CN110094451B - Control method and device for avoiding resonance of structural part and computer equipment - Google Patents
Control method and device for avoiding resonance of structural part and computer equipment Download PDFInfo
- Publication number
- CN110094451B CN110094451B CN201910244571.2A CN201910244571A CN110094451B CN 110094451 B CN110094451 B CN 110094451B CN 201910244571 A CN201910244571 A CN 201910244571A CN 110094451 B CN110094451 B CN 110094451B
- Authority
- CN
- China
- Prior art keywords
- electric bed
- amplitude
- driving motor
- bed
- rotating speed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47C—CHAIRS; SOFAS; BEDS
- A47C17/00—Sofas; Couches; Beds
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/002—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion characterised by the control method or circuitry
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Nursing (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Invalid Beds And Related Equipment (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention discloses a control method, a control device, computer equipment and a computer readable storage medium for avoiding structural member resonance, which are applied to an electric bed, wherein the electric bed comprises a driving motor, and the control method comprises the following steps: monitoring whether the electric bed has a tendency of resonance phenomenon; and if the tendency of resonance phenomenon is existed, controlling the driving motor to work according to a preset rule. Thereby this application is through the transient variation value of the amplitude of control beddo and judge whether the beddo has the trend of taking place resonance phenomenon to after judging that the beddo has the trend of taking place resonance phenomenon, control driving motor underspin or cross the resonance frequency point fast, thereby avoid resonance phenomenon to the damage of beddo structure spare, improve the security performance of beddo.
Description
Technical Field
The invention relates to the technical field of electric beds, in particular to a control method and device for avoiding structural member resonance and computer equipment.
Background
The existing electric bed is generally driven by an electric push rod, a driving motor of the electric push rod can cause the vibration of the electric bed when in work, and the rotating speed of the motor can be linearly adjusted according to different postures of the electric bed, namely the vibration frequency of the electric bed can be changed. The structural member of the electric bed has a natural resonant frequency, and the vibration frequency caused by the linear variable-speed motor will tend to exceed the resonant frequency of the structural member, so as to cause the resonance of the electric bed. When resonance appears in the electric bed, adverse effect can be caused to the life and the mechanical strength of the structure of electric bed, has certain potential safety hazard.
Disclosure of Invention
The invention mainly aims to provide a control method, a control device and computer equipment for avoiding structural member resonance, and overcomes the defect that the structural member is damaged after the existing electric bed resonates.
The invention provides a control method for avoiding structural member resonance, which is applied to an electric bed, wherein the electric bed comprises a driving motor, and the control method comprises the following steps:
monitoring whether the electric bed has a tendency of resonance phenomenon;
and if the tendency of resonance phenomenon is existed, controlling the driving motor to work according to a preset rule.
Further, the step of monitoring whether the electric bed has a tendency of resonance phenomenon includes:
acquiring the amplitude of the electric bed, wherein the amplitude is recorded according to the acquisition time sequence;
judging whether the amplitude of the electric bed at the current moment is larger than the amplitude of the electric bed at the previous moment;
if the amplitude is larger than the amplitude of the previous adjacent moment, judging whether the instantaneous change value of the amplitude at the current moment is larger than the instantaneous change value of the previous adjacent moment, wherein the instantaneous change value is the difference value between two groups of amplitudes at the adjacent moments;
if the instantaneous change value is larger than the instantaneous change value at the previous moment, the electric bed is judged to have the tendency of generating the resonance phenomenon;
and if the current value is not greater than the instantaneous change value of the previous moment, judging that the electric bed does not have the tendency of generating the resonance phenomenon.
Further, the step of controlling the driving motor to work according to a preset rule includes:
adjusting a preset rotating speed acceleration;
and adjusting the rotating speed of the driving motor according to the rotating speed acceleration until the amplitude of the electric bed at the current moment is smaller than the amplitude of the electric bed at the previous moment.
Further, the step of recording an adjustment number in the electric bed, where the adjustment number is a number of times of adjusting the rotation speed according to the rotation speed acceleration, and adjusting the rotation speed of the driving motor according to the rotation speed acceleration until the amplitude of the electric bed at the current moment is smaller than the amplitude of the electric bed at the previous moment includes:
updating the adjustment times, and judging whether the adjustment times are the same as a time threshold value or not;
if the frequency threshold value is the same as the frequency threshold value, judging whether the structural part of the electric bed is mechanically damaged or not, and resetting the adjustment frequency;
and if the mechanical damage occurs, outputting alarm information to a preset terminal.
Further, the step of judging whether mechanical damage occurs to the structural member of the electric bed includes:
judging whether the electric bed is in an unloaded state at present;
if the electric bed is in the no-load state, controlling the electric bed to perform bed board lifting action, and monitoring whether intermittent operation abnormity occurs to the driving motor, wherein the operation abnormity is that instantaneous change values of driving power of the driving motor at adjacent moments are inconsistent;
if the intermittent operation is abnormal, judging that the structural part of the electric bed is mechanically damaged;
and if the intermittent operation abnormity does not occur, judging that the structural part of the electric bed has no mechanical damage.
Further, the step of controlling the driving motor to work according to a preset rule further includes:
a preset rotating speed threshold value is called, wherein the rotating speed threshold value is smaller than the rotating speed of the driving motor at the current moment;
adjusting the rotation speed of the driving motor to be the same as the rotation speed threshold value;
and controlling the driving motor to continuously work at the adjusted rotating speed until the electric bed does not have the tendency of generating the resonance phenomenon.
Further, the electric bed comprises a bed board, and before the step of monitoring whether the electric bed has a tendency of resonance phenomenon, the method comprises the following steps:
monitoring whether the current inclination angle of the bed plate is larger than the initial inclination angle or not;
if the inclination angle is larger than the initial inclination angle, generating a monitoring instruction so as to execute the action of monitoring whether the electric bed has the tendency of generating the resonance phenomenon or not according to the monitoring instruction
The invention also provides a control device for avoiding the resonance of the structural member, which is applied to an electric bed, wherein the electric bed comprises a driving motor, and the control device comprises:
the monitoring module is used for monitoring whether the electric bed has a tendency of resonance phenomenon;
and the control module is used for controlling the driving motor to work according to a preset rule.
