CN110162106B - Positioning method of electric push rod - Google Patents
Positioning method of electric push rod Download PDFInfo
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- CN110162106B CN110162106B CN201910408560.3A CN201910408560A CN110162106B CN 110162106 B CN110162106 B CN 110162106B CN 201910408560 A CN201910408560 A CN 201910408560A CN 110162106 B CN110162106 B CN 110162106B
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- push rod
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
Abstract
The invention discloses a positioning method of an electric push rod, which comprises the following steps: installing a Hall sensor on the electric push rod, wherein the Hall sensor outputs a pulse signal to a control unit; according to the pulse signal, a Hall square wave count value is obtained through the control unit, wherein the Hall square wave count value is obtained through a sampling function by the control unit; and controlling the electric push rod to drive the driven unit to a preset position and angle according to the Hall square wave counting value. The invention can realize that the position and the angle of the driven unit can be accurately controlled when the electric push rod drives the driven unit, and the influence caused by the defects of electromagnetic interference, temperature, components and the like is well solved, so that the electric push rod can be more stably and accurately controlled when being used as equipment of a driving element.
Description
Technical Field
The invention belongs to the technical field of control, and particularly relates to a positioning method of an electric push rod.
Background
The electric push rod is an electric driving device which converts the rotary motion of a motor into the linear reciprocating motion of the push rod. The device can be used as an execution machine in various simple or complex process flows to realize position control, angle control and the like. The electric push rod has the characteristics of small volume, large thrust, high precision, good self-locking performance, low noise, good stability, electric drive, simple installation and the like, so that the electric push rod has wide application range, all walks of life can both see the figure of the electric push rod, the fields of medical equipment, industrial equipment, home office equipment and the like are more and more widely applied, and the electric push rod can be used as long as a linear actuating mechanism product is used. In the medical field, the electric massage bed is mainly applied to electric nursing beds, electric massage chairs, dental chairs, lifting operating tables and the like. In the industrial field, the method is mainly applied to production lines, lifting platforms and the like. The household and office work can be realized by an electric curtain, a lifting table, an intelligent kitchen, a television lifting cabinet and the like. The electric push rod comprises an electric actuating mechanism and a regulating valve, the control precision mainly depends on the control performance of the electric actuating mechanism, and the electric push rod can convert a control signal of a system into angular displacement and linear displacement of an output shaft.
The electric push rod is generally provided with a sensor, because a pulse signal fed back by the sensor is influenced by external factors such as electromagnetic interference, noise waves and detection signals are lost, the loss or error capture of the signals can cause the error of the position or the angle to be increased, the error can be accumulated along with the reciprocating rotation of the motor, and the accumulated result of the error can cause severe influence. Therefore, when precise position or angle control needs to be realized, signals output by a sensor of the electric push rod need to be processed, and a correct processing method is adopted to realize more precise control.
Aiming at the defects, the invention provides a positioning method of the electric push rod, which can well improve the control precision of the electric push rod.
Disclosure of Invention
The invention aims to provide a positioning method of an electric push rod, which can obtain a Hall square wave counting value or a Hall square wave accurate value so as to accurately realize the control of the position and the rotation angle value of a driven unit when the electric push rod drives the driven unit.
In order to solve the technical problems, the invention adopts the following technical scheme: a positioning method of an electric push rod comprises the following steps: installing a Hall sensor on the electric push rod, wherein the Hall sensor outputs a pulse signal to a control unit; obtaining a Hall square wave count value Cx through the control unit according to the pulse signal, wherein the Hall square wave count value Cx is obtained by the control unit through a sampling function; and controlling the electric push rod to drive the driven unit to a preset position and angle according to the Hall square wave count value Cx.
Optionally, the hall square wave accurate value C is obtained by the control unit, wherein the control unit obtains the hall square wave accurate value C by using waveform period monitoring.
Optionally, the waveform period monitoring mode includes that the control unit judges a timing period of the hall square wave; comparing the timing period with a Hall square wave theoretical period, and giving a compensation value Cy to the Hall square wave count value Cx; and obtaining the Hall square wave accurate value C as Cx +/-Cy.
Optionally, when the ratio of the timing period to the theoretical period is greater than 1 and 2 times or more than 2 times, the value of Cy is the ratio of the timing period to the theoretical period, and the hall square wave accurate value C ═ Cx + Cy. And when the ratio of the theoretical period to the timing period is more than 1 and 2 times or more than 2 times, the value of Cy is the ratio of the theoretical period to the timing period, and the accurate value C of the Hall square wave is Cx-Cy.
