CN110417325A - Electric tool - Google Patents
Electric tool Download PDFInfo
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- CN110417325A CN110417325A CN201811127437.6A CN201811127437A CN110417325A CN 110417325 A CN110417325 A CN 110417325A CN 201811127437 A CN201811127437 A CN 201811127437A CN 110417325 A CN110417325 A CN 110417325A
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- Prior art keywords
- motor
- duty ratio
- driving circuit
- pwm
- electric tool
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25F—COMBINATION OR MULTI-PURPOSE TOOLS NOT OTHERWISE PROVIDED FOR; DETAILS OR COMPONENTS OF PORTABLE POWER-DRIVEN TOOLS NOT PARTICULARLY RELATED TO THE OPERATIONS PERFORMED AND NOT OTHERWISE PROVIDED FOR
- B25F5/00—Details or components of portable power-driven tools not particularly related to the operations performed and not otherwise provided for
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Portable Power Tools In General (AREA)
Abstract
The invention discloses an electric tool. According to the invention, duty ratios under different working conditions are determined according to the analysis of the motor characteristic parameter x of the electric tool, and the duty ratios are used for controlling the driving circuit to drive the motor to operate. The invention can realize the optimized control of the motor by adjusting the duty ratio only through calculating the duty ratio without changing circuit hardware or mechanical structure of the electric tool, thereby realizing the optimization of working performances such as output torque of the electric tool.
Description
Technical field
The present invention relates to field of power tools, and in particular to the control to motor in electric tool.
Background technique
Existing electric tool can be powered by battery pack, be operated by driving circuit driving motor.But current electronic work
Tool, is based especially on the hand held electric tool of 1P battery pack, under heavy condition, the dash current and motor of battery pack are defeated
Torque is difficult to control out.Here, 1P battery pack refers to is connected the battery pack formed by multiple single-unit battery cores.
Existing electric tool, especially annular saw or electric drill, under locked rotor condition maximum impact electric current will be up to 100A even with
On.High surge currents are by the power supply unit of serious damage electric tool, such as battery pack, to influence the safety of electric tool
Property.
As a result, due to safety concerns, overload protection arrangement is equipped in existing electric tool, but the device is in electric tool weight
Load state can directly turn off motor when reaching preset threshold, cause to impact to power supply unit to avoid to motor side electric current.It is this
Overload protection mode generally just needs to turn off motor when hand held electric tool max. output torque reaches 3.5N.m, also
It is to say, the load that electric tool can actually carry is only 3.5N.m.Under heavy load condition, the blocking rotation ability of existing electric tool
And user experience is difficult to reach demand.
Therefore, it is badly in need of improving the max. output torque of electric tool at present.
Summary of the invention
To solve the deficiencies in the prior art, the purpose of the present invention is to provide a kind of electric tools.
In order to achieve the above objectives, the present invention adopts the following technical scheme that:
A kind of embodiment of the present invention provides a kind of electric tool, comprising: motor, the motor include stator and rotor；
Transmission device, the transmission device is for connecting the rotor and attachment；Driving circuit, the driving circuit is for exporting
Switching signal is to drive the rotor of the motor to operate；Control unit controls the driving circuit for output drive signal；For
Electric installation is the motor, driving circuit, control unit power supply；Described control unit is arranged to according to the motor characteristic
The variation delta x of parameter determines the variation delta PWM of duty ratio, and wherein by function f, (Δ x) is obtained the variation delta PWM of duty ratio
, wherein the variation delta PWM of the duty ratio is between 0.01 to 0.1 range；Variation delta based on the duty ratio
PWM exports corresponding driving signal and operates output driving power to the driving circuit with the rotor for controlling the motor.
It optionally, further include electric machines test module, for detecting and obtaining motor characteristic parameter in above-mentioned electric tool
x；Wherein, the electric machines test module is integrated in described control unit, or is respectively in outside described control unit.
Optionally, in above-mentioned electric tool, the motor characteristic parameter x includes: motor speed, electric current, output torque
At least one of which.
Optionally, the power supply unit includes one and concatenates the battery pack formed by multiple single-unit battery cores.
Another embodiment of the present invention provides a kind of electric tool, comprising: motor, the motor include stator and turn
Son；Transmission device, the transmission device is for connecting the rotor and attachment；Driving circuit, the driving circuit are used for
Output switching signal is to drive the rotor of the motor to operate；Control unit controls the driving electricity for output drive signal
Road；Battery pack is the motor, driving circuit, control unit power supply；Described control unit is arranged to special according to the motor
The variation delta x of property parameter determines the variation delta PWM of duty ratio, and wherein the variation delta PWM of duty ratio is by function f (Δ x)
It obtains, wherein the variation delta PWM of the duty ratio is between 0.1 to 0.2 range, the variable quantity based on the duty ratio
Δ PWM exports corresponding driving signal and operates output driving power to the driving circuit with the rotor for controlling the motor.
Optionally, the motor characteristic parameter x include: motor speed, electric current, output torque at least one of which.
The another embodiment of the present invention provides a kind of electric tool, comprising: brushless motor, the brushless motor include fixed
Son and rotor；Transmission device, the transmission device is for connecting the rotor and attachment；Driving circuit, the driving electricity
Road is for output switching signal to drive the rotor of the brushless motor to operate；Control unit is controlled for output drive signal
The driving circuit；Battery pack is the brushless motor, driving circuit, control unit power supply；Described control unit is arranged to
The variation delta PWM of duty ratio is determined according to the variation delta x of the motor characteristic parameter, wherein the variation delta of duty ratio
By function f, (Δ x) is obtained PWM；Variation delta PWM based on the duty ratio exports corresponding driving signal to the driving electricity
Road operates output driving power to control the rotor of the brushless motor.
Optionally, the variation delta PWM of the duty ratio is between 0.01 to 0.2 range.
Optionally, the motor characteristic parameter x include: motor speed, electric current, output torque at least one of which.
Optionally, the electric tool maximum output torque is not less than 5N.m.
Beneficial effect
The present invention determines the duty ratio under different operating conditions according to the analysis to motor characteristic parameter.Using electricity of the invention
Power driven tools, such as annular saw or electric drill in use can be according to the motor characteristic parameter x obtained in real time, can be by tabling look-up
Or the mode calculated obtains corresponding duty ratio, corresponding driving signal control motor operating is exported with the duty ratio, with this reality
Now to the optimization of electric tool performance.