Further, the monitoring module includes:
an obtaining unit, configured to obtain an amplitude of the electric bed, where the amplitude is recorded according to an obtaining time sequence;
the first judgment unit is used for judging whether the amplitude of the electric bed at the current moment is larger than the amplitude of the electric bed at the previous moment;
the second judging unit is used for judging whether the instantaneous change value of the amplitude at the current moment is larger than the instantaneous change value at the previous adjacent moment or not, wherein the instantaneous change value is the difference value between two groups of the amplitudes at the adjacent moments;
a first determination unit for determining that the electric bed has a tendency to generate a resonance phenomenon;
and the second judging unit is used for judging that the electric bed does not have the tendency of generating the resonance phenomenon.
Further, the control module includes:
the first calling unit is used for calling the preset rotating speed acceleration;
and the first adjusting unit is used for adjusting the rotating speed of the driving motor according to the rotating speed and the acceleration until the amplitude of the electric bed at the current moment is smaller than the amplitude of the electric bed at the previous moment.
Further, the inside of the electric bed records the adjustment times, the adjustment times are the times for adjusting the rotating speed according to the rotating speed acceleration, and the control device further comprises:
the updating module is used for updating the adjusting times and judging whether the adjusting times are the same as the times threshold value;
the judging module is used for judging whether the structural part of the electric bed is mechanically damaged or not and resetting the adjusting times;
and the output module is used for outputting the alarm information to a preset terminal.
Further, the determining module includes:
the third judgment unit is used for judging whether the electric bed is in an unloaded state at present;
the control unit is used for controlling the electric bed to lift the bed board and monitoring whether the driving motor has intermittent abnormal operation or not, wherein the abnormal operation refers to the fact that the instantaneous change values of the driving power of the driving motor at adjacent moments are inconsistent;
a third determination unit configured to determine that a structural member of the electric bed is mechanically damaged;
and a fourth determination unit configured to determine that no mechanical damage has occurred to the structure of the electric bed.
Further, the control module further includes:
the second calling unit is used for calling a preset rotating speed threshold value, wherein the rotating speed threshold value is smaller than the rotating speed of the driving motor at the current moment;
the second adjusting unit is used for adjusting the rotating speed of the driving motor to be the same as the rotating speed threshold value;
and the control unit is used for controlling the driving motor to continuously work at the adjusted rotating speed until the electric bed does not have the tendency of generating the resonance phenomenon.
Further, beddo includes the bed board, controlling means still includes:
the monitoring module is used for monitoring whether the current inclination angle of the bed board is larger than the initial inclination angle or not;
and the generation module is used for generating a monitoring instruction so as to execute an action of monitoring whether the electric bed has a tendency of generating a resonance phenomenon according to the monitoring instruction.
The present application further provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of any one of the above methods when executing the computer program.
The present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the method of any of the above.
According to the control method, device and computer equipment for avoiding the structural part resonance, whether the electric bed has the tendency of resonance phenomenon or not is judged by monitoring the instantaneous change value of the amplitude of the electric bed, and after the electric bed is judged to have the tendency of resonance phenomenon, the driving motor is controlled to reduce the rotating speed or rapidly cross the resonance frequency point, so that the damage of the resonance phenomenon to the structural part of the electric bed is avoided, and the safety performance of the electric bed is improved.
Drawings
FIG. 1 is a flow chart of a control method for avoiding structural member resonance according to an embodiment of the present invention;
FIG. 2 is a block diagram of a control device for avoiding resonance of a structural member according to an embodiment of the present invention;
fig. 3 is a block diagram schematically illustrating a structure of a computer device according to an embodiment of the present application.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The embodiment provides a control method for avoiding structural part resonance, which is applied to an electric bed, wherein the electric bed comprises a driving motor, and the control method comprises the following steps:
s1: monitoring whether the electric bed has a tendency of resonance phenomenon;
s2: and if the tendency of resonance phenomenon is existed, controlling the driving motor to work according to a preset rule.
In this embodiment, the electric bed includes a vibration sensor, a bed board, and an electric push rod including a driving motor. The vibration sensor is arranged on the bed board and used for collecting the vibration amplitude of the electric bed. The structural members of the electric bed have natural resonant frequencies, and when the electric bed performs corresponding actions, such as ascending and descending, the rotation of the driving motor can cause the electric bed to vibrate. When the vibration frequency of the electric bed approaches the resonance frequency of the structural member, the amplitude of the electric bed rapidly rises and reaches the maximum amplitude at the resonance point of the resonance frequency. At this moment, because the vibration frequency of the electric bed is consistent with the resonance frequency of the structural member, the electric bed can generate a resonance phenomenon, and the long-time resonance phenomenon can damage the service life and the mechanical strength of each structural member of the electric bed. Meanwhile, the resonance of the structural part of the electric bed can increase the noise of the electric bed during driving, and in practical application, when the electric bed resonates, the intensity of the noise is 10 times that of the noise without resonation. In order to avoid the resonance phenomenon of the electric bed, the control system collects and monitors the amplitude of the electric bed through the vibration sensor and records the collected amplitude according to the acquisition time sequence. Then, the control system judges whether the amplitude of the electric bed at the current moment is larger than the amplitude of the electric bed at the previous moment in real time. If the amplitude of the electric bed at the current moment is larger than the amplitude of the electric bed at the previous moment, the current amplitude is in a rising stage, and the control system judges whether the instantaneous change value of the amplitude at the current moment is larger than the instantaneous change value of the amplitude at the previous moment, wherein the instantaneous change value is the difference value between two groups of amplitudes at the previous moments. If the instantaneous change value of the amplitude at the current moment is larger than the instantaneous change value at the previous moment, the amplitude of the electric bed is in a rapid rising stage. Therefore, the control system can determine that the electric bed has the tendency of resonance phenomenon at present. In order to avoid resonance of a structural member of the electric bed, the control system needs to control the driving motor to work according to a preset rule, for example, the rotating speed of the driving motor is adjusted back and maintained for a period of time, and the driving motor is controlled to normally operate after a resonance frequency point of the electric bed shifts along with the change of the posture of the bed plate; or control driving motor and reduce the rotational speed fast or increase the rotational speed fast for resonant frequency point is crossed fast to the vibration frequency of beddo, makes vibration frequency avoid stopping near resonant frequency point for a long time, avoids arousing the resonance of beddo structure spare, effectively avoids the damage to the beddo structure spare, and weakens the noise of beddo when the drive, improves user's use and experiences.