Optionally, when the control unit obtains the hall square wave count value Cx without a software sampling function, the method further includes: judging the maximum displacement Cmax and the minimum displacement of the electric push rod through the control unit; if the electric push rod is in the minimum displacement, the control unit outputs a Hall square wave accurate value C which is equal to 0; and if the electric push rod is at the maximum displacement, the control unit outputs the Hall square wave accurate value C to Cmax. The Cmax is 0-100.
Optionally, the pulse signal is processed by a hardware filtering and current limiting circuit and then input to the control unit.
Optionally, the sampling function calculation includes obtaining a sampling value by inputting a predetermined sampling period of the hall square wave to the control unit, and performing continuous sampling, sorting, screening, and arithmetic averaging; judging the height of the sampling value and the preset sampling period through the control unit; if the sampling value is lower than the sampling period and is a low level, the sampling value is correspondingly self-reduced according to the action direction of the electric push rod, and the self-reduced sampling value is a Hall square wave count value Cx; and if the sampling value is higher than the sampling period and is a high level, the sampling value is correspondingly self-added according to the action direction of the electric push rod, and the self-added sampling value is a Hall square wave count value Cx.
Optionally, the timing period of the hall square wave is from when the sampling function detects a transition from a low level to a high level to when the next transition from the low level to the high level is detected.
According to the invention, when the driven unit is driven by the electric push rod, the position and the angle of the driven unit can be accurately controlled, the influence caused by electromagnetic interference, temperature, component defects and the like is well solved, and the driven unit can be more stably and accurately controlled when the electric push rod is used as equipment of a driving element.
Drawings
FIG. 1: a waveform uncorrected by a sampling function;
FIG. 2: a waveform corrected by a sampling function;
FIG. 3: a control flow diagram of the present invention;
FIG. 4: the invention discloses a control method step flow chart.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention.
Referring to fig. 4, a flow chart of steps of the method of the present invention is shown, wherein a hall sensor is installed on the electric push rod, and the hall sensor outputs a pulse signal to a control unit; obtaining a Hall square wave count value Cx through the control unit according to the pulse signal, wherein the Hall square wave count value Cx is obtained by the control unit through a sampling function; and controlling the electric push rod to drive the driven unit to a preset position and angle according to the Hall square wave count value Cx.
In order to make the result more accurate, the control unit may also obtain the hall square wave accurate value C by using waveform period monitoring, and in the case that the above methods are not used, the result may be made as accurate as possible by using over-line monitoring. The above method is the process of the present invention.
A method for positioning electric push rod includes outputting pulse signal by Hall sensor of electric push rod, inputting pulse signal to control unit after being processed by circuit of hardware filtering and current limiting etc. said control unit is for example monolithic computer or other control unit, inputting Hall square wave to control unit, processing by hardware circuit, obtaining error data when control unit collects data, increasing or decreasing Hall square wave count value by error as shown in figure 1.
After the input is enabled, (the input is enabled when the control signal drives the electric push rod, the sampling function is allowed to collect the hall square waves, the sampling function is disabled to collect the hall square waves when the electric push rod does not work, so that the potential miscounting of the sampling function due to fluctuation caused by factors such as electromagnetic interference when the electric push rod does not work can be avoided), the waveform is corrected through the sampling function, as shown in fig. 2, an ideal hall square wave is obtained, and therefore a more accurate hall square wave calculated value Cx can be obtained, and the electric push rod is controlled to drive the driven unit to a preset position and angle (the position and angle which need to be reached by the driven unit) according to the hall square wave calculated value Cx. Even if the waveform is corrected by the sampling function, although high-frequency clutter in the Hall square wave is filtered, the low-frequency or lost waveform which may exist is not processed, the Hall counting value is more mistakenly added due to the low-frequency clutter, and the Hall square wave counting value is less mistakenly added due to the waveform loss, so that the Hall square wave precision value C can be obtained by comparing the waveform period monitoring function with the Hall square wave theoretical period and detecting the abnormal waveform period and providing corresponding compensation Cy;
specific Cy values are: and obtaining a Hall square wave accurate value C through the control unit, wherein the control unit obtains the Hall square wave accurate value C by utilizing waveform period monitoring. The sampling function can detect the jumping edge of high and low levels, once the jumping edge from low level to high level is detected, namely timing is started, when the next jumping edge from low level to high level is detected, timing is stopped, so that a timing period Tr is generated, whether the loss or error accumulation of the Hall square wave exists can be judged by comparing the monitored timing period Tr with a theoretical period Tt of the Hall square wave, if Tr/Tt is greater than 1 and is about 2 times or more, a compensation value Cy (Cy is Tr/Tt) needs to be given to the Hall counting value, and the Hall accurate value C is Cx + Cy. If Tt/Tr >1 and about 2 times or more, we need to give the hall count value minus Cy (Cy ═ Tt/Tr) at this time, the hall square wave exact value C ═ Cx-Cy.
