动势最大值与预设值比较，计算下一周期ＰＷＭ脉冲占空比。
还包括根据上一周期电机反电动势的开始和结束时间，控制下一周期驱动电机时间。
下一周期驱动电机时间的计算方法为，
计算上一周期反电动势时长的中间点t1= (t0+ tj) /2，t0和tj分别为上一周期反电动势的开始和结束时间；
计算下一周期驱动电机时长的中间点t2= t1+T/2，T为摇动对象摇动的本征摇动周期；
计算下一周期驱动电机时间的起始点t= t2- T1/2，T1为预设的驱动电机时长。
T1小于T/２，从最高点向最低点摇动过程中，t晚于到达最高点的时间，早于到达最低点的时间。
本发明所达到的有益效果：本发明不使用传感器而是直接检测电机反电动势，实现摇动频率、相位跟踪以及摇动幅度控制，简化了控制系统。
附图说明
图1为本发明装置的结构框图；
图2为本发明装置的结构示意图；
图3为电机驱动和反电动势检测电路图；
图4为本发明在婴儿秋千的实施例；
图5为本发明在婴儿摇椅的实施例；
图6为本发明在成人摇椅的实施例；
图7为本发明在成人摇椅的实施例；
图8为本发明在成人秋千的实施例；
图9为本发明方法的流程图。
具体实施方式
下面结合附图对本发明作进一步描述。以下实施例仅用于更加清楚地说明本发明的技术方案，而不能以此来限制本发明的保护范围。
如图1所示，摇摆驱动控制装置，包括控制器1和电机2。
控制器1和电机2之间电连接，控制器1的主要功能如下：
1、向电机2输出ＰＷＭ脉冲。
2、控制器1检测上一周期电机2反电动势，并根据检测结果驱动电机2。
在摇动对象的一个摇动周期内，前半周期是控制器1驱动电机2推动摇动对象摇动的时间，后半周期是控制器1检测电机2反电动势的时间。控制器1根据上一周期电机2反电动势最大值，控制下一周期ＰＷＭ脉冲占空比，实现对摇动对象摇动幅度的控制；具体为：反电动势最大值与预设值比较，使用ＰＤ（比例微分）算法计算下一周期ＰＷＭ脉冲占空比，控制器1通过PWM脉宽调制方法控制电机2。
3、控制器1根据上一周期电机2反电动势的开始和结束时间，控制下一周期驱动电机2时间，实现对摇动对象摇动频率和相位的跟踪。
电机2通过减速系统连接摇动对象4，根据接收ＰＷＭ脉冲输出摇摆驱动力。
摇摆驱动控制装置的结构可以如图2所示，控制器1的电路板固定在盒体3内，控制器1的设置端口可设置在盒体3表面，控制器1连接电源，电机2的后端也固定在盒体3内，电机2的前端（即转轴端）伸出盒体3，电机2的前端连接摇动对象4端部，通过电机2的转动带动摇动对象4摇动。
图３中的三个开关用于实现ＰＷＭ脉冲控制，三个开关闭合时电机2接通电源，是ＰＷＭ脉冲高电平的时间，三个开关断开，电机2与电源断开，是ＰＷＭ脉冲低电平时间；测量反电动势的时候，三个开关也是关断的，电机2反电动势不被电源影响。
现在常见的摇动物件有秋千和摇椅，上述的摇摆驱动控制装置可直接运用在秋千和摇椅中，具体如图5~8。
如图9所示，摇摆驱动控制方法，具体如下：
A）检测上一周期电机2反电动势。
B）反电动势最大值与预设值比较，计算下一周期ＰＷＭ脉冲占空比。
C）根据上一周期电机2反电动势的开始和结束时间，控制下一周期驱动电机2时间。
下一周期驱动电机2时间的计算过程如下：
c1）预置已经测量好的摇动对象摇动的本征摇动周期T；
c2）计算上一周期反电动势时长的中间点t1= (t0+tj) /2，t0和tj分别为上一周期反电动势的开始和结束时间；
c3）计算下一周期驱动电机2时长的中间点t2= t1+T/2；
c4）计算下一周期驱动电机2时间的起始点t= t2- T1/2，T1为预设的控制信号时长，T1小于T/２，从最高点向最低点摇动过程中，t晚于到达最高点的时间，早于到达最低点的时间。
本发明不使用传感器而是直接检测电机2反电动势，实现摇动频率、相位跟踪以及摇动幅度控制，简化了控制系统，从而使摇动对象的摇动与电机2驱动共振，达到摇动舒服、省力。
以上所述仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明技术原理的前提下，还可以做出若干改进和变形，这些改进和变形也应视为本发明的保护范围。

Claims (7)

1.摇摆驱动控制装置，包括控制器和电机，其特征在于：控制器检测电机反电动势，并根据检测结果驱动电机；
控制器根据上一周期电机反电动势的开始和结束时间，控制下一周期驱动电机时间，实现对摇动对象摇动频率和相位的跟踪；
下一周期驱动电机时间的计算方法为，
计算上一周期反电动势时长的中间点t1= (t0+ tj) /2，t0和tj分别为上一周期反电动势的开始和结束时间；
计算下一周期驱动电机时长的中间点t2= t1+T/2，T为摇动对象摇动的本征摇动周期；
计算下一周期驱动电机时间的起始点t= t2- T1/2，T1为预设的驱动电机时长。
2.根据权利要求1所述的摇摆驱动控制装置，其特征在于：在摇动对象的一个摇动周期内，前半周期是控制器驱动电机推动摇动对象摇动的时间，后半周期是控制器检测电机反电动势的时间。
3.根据权利要求1所述的摇摆驱动控制装置，其特征在于：控制器根据上一周期电机反电动势最大值，控制下一周期ＰＷＭ脉冲占空比，实现对摇动对象摇动幅度的控制。
4.一种秋千，其特征在于：包括权利要求1~3任意一项所述的摇摆驱动控制装置。
5.一种摇椅，其特征在于：包括权利要求1~3任意一项所述的摇摆驱动控制装置。
6.摇摆驱动控制方法，其特征在于：包括以下步骤，
检测上一周期电机反电动势；
反电动势最大值与预设值比较，计算下一周期ＰＷＭ脉冲占空比；
还包括根据上一周期电机反电动势的开始和结束时间，控制下一周期驱动电机时间；
下一周期驱动电机时间的计算方法为，
计算上一周期反电动势时长的中间点t1= (t0+ tj) /2，t0和tj分别为上一周期反电动势的开始和结束时间；
计算下一周期驱动电机时长的中间点t2= t1+T/2，T为摇动对象摇动的本征摇动周期；
计算下一周期驱动电机时间的起始点t= t2- T1/2，T1为预设的驱动电机时长。
7.根据权利要求6所述的摇摆驱动控制方法，其特征在于：T1小于T/２，从最高点向最低点摇动过程中，t晚于到达最高点的时间，早于到达最低点的时间。
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