Further, the step of monitoring whether the electric bed has a tendency of resonance phenomenon includes:
s101: acquiring the amplitude of the electric bed, wherein the amplitude is recorded according to the acquisition time sequence;
s102: judging whether the amplitude of the electric bed at the current moment is larger than the amplitude of the electric bed at the previous moment;
s103: if the amplitude is larger than the amplitude of the previous adjacent moment, judging whether the instantaneous change value of the amplitude at the current moment is larger than the instantaneous change value of the previous adjacent moment, wherein the instantaneous change value is the difference value between two groups of amplitudes at the adjacent moments;
s104: if the instantaneous change value is larger than the instantaneous change value at the previous moment, the electric bed is judged to have the tendency of generating the resonance phenomenon;
s105: and if the current value is not greater than the instantaneous change value of the previous moment, judging that the electric bed does not have the tendency of generating the resonance phenomenon.
In this embodiment, the control system may acquire the amplitude of the electric bed in real time or according to a preset frequency through the vibration sensor disposed on the bed board, and record data of each group of amplitudes in the order of the acquired time. And the control system compares the amplitude of the current moment with the amplitude of the adjacent previous moment in real time. If the amplitude of the electric bed at the current moment is smaller than the amplitude of the electric bed at the previous moment, the amplitude of the electric bed is gradually reduced, and the electric bed does not have the tendency of transmitting the resonance phenomenon. If the amplitude of the electric bed at the current moment is larger than the amplitude of the electric bed at the previous moment, the amplitude of the electric bed is gradually increased. The control system needs to judge the amplitude of the amplitude increase, and therefore compares the instantaneous change value of the amplitude at the current moment with the instantaneous change value at the immediately previous moment. The instantaneous change value is the difference between two groups of amplitudes at adjacent moments and represents the change amplitude of the amplitude. If the instantaneous change value of the amplitude of the electric bed at the current moment is larger than the instantaneous change value of the amplitude of the electric bed at the previous moment, the amplitude is rapidly increased, and the control system judges that the electric bed has the tendency of resonance phenomenon. If the instantaneous change value of the amplitude at the current moment is not greater than the instantaneous change value at the previous moment, the amplitude does not change sharply, and the control system judges that the electric bed does not have the tendency of resonance phenomenon according to the judgment result.
Further, the step of controlling the driving motor to work according to a preset rule includes:
s201: adjusting a preset rotating speed acceleration;
s202: and adjusting the rotating speed of the driving motor according to the rotating speed acceleration until the amplitude of the electric bed at the current moment is smaller than the amplitude of the electric bed at the previous moment.
In this embodiment, when the control system determines that the electric bed currently has a tendency of resonance phenomenon, the control system retrieves a preset rotation speed acceleration. The rotating speed acceleration is the limit acceleration of the driving motor, namely the maximum rotating speed acceleration allowed by the performance of the driving motor, and is set by a designer according to the performance of the driving motor. The control system adjusts the rotation speed of the driving motor according to the rotation speed acceleration, for example, controls the driving motor to reduce the rotation speed or increase the rotation speed according to the rotation speed acceleration until the control system monitors that the amplitude of the electric bed at the current moment is smaller than the amplitude of the electric bed at the previous moment. The control system controls the driving motor to rapidly reduce the rotating speed of the motor or rapidly increase the rotating speed of the motor, so that the vibration frequency of the electric bed is prevented from staying near a resonance frequency point for a long time, and the resonance of the structural member of the electric bed is avoided.
Further, the step of recording an adjustment number in the electric bed, where the adjustment number is a number of times of adjusting the rotation speed according to the rotation speed acceleration, and adjusting the rotation speed of the driving motor according to the rotation speed acceleration until the amplitude of the electric bed at the current moment is smaller than the amplitude of the electric bed at the previous moment includes:
s3: updating the adjustment times, and judging whether the adjustment times are the same as a time threshold value or not;
s4: if the frequency threshold value is the same as the frequency threshold value, judging whether the structural part of the electric bed is mechanically damaged or not, and resetting the adjustment frequency;
s5: and if the mechanical damage occurs, outputting alarm information to a preset terminal.
In this embodiment, the number of times of adjustment is recorded in the control system of the electric bed, where the number of times of adjustment refers to the number of times of adjustment of the rotation speed by the control system according to the rotation speed and the acceleration. After the control system controls the rotating speed of the driving motor to rapidly cross the resonant frequency point, the control system can automatically update the adjustment times according to the current adjustment action, compares the updated adjustment times with a preset time threshold value, and judges the size between the adjustment times and the preset time threshold value. The number threshold is preset by a designer, and since the vibration frequency of the electric bed can rapidly cross over the resonance frequency point when the rotation speed of the driving motor is adjusted according to the rotation speed acceleration every time, although the time is extremely short, damage to the structural member of the electric bed is also possible, therefore, in order to enhance the safety performance, the designer sets that the control system performs self-checking on the structural member of the electric bed after the adjustment number reaches the number threshold. Under the no-load state of the electric bed, the control system monitors the instantaneous change value of the motor power of the driving motor in the lifting action of the bed board in a complete period, so that the running condition of each structural part of the electric bed is obtained, and the adjustment times are reset after self-checking. If the control system detects that the structural part of the electric bed is damaged mechanically, alarm information can be automatically generated and sent to a preset terminal. The preset terminal can be a receiving terminal of a maintenance department of the electric bed.