As shown in fig. 3, when the method of software sampling function and waveform period monitoring is not used, an out-of-limit monitoring method may also be used, where the out-of-limit monitoring is that when the electric push rod extends to the maximum or minimum stroke, the collected hall square wave count value exceeds a set value or is not cleared, the out-of-limit monitoring corrects according to the situation, and when the maximum stroke is reached or the theoretical maximum Cmax of the electric push rod is exceeded, the hall count value C is given as Cz as Cmax, and the value of Cmax is 0-100. When the minimum stroke is reached or the value is lower than 0, the hall count value C is given 0. By the above method, an accurate hall count value C ═ Cx ± Cy or C ═ Cz can be obtained. After the numerical values are obtained, the distance of the push rod in the linear direction or the angle value for pushing the rotating structure to rotate can be obtained in a table look-up mode through software. The method specifically comprises the following steps: under the condition that the electric push rod normally works, the electric push rod can reciprocate between the maximum stroke and the minimum stroke, when the situation occurs, the electric push rod is the best opportunity for correcting errors, and when the electric push rod moves to the minimum position, the Hall counter value can be reset to zero, namely Cz is 0; when moving to the maximum position we give the hall count value a maximum value Cz-Cmax. When the push rod moves between the maximum stroke position and the minimum position, accumulated errors caused by possible defects are processed by software, when the errors exceed a certain value, the stretching process of the electric push rod can exceed a limit value (0 and Cmax) in advance, and the out-of-limit monitoring is carried out, so that the possibility of error accumulation or the error value can be reduced, and the error accumulated value can be used as a corrective measure to assist in finishing the accurate control of the electric push rod.
The invention adopts software sampling function (the software sampling is to filter the input Hall waveform by software filtering, the software filtering is to utilize the strong operational capability of a singlechip to achieve the purpose of changing the relative proportion of frequency components contained in the input signal or filtering certain frequency components by an algorithm), the Hall square wave is input in a preset sampling period, the value range of the preset sampling period is 1-100s, continuous sampling is carried out for times after the preset sampling period is input, and stored in the Sample Array Sample _ length, and the collected data are sequenced, the collected data with larger error are removed, new data obtained by sampling are added to the last bit of the sampling array again, and removing the first bit of the sampling array, and then carrying out arithmetic mean on the sampling array to obtain a once sampling value. And according to the sampling data, the jump of the Hall square wave high-low level every time can be accurately judged, once the jump is detected, the Hall count value variable Cx is correspondingly increased or decreased according to the action direction of the electric push rod, and the increased or decreased return value of the sampling function is the Hall count value Cx. The method specifically comprises the following steps: the sampling function calculation comprises the steps of inputting the Hall square wave into a preset sampling period, carrying out continuous sampling times, carrying out sequencing, screening and arithmetic averaging to obtain a once sampling value; judging the height of the sampling value and the preset sampling period; if the sampling value is lower than the sampling period and is a low level, the sampling value is correspondingly self-reduced according to the action direction of the electric push rod, and the self-reduced sampling value is a Hall square wave count value Cx; if the sampling value is higher than the sampling period and is at a high level, the sampling value is correspondingly self-added according to the action direction of the electric push rod, and the self-added sampling value is a Hall square wave count value Cx.