The present invention obtains corresponding power supply unit characterisitic parameter V using the existing circuit hardware of electric tool or mechanical structure
And motor characteristic parameter x, only increase and simply table look-up or operation control, can be obtained corresponding duty cycle data to realize pair
The optimum control of motor, in particular, the max. output torque of electric tool can be controlled in some cases not less than 5N.m.
Detailed description of the invention
Fig. 1 is a kind of external structure schematic diagram of electric drill of first embodiment provided by the invention；
Fig. 2 is the schematic diagram of first embodiment inner circuit system provided by the invention；
Fig. 3 is a kind of external structure schematic diagram of annular saw of second embodiment provided by the invention；
Fig. 4 is the schematic diagram of second embodiment inner circuit system provided by the invention；
Fig. 5 is the external structure schematic diagram that a kind of angle of 3rd embodiment provided by the invention is ground；
Fig. 6 is the schematic diagram of 3rd embodiment inner circuit system provided by the invention；
Fig. 7 is analogue system schematic illustration of the invention；
Fig. 8 is the principle foundation that analogue system selects PWM duty cycle in the first state；
Fig. 9 is the flow diagram of the motor control method of first embodiment of the invention；
Figure 10 is the comparison diagram of first embodiment of the invention maximum impact electric current compared with prior art；
Figure 11 is the comparison diagram of first embodiment of the invention heavily loaded torque compared with prior art；
Figure 12 is the first embodiment of the invention comparison diagram that stall is tested compared with prior art.
Specific embodiment
Specific introduce is made to the present invention below in conjunction with the drawings and specific embodiments.
Motor control method provided by the present invention and system can be suitable for most hand held electric tools.Only need
According to the analysis to power supply unit characterisitic parameter V and/or motor characteristic parameter x, the duty ratio of corresponding different operating conditions is obtained, in electricity
It is corresponding to determine according to the power supply unit characterisitic parameter V and/or motor characteristic parameter x obtained in real time during power driven tools
Duty ratio, to operate the most favourable opposition, it can be achieved that electric tool based on the duty ratio of determination control driving circuit driving motor
Hit the optimization of electric current and electric tool max. output torque.
Illustrate specific embodiment of the present invention by taking three kinds of typical electric tools as an example below.At of the invention first
In embodiment, a kind of electric drill in conjunction with provided by Fig. 1 comprising: shell 11, output 12, motor 13, transmission component 14, PCB
(Printed Circuit Board, printed circuit board) circuit board 15, power supply unit 16.Wherein, shell 11 is for accommodating motor
13, transmission component 14, PCB circuit structure etc., one end of shell 11 is also used to install output 12.Due to motor 13, PCB electricity
Line structure 15 and power supply unit 16 are blocked by shell 11, invisible in Fig. 1 view.In the longitudinal direction, shell 11 may be used also
To include host shell part 111 and head shell part 112, wherein host shell part 111 can be used for accommodating motor
13, transmission component 14, PCB circuit structure 15, head shell part 112 can connect output 12.In the lateral direction, host
The section of the structure shown in Fig. 2 of housing parts 111 is symmetrical arranged, and in the two sides of the section, host shell part 111 can
To respectively include symmetrical left shell portion and right shell body portion.Output 12 is used for output power, such as electric drill,
Output 12 can be selected specifically to the collet for being capable of clamping drill bit.Motor 13, transmission component 14 and PCB circuit structure 15 are equal
It is arranged in shell 11, power supply unit 16 is used to power for electronic device each inside electric drill, and PCB circuit structure 15 is for controlling electricity
Machine 13 operates, and for driving transmission component 14, transmission component 14 is used to the power that motor 13 exports being transferred to output motor 13
Part 12, to drive 12 output power of output.
It is operated to control the motor 13, with reference to Fig. 2, above-mentioned PCB circuit structure 15 specifically may include that following circuit is hard
Part: energy supply control module, power supply unit detection module, control unit, driving circuit, optimum taking air ratio storage device.It is above-mentioned, electricity
Source control module, power supply unit detection module, control unit, driving circuit, optimum taking air ratio storage device, motor 13 are by shell
Body 11 is closed.
The power supply unit 16 of hand held electric drill shown in Fig. 2 specifically may be selected to be battery pack or AC power source, electricity therein
Chi Bao can be combined by one group of battery unit.For example, can be by single-unit battery core or battery cells in series at single in the present embodiment
Power branch forms 1P battery pack.Battery pack output voltage carries out voltage change by specific energy supply control module, and output is suitable
The supply voltage of power supply unit detection module, control unit, driving circuit, optimum taking air ratio storage device, motor etc. is closed, is it
Power supply.Those skilled in the art pass through corresponding energy supply control module it is understood that power supply unit 16 is alternatively chosn to AC power source
Input AC electricity is converted, equally can be power supply unit detection module, control unit, driving circuit, optimum taking air ratio
The power supply such as storage device, motor.
Dedicated power supply chip may be selected in energy supply control module, or directly by hardware circuit, by taking AC power source as an example, leads to
The AC signal that hardware circuit exports power supply is crossed the processing such as to be rectified, filtered, divided, is depressured and realizing.
With reference to Fig. 2, driving circuit is specifically electrically connected with three-phase electrode U, V, W of the motor 13, and the motor is driven to transport
Turn.The driving circuit has specifically included switching circuit, and the switching circuit is used to be exported according to the control of the controller and drive
Dynamic signal is operated to the three-phase electrode of motor with controlling the rotor of the motor.The driving circuit has input, output end
And sampling end.Specifically as shown in Fig. 2, switching circuit includes switch element VT1, VT2, VT3, VT4, VT5, VT6.Switch element
Field-effect tube, igbt transistor etc. can be selected in VT1-VT6.In the present embodiment by taking field-effect tube as an example, the grid of each switch element
The input terminal as the driving circuit is held, is electrically connected respectively with the driving signal port of controller, each of switch element
Drain electrode or source electrode are electrically connected with the stator of motor.Switch element VT1-VT6 changes conducting according to the driving signal of controller output
State drives the motor 13 to operate so that changing battery pack loads the voltage status on brushless motor winding.