Further, the step of judging whether mechanical damage occurs to the structural member of the electric bed includes:
s401: judging whether the electric bed is in an unloaded state at present;
s402: if the electric bed is in the no-load state, controlling the electric bed to perform bed board lifting action, and monitoring whether intermittent operation abnormity occurs to the driving motor, wherein the operation abnormity is that instantaneous change values of driving power of the driving motor at adjacent moments are inconsistent;
s403: if the intermittent operation is abnormal, judging that the structural part of the electric bed is mechanically damaged;
s404: and if the intermittent operation abnormity does not occur, judging that the structural part of the electric bed has no mechanical damage.
In this embodiment, a pressure sensor is disposed on a bed plate of the electric bed. When the control system carries out self-checking on the electric bed, the current pressure applied to the bed plate is firstly obtained through the pressure sensor, and whether the electric bed is in an idle state at present is judged according to the current pressure, so that the safety of a user is ensured. The control system records a corresponding pressure threshold value when the bed board is in an idle state, if the current pressure is equal to the pressure threshold value, the control system judges that the electric bed is in the idle state at present, then controls the electric bed to carry out a complete period of bed board lifting action, and monitors the voltage and current of the driving motor in real time in the lifting process. The control system calculates the driving power according to the voltage and the current of the driving motor and compares instantaneous change values of the driving motor at adjacent moments. And if the instantaneous change values of the driving power of the driving motor at the adjacent moments are inconsistent, the abnormal operation of the driving motor is described. If the abnormal operation state exists all the time, the control system judges that the driving motor breaks down and the structural part of the electric bed is not mechanically damaged; if the abnormal operation state is intermittent, that is, the driving power of the driving motor is changed sharply when the driving motor operates to the position of the mechanically damaged structural member, the control system judges that the mechanical damage occurs to the mechanical member of the electric bed.
Further, the step of controlling the driving motor to work according to a preset rule further includes:
s203: a preset rotating speed threshold value is called, wherein the rotating speed threshold value is smaller than the rotating speed of the driving motor at the current moment;
s204: adjusting the rotation speed of the driving motor to be the same as the rotation speed threshold value;
s205: and controlling the driving motor to continuously work at the adjusted rotating speed until the electric bed does not have the tendency of generating the resonance phenomenon.
In this embodiment, after determining that the electric bed has a tendency of resonance, the control system needs to adjust back the rotation speed of the driving motor. The control system firstly calls a preset rotating speed threshold value, wherein the rotating speed threshold value is smaller than the current rotating speed of the driving motor. Then, the control system controls the rotating speed of the driving motor to be reduced to be the same as the rotating speed threshold value, so that the driving motor continuously works at the adjusted rotating speed until the resonance frequency point shifts along with the change of the posture of the electric bed, namely, the electric bed does not have the tendency of resonance phenomenon, thereby avoiding the vibration frequency of the electric bed from being close to the resonance frequency and avoiding the structural member of the electric bed from resonating.
Further, the electric bed comprises a bed board, and before the step of monitoring whether the electric bed has a tendency of resonance phenomenon, the method comprises the following steps:
s6: monitoring whether the current inclination angle of the bed plate is larger than an initial inclination angle or not;
s7: and if the inclination angle is larger than the initial inclination angle, generating a monitoring instruction so as to execute an action of monitoring whether the electric bed has the tendency of generating the resonance phenomenon or not according to the monitoring instruction.
In this embodiment, the electric bed is provided with an inclination sensor on the bed board, and is used for acquiring inclination data of the bed board. The control system monitors whether the current inclination angle of the bed plate is larger than an initial inclination angle in real time through the inclination angle sensor, wherein the initial inclination angle refers to the inclination angle of the bed plate in a flat state. If the control system monitors that the current inclination angle of the bed board is larger than the initial inclination angle, the control system generates a monitoring instruction in real time to execute an action of judging whether the electric bed has a tendency of generating a resonance phenomenon or not according to the monitoring instruction, wherein the current inclination angle of the bed board is larger than the initial inclination angle. The control system monitors whether the electric bed is about to resonate or not when the bed plate is monitored to be in the lifting process, so that the processing complexity of the control system can be reduced, and the instantaneous change of the amplitude of the electric bed does not need to be analyzed at every moment.
According to the control method for avoiding the structural member resonance, whether the electric bed has the tendency of resonance phenomenon or not is judged by monitoring the instantaneous change value of the amplitude of the electric bed, and after the electric bed is judged to have the tendency of resonance phenomenon, the driving motor is controlled to reduce the rotating speed or rapidly cross the resonance frequency point, so that the damage of the resonance phenomenon to the structural member of the electric bed is avoided, and the safety performance of the electric bed is improved.
The embodiment further provides a control device for avoiding structural member resonance, which is applied to an electric bed, the electric bed comprises a driving motor, and the control device comprises:
the monitoring module 1 is used for monitoring whether the electric bed has a tendency of resonance phenomenon;
and the control module 2 is used for controlling the driving motor to work according to a preset rule.