Examples of applications of the invention: the rotation of parts such as intelligent nursing bed product control backplate, leg board all uses electric putter drive, through the flexible of control electric putter, realizes the rotation of backplate, leg board, what embody finally is the angle of backplate, leg board. If the adopted control method is improper, when the control method is influenced by factors such as electromagnetic interference (surge, lightning strike, static electricity and the like), temperature, component defects and the like, when the angle of the back plate needs to be controlled to be 70 degrees, the phenomenon that the angle of the back plate is larger or smaller such as 65 degrees or 75 degrees can occur, or the use of a user is influenced due to the fact that the angle of the back plate is smaller or larger due to error accumulation when the user lifts and lowers the back continuously. After the method is adopted, the occurrence of the situations can be effectively avoided, the software sampling function can carry out effective filtering processing on the Hall input signal, and the error accumulation caused by clutter is avoided; the Hall square wave monitoring can effectively avoid the loss or error accumulation of Hall square wave input; moreover, the out-of-limit zero clearing or the maximum value is given, so that the condition that the accumulated error of the Hall value is overlarge can be effectively cleared; by the method, the telescopic distance of the electric push rod can be well controlled, and finally the angles of the back plate and the leg plate can be accurately controlled.
The above description is only a preferred embodiment of the present application and a description of the applied technical principle, and it should be understood by those skilled in the art that the scope of the present invention related to the present application is not limited to the technical solution of the specific combination of the above technical features, and also covers other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept, for example, the technical solutions formed by mutually replacing the above features with (but not limited to) technical features having similar functions disclosed in the present application.
Other technical features than those described in the specification are known to those skilled in the art, and are not described herein in detail in order to highlight the innovative features of the present invention.
Claims (8)
1. A positioning method of an electric push rod is characterized by comprising the following steps:
installing a Hall sensor on the electric push rod, wherein the Hall sensor outputs a pulse signal to a control unit;
obtaining a Hall square wave count value Cx through the control unit according to the pulse signal, wherein the Hall square wave count value Cx is obtained by the control unit through a sampling function;
controlling the electric push rod to drive the driven unit to a preset position and angle according to the Hall square wave count value Cx;
judging the timing period of the Hall square wave through the control unit;
comparing the timing period with a Hall square wave theoretical period, and giving a compensation value Cy to the Hall square wave count value Cx;
and obtaining the Hall square wave accurate value C as Cx +/-Cy.
2. The positioning method of an electric putter as set forth in claim 1, wherein: and when the ratio of the timing period to the theoretical period is more than 1 and 2 times or more than 2 times, the value of Cy is the ratio of the timing period to the theoretical period, and the accurate value C of the Hall square wave is Cx + Cy.
3. The positioning method of an electric putter as set forth in claim 2, wherein: and when the ratio of the theoretical period to the timing period is more than 1 and 2 times or more than 2 times, the value of Cy is the ratio of the theoretical period to the timing period, and the accurate value C of the Hall square wave is Cx-Cy.
4. The positioning method of an electric putter as set forth in claim 3, wherein: when the control unit obtains the hall square wave count value Cx without a software sampling function, the method further comprises: judging the maximum displacement Cmax and the minimum displacement of the electric push rod through the control unit;
if the electric push rod is in the minimum displacement, the control unit outputs a Hall square wave accurate value C which is equal to 0;
and if the electric push rod is at the maximum displacement, the control unit outputs the Hall square wave accurate value C to Cmax.
5. The positioning method of an electric putter as set forth in claim 4, wherein: the Cmax is the theoretical maximum for the electric push rod.
6. The positioning method of an electric putter as set forth in claim 5, wherein: and the pulse signal is processed by a hardware filtering and current limiting circuit and then input to the control unit.
7. The positioning method of an electric putter as set forth in claim 6, wherein: the sampling function calculation includes the steps of,
inputting a preset sampling period of the Hall square wave into the control unit, and carrying out continuous sampling, sequencing, screening and arithmetic averaging to obtain a sampling value;
judging whether the Hall square wave has the change of high and low levels of the waveform through the control unit;
and if so, carrying out corresponding self-addition or self-subtraction on the sampling value according to the action direction of the electric push rod, wherein the sampling value after self-addition or self-subtraction is the Hall square wave count value Cx.
8. The positioning method of an electric putter as set forth in claim 7, wherein: the timing period of the Hall square wave is from the moment when the sampling function detects the jump from the low level to the high level to the moment when the next jump from the low level to the high level is detected.
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| CN112821841B (en) * | 2021-01-08 | 2021-09-21 | 上海市农业科学院 | Hall counting-based agricultural push rod motor stroke control method and system |
| CN112904904B (en) * | 2021-01-28 | 2022-12-02 | 四川巧夺天工信息安全智能设备有限公司 | Method and device for controlling lifting of electric push rod |
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