In order to rotate motor, driving circuit has multiple driving conditions, the stator meeting of motor under a driving condition
Generate a magnetic field, control unit is configured as exporting corresponding driving signal according to the rotor turned position of motor to driving electricity
Road is so that driving circuit switches driving condition, so that the magnetic field for generating stator is rotated to drive rotor to rotate, and then realization pair
The driving of motor.In the present embodiment, the rotor turned position of motor can pass through the bus current of sample motor and/or motor
Voltage is held, corresponding calculate is carried out by electric machines test module in controller and is obtained.
Wherein, described control unit is arranged to mainly determine duty according to the variation delta x of the motor characteristic parameter
The variation delta PWM of ratio, wherein by function f, (Δ x) is obtained the variation delta PWM of duty ratio.That is, the motor characteristic
Parameter x within the scope of at interval of fixed variation delta x, described control unit according in motor characteristic parameter x at interval of fixation
Variation delta x within the scope of determine the variation delta PWM of fixed duty ratio, the variation delta PWM output based on the duty ratio
Corresponding driving signal controls the rotor operating output driving power of the motor to the driving circuit, will specifically retouch below
It states.
Optionally, described control unit can also be arranged to mainly according to the variation delta x of the motor characteristic parameter with
And the power supply unit characterisitic parameter V determines the variation delta PWM of duty ratio, wherein the variation delta PWM of duty ratio is by function f
(Δ x, V) is obtained.
Optionally, described control unit can also be arranged to the variation delta x according to the motor characteristic parameter, battery pack
P number battery pack P number and the power supply unit characterisitic parameter V determine the variation delta PWM of duty ratio, the wherein variation of duty ratio
Δ PWM is measured to be obtained by function f (Δ x, V, P).
The above-mentioned functional operation result to characterisitic parameters such as motors can be pre-stored in optimum taking air ratio storage device, by
Control unit is obtained by inquiry optimum taking air ratio storage device.The adjustment process of duty ratio can refer to Fig. 9, as follows:
Motor characteristic parameter x is obtained firstly, being sampled to motor by electric machines test module and being calculated.Wherein, motor is special
Property parameter x may include but be not limited to: motor speed n, stator or rotor-position, torque, the electric current of motor etc..According to the battery
(Δ x) calculates best duty corresponding under the operating condition for obtaining the gear through function f by packet actual condition and motor characteristic parameter x
Than determining the driving of corresponding PWM (pulse width modulate, " Pulse Width Modulation) form according to the duty ratio
Signal exports corresponding driving signal to driving circuit according to the duty ratio according to the position of rotor rotation.It drives as a result,
Circuit realizes the driving to motor according to the driving signal.
Here, the optimum taking air ratio can fixed storage in storage device.For example, joining previously according to motor characteristic
Number x analysis, be stored under different operating conditions through function f (Δ x) calculate obtain optimum taking air ratio, form a PWM table.Cause
This, controller, which directly passes through corresponding data in the inquiry storage device, can be obtained the duty ratio, export according to the duty ratio
Corresponding driving signal can realize the optimization of performance for current electric drill.Specifically, by above-mentioned under different operating conditions
The selection of optimum taking air ratio is, it can be achieved that source side electric current IbAnd motor side electric current ImOptimization.For example, passing through function f (Δ
X) to the adjusting of duty ratio, it can get same motor side electric current ImWhen, i.e., when motor performance is identical, so that source side electric current IbCompared with
Small, i.e., more friendly to power supply unit duty ratio.The duty of the driving signal of corresponding PWM form is selected in this way
Than the present invention can be by the maximum impact electric current of the selection effectively control battery pack of duty ratio, and guarantees motor when needed
Maximum output torque reaches the optimization to electrician tool integral working.Optimum taking air ratio under different operating conditions will below
The principle in conjunction with shown in Fig. 7 and Fig. 8 is described in detail.
In the circuit hardware of the present embodiment, power supply unit detection module, electric machines test module, optimum taking air ratio storage device
Special chip can be selected to realize, can also directly be realized in control unit by the functional module integrated in control unit.Its
In control unit, the demand that can be handled according to electric tool internal data signal selects corresponding DSP (Digital
Signal Processor, Digital Signal Processing) chip, ARM (Advanced RISC (Reduced Instruction Set
Computer, Reduced Instruction Set Computer) Machine, risc microcontroller) chip, single-chip microcontroller (MCU, micro-control unit,
Microcontroller Unit) etc. realize.
Using the electric drill of above-mentioned technology, in maximum impact testing current, with reference to experimental data comparison diagram shown in Fig. 10,
In the state that torque reaches 3N.m or more, maximum impact electric current can be limited and be maintained at 30A hereinafter, seeing solid line institute in Figure 10
Show.And the electric drill of the prior art is used, as dotted line indicates that maximum impact electric current becomes larger with torque, quickly more than 30A in Figure 10
Limitation.Excessive dash current can damage the power supply unit of electric drill.In particular, it can be significantly improved under the situation of direct current supply
The temperature of middle battery pack influences the service life of battery pack.And technology of the invention is used, heavy condition of the electric drill in large torque
Under, still to battery pack close friend, it can effectively avoid overcurrent and temperature rise to the irreversible lesion of battery pack.
Figure 11 be using the technology of the present invention electric drill compared with prior art, pair of maximum output torque under heavy condition
Than figure.The shown electric drill using existing overload protection mechanism is realized in Figure 11, as shown in solid in Figure 11, in output torque
After reaching 3.7N.m, i.e. starting protection due to overload causes motor-locking to stall.And the electric drill of the technology of the present invention is used, such as scheme
The curve of triangle is marked in 11, electric current is controlled always in overloading threshold hereinafter, therefore its output torque is reachable under heavy condition
To close to 6N.m, close to 2 times of the prior art.