In this embodiment, the electric bed includes a vibration sensor, a bed board, and an electric push rod including a driving motor. The vibration sensor is arranged on the bed board and used for collecting the vibration amplitude of the electric bed. The structural members of the electric bed have natural resonant frequencies, and when the electric bed performs corresponding actions, such as ascending and descending, the rotation of the driving motor can cause the electric bed to vibrate. When the vibration frequency of the electric bed approaches the resonance frequency of the structural member, the amplitude of the electric bed rapidly rises and reaches the maximum amplitude at the resonance point of the resonance frequency. At this moment, because the vibration frequency of the electric bed is consistent with the resonance frequency of the structural member, the electric bed can generate a resonance phenomenon, and the long-time resonance phenomenon can damage the service life and the mechanical strength of each structural member of the electric bed. In order to avoid the resonance phenomenon of the electric bed, the control system collects and monitors the amplitude of the electric bed through the vibration sensor and records the collected amplitude according to the acquisition time sequence. Then, the control system judges whether the amplitude of the electric bed at the current moment is larger than the amplitude of the electric bed at the previous moment in real time. If the amplitude of the electric bed at the current moment is larger than the amplitude of the electric bed at the previous moment, the current amplitude is in a rising stage, and the control system judges whether the instantaneous change value of the amplitude at the current moment is larger than the instantaneous change value of the amplitude at the previous moment, wherein the instantaneous change value is the difference value between two groups of amplitudes at the previous moments. If the instantaneous change value of the amplitude at the current moment is larger than the instantaneous change value at the previous moment, the amplitude of the electric bed is in a rapid rising stage. Therefore, the control system can determine that the electric bed has the tendency of resonance phenomenon at present. In order to avoid resonance of a structural member of the electric bed, the control system needs to control the driving motor to work according to a preset rule, for example, the rotating speed of the driving motor is adjusted back and maintained for a period of time, and the driving motor is controlled to normally operate after a resonance frequency point of the electric bed shifts along with the change of the posture of the bed plate; or the driving motor is controlled to rapidly reduce the rotating speed or rapidly increase the rotating speed, so that the vibration frequency of the electric bed rapidly crosses the resonance frequency point, the vibration frequency avoids staying near the resonance frequency point for a long time, and the resonance of the structural member of the electric bed is avoided.
Further, the monitoring module 1 includes:
an obtaining unit, configured to obtain an amplitude of the electric bed, where the amplitude is recorded according to an obtaining time sequence;
the first judgment unit is used for judging whether the amplitude of the electric bed at the current moment is larger than the amplitude of the electric bed at the previous moment;
the second judging unit is used for judging whether the instantaneous change value of the amplitude at the current moment is larger than the instantaneous change value at the previous adjacent moment or not, wherein the instantaneous change value is the difference value between two groups of the amplitudes at the adjacent moments;
a first determination unit for determining that the electric bed has a tendency to generate a resonance phenomenon;
and the second judging unit is used for judging that the electric bed does not have the tendency of generating the resonance phenomenon.
In this embodiment, the control system may acquire the amplitude of the electric bed in real time or according to a preset frequency through the vibration sensor disposed on the bed board, and record data of each group of amplitudes in the order of the acquired time. And the control system compares the amplitude of the current moment with the amplitude of the adjacent previous moment in real time. If the amplitude of the electric bed at the current moment is smaller than the amplitude of the electric bed at the previous moment, the amplitude of the electric bed is gradually reduced, and the electric bed does not have the tendency of transmitting the resonance phenomenon. If the amplitude of the electric bed at the current moment is larger than the amplitude of the electric bed at the previous moment, the amplitude of the electric bed is gradually increased. The control system needs to judge the amplitude of the amplitude increase, and therefore compares the instantaneous change value of the amplitude at the current moment with the instantaneous change value at the immediately previous moment. The instantaneous change value is the difference between two groups of amplitudes at adjacent moments and represents the change amplitude of the amplitude. If the instantaneous change value of the amplitude of the electric bed at the current moment is larger than the instantaneous change value of the amplitude of the electric bed at the previous moment, the amplitude is rapidly increased, and the control system judges that the electric bed has the tendency of resonance phenomenon. If the instantaneous change value of the amplitude at the current moment is not greater than the instantaneous change value at the previous moment, the amplitude does not change sharply, and the control system judges that the electric bed does not have the tendency of resonance phenomenon according to the judgment result.
Further, the control module 2 includes:
the first calling unit is used for calling the preset rotating speed acceleration;
and the first adjusting unit is used for adjusting the rotating speed of the driving motor according to the rotating speed and the acceleration until the amplitude of the electric bed at the current moment is smaller than the amplitude of the electric bed at the previous moment.
In this embodiment, when the control system determines that the electric bed currently has a tendency of resonance phenomenon, the control system retrieves a preset rotation speed acceleration. The rotating speed acceleration is the limit acceleration of the driving motor, namely the maximum rotating speed acceleration allowed by the performance of the driving motor, and is set by a designer according to the performance of the driving motor. The control system adjusts the rotation speed of the driving motor according to the rotation speed acceleration, for example, controls the driving motor to reduce the rotation speed or increase the rotation speed according to the rotation speed acceleration until the control system monitors that the amplitude of the electric bed at the current moment is smaller than the amplitude of the electric bed at the previous moment. The control system controls the driving motor to rapidly reduce the rotating speed of the motor or rapidly increase the rotating speed of the motor, so that the vibration frequency of the electric bed is prevented from staying near a resonance frequency point for a long time, and the resonance of the structural member of the electric bed is avoided.
Further, the inside of the electric bed records the adjustment times, the adjustment times are the times for adjusting the rotating speed according to the rotating speed acceleration, and the control device further comprises:
the updating module 3 is used for updating the adjusting times and judging whether the adjusting times are the same as the times threshold value;
the judgment module 4 is used for judging whether the structural part of the electric bed is mechanically damaged or not and resetting the adjustment times;
and the output module 5 is used for outputting the alarm information to a preset terminal.
In this embodiment, the number of times of adjustment is recorded in the control system of the electric bed, where the number of times of adjustment refers to the number of times of adjustment of the rotation speed by the control system according to the rotation speed and the acceleration. After the control system controls the rotating speed of the driving motor to rapidly cross the resonant frequency point, the control system can automatically update the adjustment times according to the current adjustment action, compares the updated adjustment times with a preset time threshold value, and judges the size between the adjustment times and the preset time threshold value. The number threshold is preset by a designer, and since the vibration frequency of the electric bed can rapidly cross over the resonance frequency point when the rotation speed of the driving motor is adjusted according to the rotation speed acceleration every time, although the time is extremely short, damage to the structural member of the electric bed is also possible, therefore, in order to enhance the safety performance, the designer sets that the control system performs self-checking on the structural member of the electric bed after the adjustment number reaches the number threshold. Under the no-load state of the electric bed, the control system monitors the instantaneous change value of the motor power of the driving motor in the lifting action of the bed board in a complete period, so that the running condition of each structural part of the electric bed is obtained, and the adjustment times are reset after self-checking. If the control system detects that the structural part of the electric bed is damaged mechanically, alarm information can be automatically generated and sent to a preset terminal. The preset terminal can be a receiving terminal of a maintenance department of the electric bed.
Further, the determining module 4 includes:
the third judgment unit is used for judging whether the electric bed is in an unloaded state at present;
the control unit is used for controlling the electric bed to lift the bed board and monitoring whether the driving motor has intermittent abnormal operation or not, wherein the abnormal operation refers to the fact that the instantaneous change values of the driving power of the driving motor at adjacent moments are inconsistent;
a third determination unit configured to determine that a structural member of the electric bed is mechanically damaged;
and a fourth determination unit configured to determine that no mechanical damage has occurred to the structure of the electric bed.
In this embodiment, a pressure sensor is disposed on a bed plate of the electric bed. When the control system carries out self-checking on the electric bed, the current pressure applied to the bed plate is firstly obtained through the pressure sensor, and whether the electric bed is in an idle state at present is judged according to the current pressure, so that the safety of a user is ensured. The control system records a corresponding pressure threshold value when the bed board is in an idle state, if the current pressure is equal to the pressure threshold value, the control system judges that the electric bed is in the idle state at present, then controls the electric bed to carry out a complete period of bed board lifting action, and monitors the voltage and current of the driving motor in real time in the lifting process. The control system calculates the driving power according to the voltage and the current of the driving motor and compares instantaneous change values of the driving motor at adjacent moments. And if the instantaneous change values of the driving power of the driving motor at the adjacent moments are inconsistent, the abnormal operation of the driving motor is described. If the abnormal operation state exists all the time, the control system judges that the driving motor breaks down and the structural part of the electric bed is not mechanically damaged; if the abnormal operation state is intermittent, that is, the driving power of the driving motor is changed sharply when the driving motor operates to the position of the mechanically damaged structural member, the control system judges that the mechanical damage occurs to the mechanical member of the electric bed.
Further, the control module 2 further includes:
the second calling unit is used for calling a preset rotating speed threshold value, wherein the rotating speed threshold value is smaller than the rotating speed of the driving motor at the current moment;
the second adjusting unit is used for adjusting the rotating speed of the driving motor to be the same as the rotating speed threshold value;
and the control unit is used for controlling the driving motor to continuously work at the adjusted rotating speed until the electric bed does not have the tendency of generating the resonance phenomenon.
In this embodiment, after determining that the electric bed has a tendency of resonance, the control system needs to adjust back the rotation speed of the driving motor. The control system firstly calls a preset rotating speed threshold value, wherein the rotating speed threshold value is smaller than the current rotating speed of the driving motor. Then, the control system controls the rotating speed of the driving motor to be reduced to be the same as the rotating speed threshold value, so that the driving motor continuously works at the adjusted rotating speed until the resonance frequency point shifts along with the change of the posture of the electric bed, namely, the electric bed does not have the tendency of resonance phenomenon, thereby avoiding the vibration frequency of the electric bed from being close to the resonance frequency and avoiding the structural member of the electric bed from resonating.
Further, beddo includes the bed board, controlling means still includes:
the monitoring module 6 is used for monitoring whether the current inclination angle of the bed board is larger than the initial inclination angle;
and the generating module 7 is used for generating a monitoring instruction so as to execute an action of monitoring whether the electric bed has a tendency of generating a resonance phenomenon according to the monitoring instruction.
In this embodiment, the electric bed is provided with an inclination sensor on the bed board, and is used for acquiring inclination data of the bed board. The control system monitors whether the current inclination angle of the bed plate is larger than an initial inclination angle in real time through the inclination angle sensor, wherein the initial inclination angle refers to the inclination angle of the bed plate in a flat state. If the control system monitors that the current inclination angle of the bed board is larger than the initial inclination angle, the control system generates a monitoring instruction in real time to execute an action of judging whether the electric bed has a tendency of generating a resonance phenomenon or not according to the monitoring instruction, wherein the current inclination angle of the bed board is larger than the initial inclination angle. The control system monitors whether the electric bed is about to resonate or not when the bed plate is monitored to be in the lifting process, so that the processing complexity of the control system can be reduced, and the instantaneous change of the amplitude of the electric bed does not need to be analyzed at every moment.
The control device for avoiding structural part resonance provided by the embodiment judges whether the electric bed has the tendency of resonance phenomenon or not by monitoring the instantaneous change value of the amplitude of the electric bed, and controls the driving motor to reduce the rotating speed or rapidly cross the resonance frequency point after judging that the electric bed has the tendency of resonance phenomenon, thereby avoiding the damage of the resonance phenomenon to the structural part of the electric bed, and improving the safety performance of the electric bed
Referring to fig. 3, a computer device, which may be a server and whose internal structure may be as shown in fig. 3, is also provided in the embodiment of the present application. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the computer designed processor is used to provide computational and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer equipment is used for storing data such as rotating speed, acceleration and the like. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to realize a control method for avoiding structural member resonance, and is applied to an electric bed.
The processor executes the control method for avoiding the resonance of the structural part, and comprises the following steps:
s1: monitoring whether the electric bed has a tendency of resonance phenomenon;
s2: and if the tendency of resonance phenomenon is existed, controlling the driving motor to work according to a preset rule.