Figure 12 be using the technology of the present invention electric drill compared with prior art, carry out stall test when correlation data.In
The complete stall of motor, when revolving speed is close to 0 or inverse electromotive force close to 0, using the electric drill of the prior art, as dark in Figure 12
It indicates, output torque is only 33N.m, and maximum impact electric current is up to 100A；And the electric drill of the technology of the present invention is used, in Figure 12
Light color indicates that output torque promotes 10% compared with the prior art, reaches 36N.m, maximum impact electric current compared with the prior art under
30%, only 70A drop, and it is more friendly to battery pack.In a second embodiment of the present invention, a kind of hand as shown in connection with fig. 3
Formula annular saw is held, mechanical structure specifically includes:
Bottom plate 20, for being contacted with workpiece；Casing 21, the casing are mounted on the bottom plate；Saw blade cover 213, it is described
Saw blade cover is connect with the casing；Saw blade axis 22, in the saw blade cover support saw blade rotation to realize to workpiece into
Row cutting operation；Motor 23, the motor are set in the casing, including stator and rotor；Motor shaft 231, the motor
Axis is driven by the rotor of the motor；Transmission device 24, the transmission device are used to connect the motor shaft and the saw blade axis,
The rotary motion of motor shaft is conducted to the saw blade axis to drive saw blade to operate.The transmission device specifically may include speed reducer
Structure, e.g., intermeshing worm gear and worm screw or reduction gearbox.The worm and gear or reduction gearbox may include equipped with different gear ratios
Gear structure, or the toothed belt transmission structure of the different synchronizing wheel radiuses of configuration.In a preferred embodiment of the present invention, institute
Stating motor is brushless motor.
The operating of above-mentioned hand-held circular saw also needs to rely on the electronic component being installed in PCB circuit board 25, and PCB circuit board is held
It is contained in casing 21, is not exposed to visual angle shown in Fig. 3.Refering to what is shown in Fig. 4, to specifically include following circuit hard for PCB circuit board 25
Part: energy supply control module, battery detection module, controller, driving circuit.It is above-mentioned, energy supply control module, battery detection module,
Controller, driving circuit motor 23 are closed by casing 21.PWM table data are also stored, keep in or are cached in controller, it should
PWM table data are included under different power supply unit characterisitic parameter V and/or different motor characteristic parameter x according to function f (Δ x, V)
The duty cycle data of the Δ PWM modulation signal of generation, the i.e. duty cycle data of driving signal.
With reference to Fig. 4, each electronic component of the hand-held circular saw, collaborative work mode with the electric drill in embodiment one
Interior each electronic device is similar.Its difference is only that control unit is selected specifically to have the control of store function in the present embodiment
Device processed, in the present embodiment, annular saw is directly powered by battery pack, and directly passes through the rotation that position sensor obtains motor internal rotor
Position, therefore carry out simply calculating the rotary speed information that can obtain motor by controller.Therefore motor speed n may be selected to make
For a kind of specific motor characteristic parameter.It can be realized as a result, by detection to position sensor signal and calculating to motor
Characterisitic parameter x in the present embodiment, refers specifically to the detection to motor speed n.Therefore, embodiment one kind can be saved in the present embodiment
To the sampling step of the end voltage of motor bus current, phase current or motor, controller is saved to the complexity of these sampled signals
Calculating process.Electric machines test module can be by position sensor with the simple computation in hop controller, example to the detection of motor speed n
It is realized such as cumulative, timing or integral operation.
The duty ratio of the driving signal of controller output, it is similar with embodiment one, it is used as by inquiry PWM table to function
The simplification of the calculating of f (Δ x, V) and obtain.Its query process equally can refer to Fig. 9:
Battery pack actual condition, such as battery pack voltage V are obtained firstly, being sampled by battery detection module, as a kind of tool
The power supply unit characterisitic parameter of body, certainly, the power supply unit characterisitic parameter V are not limited in battery pack voltage, also may be selected
For the voltage of power supply unit, battery pack current, temperature, remaining capacity, battery pack SOC parameter (SOC, State of Charge,
The usually ratio of battery pack charging capacity and rated capacity), power supply unit internal resistance etc.；Rotor is obtained by position sensor
Turned position, the calculating with hop controller to rotor-position rate of change, obtain motor speed n as a kind of specific motor
Characterisitic parameter x.Then gear corresponding in PWM table is searched according to battery pack voltage V and motor speed n, can be obtained this
Operating condition minor function f (Δ n, V) calculates corresponding optimum taking air ratio, and the driving of corresponding PWM form is determined according to the duty ratio
Signal exports corresponding driving signal to driving circuit according to the duty ratio according to the rotor turned position of motor.It drives as a result,
Circuit realizes the driving to motor according to the driving signal.In function f (Δ n, V), Δ n indicates the variable quantity of motor speed.
Specifically, in the present embodiment, and function f (Δ n, V) corresponding duty cycle data of value for storing in PWM table can be according to
Following tableau format storage.Each unit of table can store optimum taking air ratio corresponding under different operating conditions, that is, for this
Embodiment stores duty cycle data corresponding under different battery pack voltage V and different motor speed n-states.For example, in battery
Detection module obtains battery pack actual condition and falls into battery pack voltage condition V1 gear, control module according to electric machines test module or
When position sensor determines that motor characteristic parameter x falls into N3~N4 gear, controller is tabled look-up, and corresponding selection is with duty ratio duty2
Output drive signal is operated by driving circuit according to the driving signal driving motor to driving circuit.Here, function f (Δ n, V)
To the specific choice of duty ratio (duty1, duty2 ... ...), will be combined in next embodiment principle shown in Fig. 7 and Fig. 8 into
Row concrete analysis.
PWM table storage device can be realized by caching, storage unit, the memory etc. in electric tool, can also pass through wireless parties
Formula carries out real-time update and caching by cloud.
Table 1
To be illustrated more clearly that, table 1 as above, in left column, when battery pack is that (1P battery pack refers to by multiple lists 1P battery pack
Economize on electricity core is connected the battery pack to be formed), when the voltage V1 of the 1P battery pack is 25.2V, when motor speed N1 is more than or equal to certain
When one predetermined value, when such as 12000rpm, controller exports a certain fixed duty cycle, such as duty ratio is 1: in motor speed N2
When~N3 is between 11100~12000rpm, the fixed duty cycle duty1 of controller output is 0.95；In motor
When revolving speed N3~N4 is between 10200~11100rpm, the fixed duty cycle duty2 of controller output is 0.90；
When motor speed N4~N5 is between 9300~10200rpm, the fixed duty cycle duty3 of controller output is
0.85；When motor speed N5~N6 is between 9300~10200rpm, the fixed duty cycle of controller output
Duty4 is 0.80, the every reduction 900rpm of motor speed n, and the duty ratio PWM of controller output is every to reduce by 0.05, and so on, i.e.,
The variable quantity △ n of the revolving speed of motor is set as 900rpm, the variable quantity △ PWM of the duty ratio of controller output and the revolving speed of motor
Variable quantity △ n have functional relation, i.e. (Δ x) is obtained, herein the revolving speed of motor by function f by the variation delta PWM of duty ratio
Variable quantity △ n is 900rpm, and Δ PWM is set as 0.05.