An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements a control method for avoiding resonance of a structural member, and the control method is applied to an electric bed, and specifically includes:
s1: monitoring whether the electric bed has a tendency of resonance phenomenon;
s2: and if the tendency of resonance phenomenon is existed, controlling the driving motor to work according to a preset rule.
It will be understood by those skilled in the art that all or part of the processes of the methods of the above embodiments may be implemented by hardware associated with instructions of a computer program, which may be stored on a non-volatile computer-readable storage medium, and when executed, may include processes of the above embodiments of the methods. Any reference to memory, storage, database, or other medium provided herein and used in the examples may include non-volatile and/or volatile memory. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), double-rate SDRAM (SSRSDRAM), Enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, apparatus, article, or method. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, apparatus, article, or method that includes the element.
The above description is only for the preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or applied directly or indirectly to other related arts, are the same.
Claims (8)
1. A control method for avoiding structural member resonance is characterized by being applied to an electric bed, wherein the electric bed comprises a driving motor, and the control method comprises the following steps:
monitoring whether the electric bed has a tendency of resonance phenomenon;
if the tendency of resonance phenomenon exists, controlling the driving motor to work according to a preset rule;
the step of monitoring whether the electric bed has a tendency of resonance phenomenon includes:
acquiring the amplitude of the electric bed, wherein the amplitude is recorded according to the acquisition time sequence;
judging whether the amplitude of the electric bed at the current moment is larger than the amplitude of the electric bed at the previous moment;
if the amplitude is larger than the amplitude of the previous adjacent moment, judging whether the instantaneous change value of the amplitude at the current moment is larger than the instantaneous change value of the previous adjacent moment, wherein the instantaneous change value is the difference value between two groups of amplitudes at the adjacent moments;
if the instantaneous change value is larger than the instantaneous change value at the previous moment, the electric bed is judged to have the tendency of generating the resonance phenomenon;
the step of controlling the driving motor to work according to a preset rule comprises the following steps:
adjusting a preset rotating speed acceleration;
adjusting the rotating speed of the driving motor according to the rotating speed acceleration until the amplitude of the electric bed at the current moment is smaller than the amplitude of the electric bed at the previous moment;
the method comprises the following steps of recording adjustment times in the electric bed, wherein the adjustment times are times for adjusting the rotating speed according to the rotating speed acceleration, and adjusting the rotating speed of the driving motor according to the rotating speed acceleration until the amplitude of the electric bed at the current moment is smaller than the amplitude of the electric bed at the next previous moment, and comprises the following steps:
updating the adjustment times, and judging whether the adjustment times are the same as a time threshold value or not;
if the frequency threshold value is the same as the frequency threshold value, judging whether the structural part of the electric bed is mechanically damaged or not, and resetting the adjustment frequency;
the step of judging whether mechanical damage appears in the structure of beddo includes:
judging whether the electric bed is in an unloaded state at present;
if the electric bed is in the no-load state, controlling the electric bed to perform bed board lifting action, and monitoring whether intermittent operation abnormity occurs to the driving motor, wherein the operation abnormity is that instantaneous change values of driving power of the driving motor at adjacent moments are inconsistent;
if the intermittent operation is abnormal, judging that the structural part of the electric bed is mechanically damaged;
and if the intermittent operation abnormity does not occur, judging that the structural part of the electric bed has no mechanical damage.
2. The control method for avoiding resonance of structural members according to claim 1, wherein the step of monitoring whether the electric bed has a tendency to generate resonance phenomenon further comprises:
and if the current value is not greater than the instantaneous change value of the previous moment, judging that the electric bed does not have the tendency of generating the resonance phenomenon.
3. The method for controlling avoiding resonance of a structural member according to claim 1, wherein the step of determining whether mechanical damage occurs to the structural member of the electric bed is followed by the steps of:
and if the mechanical damage occurs, outputting alarm information to a preset terminal.
4. The control method for avoiding resonance of a structural member according to claim 1, wherein the step of controlling the driving motor to operate according to a preset rule further comprises:
a preset rotating speed threshold value is called, wherein the rotating speed threshold value is smaller than the rotating speed of the driving motor at the current moment;
adjusting the rotation speed of the driving motor to be the same as the rotation speed threshold value;
and controlling the driving motor to continuously work at the adjusted rotating speed until the electric bed does not have the tendency of generating the resonance phenomenon.
5. The control method for avoiding resonance of structural members according to claim 1, wherein the electric bed comprises a bed board, and the step of monitoring whether the electric bed has a tendency of resonance phenomenon comprises the following steps:
monitoring whether the current inclination angle of the bed plate is larger than an initial inclination angle or not;
and if the inclination angle is larger than the initial inclination angle, generating a monitoring instruction so as to execute an action of monitoring whether the electric bed has the tendency of generating the resonance phenomenon or not according to the monitoring instruction.
6. A control device for avoiding structural member resonance is applied to an electric bed, the electric bed comprises a driving motor, and the control device comprises:
the monitoring module is used for monitoring whether the electric bed has a tendency of resonance phenomenon;
the control module is used for controlling the driving motor to work according to a preset rule;
the monitoring module comprises:
an obtaining unit, configured to obtain an amplitude of the electric bed, where the amplitude is recorded according to an obtaining time sequence;
the first judgment unit is used for judging whether the amplitude of the electric bed at the current moment is larger than the amplitude of the electric bed at the previous moment;
the second judging unit is used for judging whether the instantaneous change value of the amplitude at the current moment is larger than the instantaneous change value at the previous adjacent moment or not, wherein the instantaneous change value is the difference value between two groups of the amplitudes at the adjacent moments;
a first determination unit for determining that the electric bed has a tendency to generate a resonance phenomenon;
the control module includes:
the first calling unit is used for calling the preset rotating speed acceleration;
the first adjusting unit is used for adjusting the rotating speed of the driving motor according to the rotating speed acceleration until the amplitude of the electric bed at the current moment is smaller than the amplitude of the electric bed at the previous moment;
the inside record of beddo has the adjustment number of times, the adjustment number of times is according to rotational speed acceleration adjustment slew velocity's number of times, controlling means still includes:
the updating module is used for updating the adjusting times and judging whether the adjusting times are the same as the times threshold value;
the judging module is used for judging whether the structural part of the electric bed is mechanically damaged or not and resetting the adjusting times;
the judging module comprises:
the third judgment unit is used for judging whether the electric bed is in an unloaded state at present;
the control unit is used for controlling the electric bed to lift the bed board and monitoring whether the driving motor has intermittent abnormal operation or not, wherein the abnormal operation refers to the fact that the instantaneous change values of the driving power of the driving motor at adjacent moments are inconsistent;
a third determination unit configured to determine that a structural member of the electric bed is mechanically damaged;
and a fourth determination unit configured to determine that no mechanical damage has occurred to the structure of the electric bed.