Table 1 as above, when battery pack is 1P battery pack, and the voltage V2 of the 1P battery pack is 23V, works as electricity in right column
When machine revolving speed N9 is more than or equal to a certain predetermined value, when such as 11000rpm, controller exports a certain fixed duty cycle, such as duty
Than being 1: when motor speed N10~N11 is between 10100~11000rpm, the fixation duty of controller output
It is 0.95 than duty5；When motor speed N11~N12 is between 9200~10100rpm, controller output is consolidated
Determining duty ratio duty6 is 0.90；When motor speed N12~N13 is between 8300~9200rpm, controller is defeated
Fixed duty cycle duty7 out is 0.85；When motor speed N13~N14 is between 7200~8300rpm, control
The fixed duty cycle duty8 of device output processed is 0.80, and the duty ratio PWM of the every reduction 900rpm of motor speed n, controller output are every
0.05 is reduced, and so on.That is the variable quantity △ n of the revolving speed of motor is set as 900rpm, the change of the duty ratio of controller output
The variable quantity △ n of the revolving speed of change amount △ PWM and motor has functional relation, i.e., the variation delta PWM of duty ratio is by function f (Δ n)
It obtains, the variable quantity △ n of the revolving speed of motor is 900rpm herein, and Δ PWM is set as 0.05.
In some other embodiment of the invention, make a reservation for when the variable quantity △ of the revolving speed of motor is set as any one
Value, such as 300rpm, 500rpm, whens 10000rpm or 12000rpm etc., Δ PWM is set as any one between 0.01~0.2
Numerical value.That is, described control unit is arranged to determine duty ratio according to the variation delta n of the motor characteristic parameter
Variation delta PWM, wherein by function f, (Δ n) is obtained the variation delta PWM of duty ratio, wherein the variation delta of the duty ratio
PWM is between 0.01 to 0.2 range；Variation delta PWM based on the duty ratio exports corresponding driving signal to described
Driving circuit operates output driving power with the rotor for controlling the motor.
Here, the voltage V2 of 1P battery pack is 23V in right column, when the voltage V1 less than 1P battery pack in left column is 25.2V,
When 1P battery pack has voltage V2, the initial value N9 that corresponding motor speed is set also is slightly less than 1P battery as 11000rpm
The initial value N1 that corresponding motor speed is set when wrapping with voltage V1 is 12000rpm.That is, controller based on account for
The variable quantity △ n of the revolving speed of the variable quantity △ PWM and motor of empty ratio is also limited by the voltage V of 1P battery pack, i.e., there are outside relationship
Controller based on duty ratio variation delta PWM by function f (Δ n, V) obtain.
In the case of having different voltages different rotating speeds for different battery packs, the variation delta PWM of the duty ratio can be set
Determine between 0.01 to 0.2 range.More specifically, motor speed n is being selected to join as a kind of specific motor characteristic
When number, there can be following relationship between the variation delta PWM of the duty ratio and the variation delta n of the motor speed: right
In the battery pack with some voltage values, when △ n constant interval is 500-1000rpm or any other value, duty ratio corresponding
Constant interval is between 0.01~0.1 range；For the battery pack with other voltage value, when △ n constant interval is
1000-1500rpm or when any other value, duty ratio corresponding constant interval is between 0.1~0.2 range.That is,
Battery pack with some voltage values, when being suitable for change in duty cycle section within the scope of 0.01~0.1, so that output is most
Large torque significantly improves and/or maximum impact electric current is substantially reduced；And the battery pack with other voltage value, it is suitable for
When duty ratio corresponding constant interval is within the scope of 0.1~0.2, so that maximum output torque significantly improves, and/or most favourable opposition
Electric current is hit to be substantially reduced.
Described control unit exports corresponding driving signal to the driving circuit based on the variation delta PWM of the duty ratio
Output driving power is operated to control the rotor of the motor.Due to according to function f (Δ n, V) to duty ratio carried out 0.01 to
0.2 adjustment can get same motor side electric current ImWhen, i.e., when motor performance is identical, so that source side electric current IbIt is smaller, i.e., pair
The more friendly duty ratio of power supply unit.The duty ratio of the driving signal of corresponding PWM form, this hair are selected in this way
The bright maximum impact electric current that battery pack can be effectively controlled by the selection of duty ratio, and guarantee that motor output is maximum when needed
Torque reaches the optimization to electrician tool integral working.
Skilled person will appreciate that different battery packs have difference since different electric tools have different parameters
Characteristic, thus different change in duty cycle amounts can be matched, for example, the duty of selection 0.01~0.1 in one embodiment
Than variation range to match a kind of electric tool parameter, 0.1~0.2 change in duty cycle model is selected under another embodiment
It encloses to match another electric tool parameter.
It is described above, it is variable quantity of the controller based on duty ratio for 1P battery pack in the case where different voltage
Δ PWM exports corresponding driving signal, this Δ PWM is obtained by function f (Δ n, V), and wherein Δ n is the variation of the revolving speed of motor
Amount, V are the voltage of battery pack.In addition, controller is based on the variable quantity of duty ratio in some other embodiment of the invention
Δ PWM also carries out appropriate adjustment or amendment according to the P number of battery pack, such as has 2P battery pack, 3P battery pack, 4P battery
NP battery pack etc., 2P battery pack refer to that 2 1P battery pack parallel connections are formed to packet ... ..., and 3P battery pack refers to 3 1P battery pack parallel connection shapes
At 4P battery pack refers to that 4 1P battery pack parallel connections are formed, and nP battery pack refers to that n 1P battery pack parallel connection is formed, and such Δ PWM is by Δ
PWM is obtained by f (Δ n, V, P).
It should be noted that when, in an embodiment of the present invention, controller is based on the variation delta PWM of duty ratio by f (Δ
N, V, P) it obtains, Δ PWM is based primarily upon the variation delta n of the revolving speed of motor to be adjusted or control here；And in the present invention
Some other embodiment in, Δ PWM can be adjusted or be controlled based on the characterisitic parameter x of motor, such as can be motor
Revolving speed, electric current, output torque and voltage at least one of which, that is to say, that controller is based on the variation delta of duty ratio
PWM is obtained by f (Δ x, V, P), and wherein Δ x is the variable quantity of one or more characterisitic parameters of motor.
In the third embodiment of the present invention, as shown in connection with fig. 5, using angle mill as a kind of electric tool of representative, illustrate this
Application of the invention electric machines control technology on electric tool.
Electric tool shown in fig. 5, mechanical structure specifically include:
Shell 31, motor 33, output 32 and circuit block 35.Certainly, in the present embodiment, for angle grinder,
It can further include transmission device 34 and clamping device 36.
Wherein, the accommodating chamber for accommodating motor 33, transmission device 34 and circuit block 35 is formed with inside shell 31
313, the shape of shell 31 can also form the handle for holding for user.For angle grinder, shell 31 can substantially be in
"-" type.For motor 33 for driving 32 output power of output, which can also include the motor shaft for output power.
Output 32 is for output power to clamping device 36, so that clamping device 36 be driven to rotate.Transmission device 34 is used in motor
Transmission is realized between 33 motor shaft and output 32.Clamping device 36 can be by grinding installation to output 32, thus defeated
Grinding is set to polish workpiece under the drive of part 32 out.It is also mountable inside above-mentioned shell 31 to have fan, for electronic
The heating device of tool interior radiates, to guarantee that angle mill can be run under normal thermal environment.
The operating of above-mentioned angle mill also needs to rely on the Collaborative Control for being installed on each electronic component on circuit block 35.Circuit portion
Part 35 is contained in shell 31, refering to what is shown in Fig. 6, circuit block 35 specifically includes following circuit: power supply control chip, battery
Detection module, electric machines test module, controller, driving circuit.It is above-mentioned, power supply control chip, battery detection module, electric machines test
Module, controller, driving circuit, motor 33 are closed by shell 31.
With reference to Fig. 6, each circuit module in the mill of the angle, collaborative work mode is and in the electric drill in embodiment one
Each electronic device is similar.Its difference is only that in the present embodiment, electric machines test module is separately set in outside controller, supplies
The function of electric installation detection module, i.e., the function of being detected to battery are realized by the sample port inside controller.At this
In embodiment, above-mentioned electric machines test module can cooperate corresponding meter by the phase current of sample motor and/or the end voltage of motor
Rotor turned position or the motor speed obtained according to motor is calculated, motor characteristic parameter x is reflected with motor speed n.The present embodiment
In can by be serially connected with battery pack side sampling resistor R3 acquire battery pack output current signal size, be input to electricity
Pond detection module is calculated battery pack current, series P for obtaining etc. by battery detection module and is used as power supply unit characterisitic parameter
V.By controller according to above-mentioned electrode revolving speed n, power supply unit characterisitic parameter V and battery pack P number battery pack P number, letter is carried out
Number operation, obtains the variation delta PWM=f (Δ n, V, P) of corresponding duty ratio, and thereby determine that duty ratio.To simplify the calculation,
Power supply unit characterisitic parameter in the present embodiment similarly may be selected battery pack voltage and be calculated.According to function Δ PWM=f
(Δ n, V, P), which is calculated, obtains duty ratio, exports corresponding driving signal according to the rotor turned position of the duty ratio and motor
To driving circuit so that driving circuit switches driving condition, thus make the magnetic field rotation of stator generation to drive rotor to rotate, into
And realize the driving to motor.
Above-mentioned, the duty ratio of the driving signal of controller output is especially by the variation delta PWM=f (Δ to duty ratio
N, V, P) carry out functional operation acquisition:
Battery pack actual condition is obtained firstly, being sampled by battery detection module, for example, battery pack voltage V；By electric machines test
Module, which calculates, obtains motor characteristic parameter x, such as motor speed n.Then according to battery pack voltage V, motor speed n and battery
P number battery pack P number is wrapped, calculates and obtain under the operating condition variation delta PWM=f (Δ n, V, P) of corresponding duty ratio, and by
This, which is calculated, obtains a corresponding optimum taking air ratio, is suitable for angle mill current working according to the duty cycle adjustment pwm signal to obtain
Driving signal.Controller exports the driving signal to driving circuit according to the duty ratio according to the rotor turned position of motor.
Driving circuit realizes the driving to motor according to the driving signal as a result,.
In the present embodiment, the calculating for function f (Δ n, V, P) can be directly carried out by controller and obtains corresponding duty
Than data, the PWM table storage device in above-described embodiment thus can be saved, and equally can be realized to corresponding under different operating conditions
Optimum taking air ratio optimum choice.Under the duty ratio, specially different motor characteristic parameter x and/or battery pack operating condition
The duty ratio of the driving signal of driving motor operating.Similar to above-described embodiment, battery pack voltage V is obtained with battery detection module
When=25.2V, battery pack P number battery pack P number=1, control module is according to the change of duty ratio determined by function f (Δ n, V, P)
A kind of relationship between change amount Δ PWM and motor speed change amount Δ n is specifically optional are as follows: when motor speed change amount Δ n is 500
When between 1000rpm, the variation delta PWM of the duty ratio is corresponding between 0.01 to 0.1 range；When motor speed becomes
Change amount Δ n 1000 between 1500rpm when, the variation delta PWM of the duty ratio is corresponding between 0.1 to 0.2 range.
Here, it for the function f (Δ n, V, P), can obtain as follows:
Electric tool analogue system mould as shown in Figure 7 is established according to the circuit characteristic parameter of specific electric tool first
Type.The circuit characteristic parameter of the electric tool of required consideration includes: power supply unit characterisitic parameter and motor characteristic parameter in model.
Wherein, power supply unit characterisitic parameter may include but be not limited to: power supply unit voltage, remaining capacity, battery pack SOC parameter, power supply
Device internal resistance etc.；Motor characteristic parameter, it may include but be not limited to: motor speed, position, torque etc..
For using battery pack as power supply unit, AC power source can analogy realization as power supply unit.Electricity shown in Fig. 7
In power driven tools Controlling model, battery pack is according to the characterisitic parameter out-put supply side electric current I under its difference series P and/or operating conditionb,
Controller is operated according to different duty ratio output drive signal driving motors, at this point, motor spy according to corresponding to its operating condition
Property parameter export corresponding motor side electric current Im。
It is emulated respectively with different battery pack operating conditions and different motor characteristic parameter x, obtains the operating condition respectively
Under (different battery pack operating condition and motor characteristic parameter x) drive signal duty cycle and source side electric current Ib, motor side electric current Im
Relationship.For example, falling into N10~N11 gear by battery pack voltage condition V2 gear, motor characteristic parameter x of battery pack operating condition
For, emulation obtains drive signal duty cycle and source side electric current Ib, motor side electric current ImRelationship.The relationship can pass through Fig. 8 institute
The curve shown indicates.
Due to motor side electric current ImIt is proportional to the output torque of motor, therefore, query graph 8 can get motor side under the operating condition
Electric current ImThe highest point B of curve is the maximum point of output torque, i.e. motor output performance optimum point is corresponding under the operating condition
Drive signal duty cycle is 65%.The motor side electric current I corresponding to the output torque of motormWhen for 49A, shown in query graph 8
Curve can accordingly find two duty ratios and realize the torque.But the source side electric current I as corresponding to A point duty ratiobIt is smaller,
Therefore it can confirm that A point is battery close friend point, corresponding drive signal duty cycle is 39% under the operating condition.
According to the analysis to battery pack operating condition and motor characteristic parameter x, determines and tend to protect battery also under the operating condition
It is output large torque, or compromises to the two.Join by battery pack voltage condition V2 gear, motor characteristic of battery pack operating condition
Number x are fallen into for N10~N11 gear, are tended to protect battery in the case where determining a kind of operating condition, that is, are needed to limit to battery pack most
When large inrush current, it can accordingly select duty ratio 39% corresponding to A point for the optimum taking air ratio under the operating condition；In a kind of work
When tending to export large torque under condition, it can accordingly select duty ratio 65% corresponding to B point for the optimum taking air ratio under the operating condition.
Alternatively, compromising to above-mentioned duty ratio, determine that the duty ratio for being suitble to certain point of the operating condition corresponding between A, B is best duty
Than.Generally, the variation range for the duty ratio that this mode needs to adjust is between 0.02~0.08.It will be selected most under the operating condition
Good duty ratio is stored in table 1 according to battery pack operating condition V2 gear, motor characteristic parameter xN10~N11 gear and corresponds to duty5's
Position.And so on, the duty cycle data for corresponding to different operating conditions in above-mentioned PWM table is determined one by one and is stored into table.Alternatively, can also
Be fitted above-mentioned process duty ratio being adjusted according to power tool characteristic by function f (Δ n, V, P), that is, be fitted it is above-mentioned according to
According to the process that duty ratio is adjusted in power supply unit characterisitic parameter and motor characteristic parameter, or directly to above-mentioned PWM table into
Row fitting.By storage of the calculating substitution to specific duty cycle data to function f (Δ n, V, P), thus can be directly according to reality
When operating condition realize adjusting to duty ratio.
As a result, electric tool in use, once it is special to judge that actual condition falls into battery pack operating condition V2 gear, motor
Property parameter xN10~N11 gear, then it is corresponding to determine directly by way of tabling look-up, or through the fitting of function f (Δ n, V, P)
Duty5 answers the driving signal of duty ratio to driving circuit as corresponding duty ratio, with its corresponding policy control output phase, drives
Dynamic motor operating.By that, to the selection of optimum taking air ratio, can be obtained in realizing application in simulation process and emulate close effect
Fruit is achieved in the limitation to electric tool maximum impact electric current, the promotion to max. output torque, additionally it is possible to realize to electronic
The promotion of tool maximum output torque and power supply capacity ratio.Specifically, by above-mentioned technology, it may make electric tool output maximum
Torque is not less than 5N.m, and/or makes the electric tool maximum output torque and power supply capacity ratio not less than 3Nm/Ah, and/
Or the maximum impact electric current of the electric tool is made to be no more than 30A.
It is similar to the above to the selection, storage and inquiry mode of duty ratio under other operating conditions, it is not added repeats herein.
Those skilled in the art are it is understood that in the case where electric tool is in the operating condition close to stall such as low speed, large torque, generally
Performance optimum point B need to be accordingly selected to break through stall as the foundation of duty ratio under the operating condition with the heavily loaded performance of hoisting tool.
Under the operating conditions such as the complete stall of electric tool, then can be realized by the lesser A point of selection electric current to protection battery and
Export the compromise of two kinds of characteristics of large torque.
The above-mentioned selection for optimum taking air ratio corresponding under different operating conditions, is applicable to most electric tools.
When being applied to specific electric tool product, it is only necessary to according to the use demand and its circuit characteristic of tool, accordingly adjust shown in Fig. 7
Parameter in electric tool Simulation Model, which carries out corresponding emulation, can determine the specific value of duty ratio.
For existing electric tool, the present invention is not necessarily to carry out any variation to circuit hardware therein or mechanical structure, only
PWM table (table 1) corresponding to the tool is only stored in advance, or above-mentioned f (Δ is directly executed by the operation of control unit itself
N, V, P) function can optimal duty ratio realize the optimum control to motor, to realize to electrician tool working performance
Optimization.
0 to Figure 12 test data referring to Fig.1 can easily control battery pack in electric tool using the present invention very much
Maximum impact electric current be less than 30A, control electric tool max. output torque be not less than 5N.m.In particular, the stall shown in Figure 12
Under state, for example, the near original revolving speed of motor speed 20% or less when, the locked rotor current of electric tool can be limited in 70A
Or it is following.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the above embodiments do not limit the invention in any form, all obtained by the way of equivalent substitution or equivalent transformation
Technical solution is fallen within the scope of protection of the present invention.
Claims (10)
1. a kind of electric tool, comprising:
Motor, the motor include stator and rotor；
Transmission device, the transmission device is for connecting the rotor and attachment；
Driving circuit, the driving circuit is for output switching signal to drive the rotor of the motor to operate；
Control unit controls the driving circuit for output drive signal；
Power supply unit is the motor, driving circuit, control unit power supply；
It is characterized in that, described control unit is arranged to determine duty ratio according to the variation delta x of the motor characteristic parameter
Variation delta PWM, wherein the variation delta PWM of duty ratio by function f (Δ x) obtain, wherein the variation of the duty ratio
Δ PWM is measured between 0.01 to 0.1 range；Variation delta PWM based on the duty ratio exports corresponding driving signal extremely
The driving circuit operates output driving power with the rotor for controlling the motor.
2. electric tool as described in claim 1, which is characterized in that further include electric machines test module, for detecting and obtaining
Motor characteristic parameter x；Wherein, the electric machines test module is integrated in described control unit, or is respectively in described control unit
Outside.
3. electric tool as described in claim 1, which is characterized in that the motor characteristic parameter x includes: motor speed, electricity
At least one of which of stream, output torque.
4. electric tool as claimed in claim 1 or 3, which is characterized in that the power supply unit includes one by multiple single-units
Battery core concatenates the battery pack to be formed.
5. a kind of electric tool, comprising:
Motor, the motor include stator and rotor；
Transmission device, the transmission device is for connecting the rotor and attachment；
Driving circuit, the driving circuit is for output switching signal to drive the rotor of the motor to operate；
Control unit controls the driving circuit for output drive signal；
Battery pack is the motor, driving circuit, control unit power supply；
It is characterized in that, described control unit is arranged to determine duty ratio according to the variation delta x of the motor characteristic parameter
Variation delta PWM, wherein the variation delta PWM of duty ratio by function f (Δ x) obtain, wherein the variation of the duty ratio
Δ PWM is measured between 0.1 to 0.2 range, the variation delta PWM based on the duty ratio exports corresponding driving signal to institute
Driving circuit is stated to control the rotor of motor operating output driving power.
6. electric tool as described in claim 1, which is characterized in that the motor characteristic parameter x includes: motor speed, electricity
At least one of which of stream, output torque.
7. a kind of electric tool, comprising:
Brushless motor, the brushless motor include stator and rotor；
Transmission device, the transmission device is for connecting the rotor and attachment；
Driving circuit, the driving circuit is for output switching signal to drive the rotor of the brushless motor to operate；
Control unit controls the driving circuit for output drive signal；
Battery pack is the brushless motor, driving circuit, control unit power supply；
It is characterized in that, described control unit is arranged to determine duty ratio according to the variation delta x of the motor characteristic parameter
Variation delta PWM, wherein the variation delta PWM of duty ratio by function f (Δ x) obtain；Variation delta based on the duty ratio
PWM exports corresponding driving signal to the driving circuit, operates output driving power to control the rotor of the brushless motor.
8. electric tool as claimed in claim 6, which is characterized in that the variation delta PWM of the duty ratio between 0.01 to
Between 0.2 range.
9. electric tool as described in claim 1, which is characterized in that the motor characteristic parameter x includes: motor speed, electricity
At least one of which of stream, output torque.
10. electric tool as claimed in claim 6, which is characterized in that the electric tool maximum output torque is not less than
5N.m。
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810400941 | 2018-04-28 | ||
| CN2018104009412 | 2018-04-28 |
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| CN110417325A true CN110417325A (en) | 2019-11-05 |
| CN110417325B CN110417325B (en) | 2021-11-19 |
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Family Applications (6)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810665544.8A Active CN110417324B (en) | 2018-04-28 | 2018-06-26 | Electric drill |
| CN201810665537.8A Active CN110417330B (en) | 2018-04-28 | 2018-06-26 | Electric tool |
| CN201810665574.9A Active CN110417331B (en) | 2018-04-28 | 2018-06-26 | Electric tool |
| CN201810665559.4A Active CN110405250B (en) | 2018-04-28 | 2018-06-26 | Circular saw |
| CN201811127423.4A Withdrawn CN110405702A (en) | 2018-04-28 | 2018-09-27 | Electric tool |
| CN201811127437.6A Active CN110417325B (en) | 2018-04-28 | 2018-09-27 | Electric tool |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810665544.8A Active CN110417324B (en) | 2018-04-28 | 2018-06-26 | Electric drill |
| CN201810665537.8A Active CN110417330B (en) | 2018-04-28 | 2018-06-26 | Electric tool |
| CN201810665574.9A Active CN110417331B (en) | 2018-04-28 | 2018-06-26 | Electric tool |
| CN201810665559.4A Active CN110405250B (en) | 2018-04-28 | 2018-06-26 | Circular saw |
| CN201811127423.4A Withdrawn CN110405702A (en) | 2018-04-28 | 2018-09-27 | Electric tool |
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| CN114453620B (en) * | 2020-11-09 | 2024-01-05 | 南京泉峰科技有限公司 | Intelligent electric tool and control method thereof |
| EP4205906A4 (en) | 2020-11-09 | 2024-02-07 | Nanjing Chervon Industry Co., Ltd. | Smart electric power tool and control method thereof |
| CN112405135B (en) * | 2020-11-18 | 2022-05-17 | 上海新时达机器人有限公司 | Drill bit polishing device and method |
| CN112688595B (en) * | 2020-12-08 | 2022-11-08 | 浙江普莱得电器股份有限公司 | Motor duty ratio control method for electric tool |
| CN114683157A (en) * | 2020-12-25 | 2022-07-01 | 南京泉峰科技有限公司 | Cutting tool |
| CN118300032A (en) * | 2021-07-06 | 2024-07-05 | 昂宝电子（上海）有限公司 | Circuit and method for switch action recognition and abnormal power-on recognition |
| CN114290297B (en) * | 2021-12-29 | 2024-06-25 | 浙江明磊锂能源科技股份有限公司 | Electric tool, control method and device thereof and readable storage medium |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN110417325B (en) | 2021-11-19 |
| CN110417330B (en) | 2021-11-19 |
| CN110405702A (en) | 2019-11-05 |
| CN110417324B (en) | 2022-01-04 |
| CN110417331A (en) | 2019-11-05 |
| CN110405250B (en) | 2022-01-04 |
| CN110417324A (en) | 2019-11-05 |
| CN110405250A (en) | 2019-11-05 |
| CN110417330A (en) | 2019-11-05 |
| CN110417331B (en) | 2021-11-19 |
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