7. A computer device comprising a memory and a processor, the memory having stored therein a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method according to any of claims 1 to 5.
8. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910244571.2A CN110094451B (en) | 2019-03-28 | 2019-03-28 | Control method and device for avoiding resonance of structural part and computer equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910244571.2A CN110094451B (en) | 2019-03-28 | 2019-03-28 | Control method and device for avoiding resonance of structural part and computer equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110094451A CN110094451A (en) | 2019-08-06 |
| CN110094451B true CN110094451B (en) | 2020-12-08 |
Family
ID=67444084
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910244571.2A Active CN110094451B (en) | 2019-03-28 | 2019-03-28 | Control method and device for avoiding resonance of structural part and computer equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110094451B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113190096A (en) * | 2021-03-30 | 2021-07-30 | 联想(北京)信息技术有限公司 | Speed regulation method and device for server fan and computer readable medium |
| CN112800563A (en) * | 2021-03-30 | 2021-05-14 | 三一重型装备有限公司 | Coal mining machine fault discrimination method and system and readable storage medium |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1876933A (en) * | 2005-06-10 | 2006-12-13 | 乐金电子(天津)电器有限公司 | Washing machine rotation speed control method capable of avoiding resonance and control apparatus therefor |
| KR101236662B1 (en) * | 2006-05-08 | 2013-02-22 | 신포니아 테크놀로지 가부시키가이샤 | Damper for automobiles for reducing vibration of automobile body |
| CN105865731B (en) * | 2016-03-30 | 2018-11-30 | 北京林业大学 | A kind of real-time detecting system and its control method of electric car resonance speed |
| CN107294472B (en) * | 2017-05-23 | 2019-05-03 | 珠海格力电器股份有限公司 | Motor control method, device and equipment |
| CN208296974U (en) * | 2018-04-23 | 2018-12-28 | 中山绿威科技有限公司 | mechanical resonance detection device |
| CN109443524B (en) * | 2018-10-30 | 2021-01-29 | 珠海格力智能装备有限公司 | Resonance processing method and device for target equipment |
| CN109489179B (en) * | 2018-11-21 | 2020-01-21 | 珠海格力电器股份有限公司 | Method and device for detecting air conditioner motor |
-
2019
- 2019-03-28 CN CN201910244571.2A patent/CN110094451B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN110094451A (en) | 2019-08-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110094451B (en) | Control method and device for avoiding resonance of structural part and computer equipment | |
| JP6622497B2 (en) | Failure prediction apparatus and failure prediction method | |
| US9043657B2 (en) | Preventing disturbance induced failure in a computer system | |
| CN110068789B (en) | Method and circuit for monitoring service life of electric energy meter | |
| CN108253590B (en) | Variable frequency air conditioner, resonance point judgment method of compressor of variable frequency air conditioner and storage medium | |
| CN111602064A (en) | Fault diagnosis apparatus and method for circuit breaker | |
| CN107368058B (en) | Fault monitoring method for equipment, equipment and computer readable medium | |
| US20140280388A1 (en) | Data collection device and method | |
| JP2018132910A (en) | Maintenance device, presentation system and program | |
| JP6815282B2 (en) | Feature evaluation system for rotary electric machines and feature evaluation method for rotary electric machines | |
| CN112297755B (en) | Frequency control method of parking air conditioner, storage medium and device | |
| CN109960209B (en) | Intelligent electric bed operation method and device based on torque limit | |
| CN105650816A (en) | Control method and control device of air conditioner | |
| CN112594207A (en) | Fan temperature rise monitoring method and system, computer equipment and storage medium | |
| KR102539547B1 (en) | Injector diagnosis device and injector diagnosis method | |
| CN108803581B (en) | Fault remote diagnosis method based on expert template | |
| US10678668B1 (en) | Using steady-state changes to discern the operating performance of an individual machine operating on a commonly supplied electrical network connected to multiple machines | |
| CN114542445B (en) | Pump operation state diagnosis method, system, computer device and storage medium | |
| CN110556789B (en) | Fault protection method and system for output filter capacitor of vehicle-mounted inverter | |
| CN108279663B (en) | Control system and control method for vehicle error signal, and storage medium | |
| CN112927910A (en) | Reactor fixing support construction method, vibration reduction method, device, equipment and medium | |
| CN114233674B (en) | Overload protection method and device for magnetic suspension molecular pump and storage medium | |
| CN112556867A (en) | Fan temperature detection method and system, computer equipment and storage medium | |
| CN114083987A (en) | Battery monitoring parameter correction method and device and computer equipment | |
| KR102317225B1 (en) | Method for managing agricultural machine and electronic device thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20191012 Address after: 362000 Fujian Quanzhou Fengze District Donghai Street Fashi Community Fenghai Road Haiyue House 3 2201 Applicant after: Quanzhou Minimalist Robot Technology Co., Ltd. Address before: 510000, room 126, 2107 Xin Xin Road, Yuexiu District temple, Guangdong, Guangzhou Applicant before: Yang Song |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |