CN110592831A - Motor control method, system, equipment and storage medium of sewing machine - Google Patents
Motor control method, system, equipment and storage medium of sewing machine Download PDFInfo
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- CN110592831A CN110592831A CN201910988712.1A CN201910988712A CN110592831A CN 110592831 A CN110592831 A CN 110592831A CN 201910988712 A CN201910988712 A CN 201910988712A CN 110592831 A CN110592831 A CN 110592831A
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- D—TEXTILES; PAPER
- D05—SEWING; EMBROIDERING; TUFTING
- D05B—SEWING
- D05B69/00—Driving-gear; Control devices
- D05B69/10—Electrical or electromagnetic drives
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Abstract
The invention discloses a motor control method of a sewing machine, which comprises the following steps: acquiring a motor mechanical angle when the rotating speed of a motor of the sewing machine is lower than a preset first rotating speed for the first time in the process of rotating for one circle, and taking the motor mechanical angle as a motor mechanical angle A; acquiring a motor mechanical angle when the rotating speed of the motor is lowest in the process of rotating for one circle as a motor mechanical angle B; in the sewing process, when the angle of the motor is A-M, adjusting the parameters of a speed ring in a motor control system to improve the output torque of the motor, and when the angle of the motor is B-N, restoring the parameters of the speed ring to default values; wherein M is more than 0 and less than A, N is more than 0 and less than B, and B-N is more than A-M. By the aid of the scheme, when the thick material is sewn by the sewing machine, the rotating speed of the motor is more stable, so that the sewing production efficiency and the sewing effect can be improved, and the user experience is improved. The application also provides a motor control system, equipment and a storage medium of the sewing machine, and the motor control system, the equipment and the storage medium have corresponding effects.
Description
Technical Field
The invention relates to the technical field of sewing machines, in particular to a motor control method, a motor control system, motor control equipment and a storage medium of a sewing machine.
Background
With the development of science and technology, the requirements of users on the performance of products are higher and higher, and for sewing machines, the requirements of users on the capability of sewing thick materials are higher and higher.
When the sewing machine sews thick materials, a heavier load is loaded on a motor of the sewing machine, when the sewing machine punctures the thick materials, the load is the largest, and the actual speed of the motor can be immediately reduced. Generally can adopt the low-speed when making thick material, then under this kind of low-speed heavy load operating mode, the speed feedback of motor lags behind, and speed control response is slow, and great fluctuation can appear in motor operating speed, and motor speed descends the back promptly, needs the certain time just can resume for sewing machine shows for obvious stuck phenomenon, and this can influence and makes up production efficiency and make up the effect, also can influence user's use and experience.
The existing solution is to strengthen the control parameters of the speed loop of the motor control system when the rotation speed of the motor is detected to be too low, so that the speed loop can rapidly output a strong current instruction. However, such a control method requires that the current rotation speed is reduced to a certain value before control is performed, and when the motor is continuously overloaded, even if the speed loop control parameter is strengthened, the actual rotation speed does not immediately return to the expected rotation speed, or the actual rotation speed is reduced firstly and then pulled back, so the effect is limited.
In conclusion, how to make the rotating speed of the motor more stable when the thick material is sewn by the sewing machine, thereby improving the sewing production efficiency and sewing effect and improving the user use experience is a technical problem which needs to be solved urgently by technical personnel in the field at present.
Disclosure of Invention
The invention aims to provide a motor control method, a motor control system, motor control equipment and a storage medium of a sewing machine, so that the rotating speed of a motor is more stable when the sewing machine sews thick materials, the sewing production efficiency and the sewing effect are improved, and the use experience of a user is improved.
In order to solve the technical problems, the invention provides the following technical scheme:
a motor control method of a sewing machine, comprising:
acquiring a motor mechanical angle when the rotating speed of a motor of the sewing machine is lower than a preset first rotating speed for the first time in the process of rotating for one circle, and taking the motor mechanical angle as a motor mechanical angle A;
acquiring a motor mechanical angle when the rotating speed of the motor is lowest in the process of rotating for one circle, and taking the motor mechanical angle as a motor mechanical angle B;
in the sewing process, when the mechanical angle of the motor is A-M, adjusting the parameters of a speed ring in a motor control system to improve the output torque of the motor, and when the mechanical angle of the motor is B-N, restoring the parameters of the speed ring to default values;
wherein M is more than 0 and less than A, N is more than 0 and less than B, and B-N is more than A-M.
Preferably, the adjusting a parameter of a speed loop in a motor control system to increase an output torque of the motor includes:
and increasing the proportional control parameter Kp of a speed ring in the motor control system to increase the output torque of the motor.
Preferably, the adjusting a parameter of a speed loop in a motor control system to increase an output torque of the motor includes:
a motor feedback rotational speed for performing a calculation of a speed loop in a motor control system is set to a fixed value lower than an actual rotational speed to increase an output torque of the motor.
Preferably, the obtaining a mechanical angle of the motor of the sewing machine when the rotating speed is lower than a preset first rotating speed for the first time in the process of rotating for one circle and the obtaining the mechanical angle of the motor as the mechanical angle a of the motor includes:
controlling a motor of the sewing machine to rotate for P circles, and recording a corresponding motor mechanical angle when the rotating speed is lower than a preset first rotating speed for the first time when the sewing machine rotates for each circle; wherein, P is a positive integer;
and filtering the numerical values which are higher than a first threshold value or lower than a second threshold value in the recorded P motor mechanical angles, and taking the average value after filtering as a motor mechanical angle A.
Preferably, the method further comprises the following steps:
when a motor of the sewing machine is controlled to rotate for P circles, when the rotating speed of the motor is always greater than or equal to the first rotating speed in the process of rotating for each circle, a default motor control process is executed to enable the speed ring parameter to be always kept as the default parameter.
Preferably, the controlling the motor of the sewing machine to rotate P turns includes:
and controlling the motor of the sewing machine to rotate for P circles in the test mode, or controlling the motor of the sewing machine to rotate for P circles in the sewing mode.
A motor control system of a sewing machine, comprising:
the motor mechanical angle A determining module is used for acquiring a motor mechanical angle when the rotating speed of a motor of the sewing machine is lower than a preset first rotating speed for the first time in the process of rotating for one circle and taking the motor mechanical angle as the motor mechanical angle A;
the motor mechanical angle B determining module is used for acquiring a motor mechanical angle when the rotating speed of the motor is lowest in the process of rotating for one circle and taking the motor mechanical angle as the motor mechanical angle B;
the speed ring parameter adjusting and recovering module is used for adjusting the parameters of a speed ring in a motor control system to improve the output torque of the motor when the mechanical angle of the motor is A-M in the sewing process, and recovering the parameters of the speed ring to default values when the mechanical angle of the motor is B-N;
wherein M is more than 0 and less than A, N is more than 0 and less than B, and B-N is more than A-M.
Preferably, the method further comprises the following steps:
and the thin cloth sewing triggering module is used for executing a default motor control process to enable the speed ring parameter to be always kept as the default parameter when the motor of the sewing machine is controlled to rotate for P circles and the rotating speed of the motor is always greater than or equal to the first rotating speed in the process of rotating each circle.
A motor control apparatus of a sewing machine, comprising:
a memory for storing a computer program;
a processor for executing the computer program to implement the steps of the motor control method of the sewing machine described in any one of the above.
A computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method of controlling a motor of a sewing machine of any of the above.
By applying the technical scheme provided by the embodiment of the invention, the mechanical angle A of the motor is determined firstly, and the mechanical angle A of the motor indicates that the motor meets larger resistance at the moment, so that the rotating speed is reduced to the preset first rotating speed. Then, a mechanical angle B of the motor is determined, which indicates that the motor meets the maximum resistance at the moment. In the scheme of the application, when the mechanical angle of the motor is A-M, the parameters of the speed ring are adjusted to improve the output torque of the motor, namely, before the motor meets a larger resistance, the output torque of the motor is improved in advance, so that the motor can pass through a heavy load point at a higher rotating speed without the obvious condition of reducing the rotating speed. Then, when the mechanical angle of the motor is B-N, the parameters of the speed ring are restored to the default values, so that the condition that the speed is overshot due to the reduction of the load after the point with the heaviest load is passed can be avoided. Therefore, the scheme of this application can let the rotational speed of motor more steady when sewing machine sews the thick material to can improve the production efficiency and the effect of making up, improve user and use experience.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flow chart illustrating an exemplary method of controlling a motor of a sewing machine according to the present invention;
FIG. 2 is a schematic view of a speed loop control of the sewing machine motor of the present invention;
FIG. 3 is a schematic view of a motor control system of a sewing machine according to the present invention.
Detailed Description
The core of the invention is to provide a motor control method of a sewing machine, which can enable the rotating speed of the motor to be more stable when the sewing machine sews thick materials, thereby improving the sewing production efficiency and sewing effect and improving the use experience of users.
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. 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.
Referring to fig. 1, fig. 1 is a flowchart illustrating an implementation of a motor control method of a sewing machine according to the present invention, which may include the following steps:
step S101: and acquiring a motor mechanical angle when the rotating speed of a motor of the sewing machine is lower than a preset first rotating speed for the first time in the process of rotating for one circle, and taking the motor mechanical angle as a motor mechanical angle A.
It should be noted that, when the motor of the sewing machine rotates for one turn, the needle moves from the initial position, i.e. from the needle stop position, to the cloth direction, then pierces the cloth, and finally returns to the initial position. Therefore, for a sewing machine in a specific application, when the mechanical angle of the motor is determined, the position of the needle is determined. The motor is fixed on the sewing machine main shaft, the mechanical angle of the motor is changed from 0 degree to 360 degrees, the corresponding sewing machine main shaft is changed from 0 degree to 360 degrees, and the corresponding sewing machine needle runs for a period.
The sewing machine motor is at the in-process that rotates the round, and at the initial stage, the eedle has not contacted the cloth yet, and the motor load is lower this moment, and motor speed also can accord with preset rotational speed. When later the eedle pierces the cloth, because the load increase, motor speed can reduce, especially when the cloth is thick cloth, motor speed will be less than predetermined first rotational speed, need note down motor mechanical angle this moment, marks as motor mechanical angle A promptly.
It should be noted that, in practical application, the motor may rotate one circle to obtain the mechanical angle a of the motor, or rotate several circles, and determine the mechanical angle a of the motor by taking an average value, that is, when the method is implemented specifically, the step S101 may include the following two steps:
the first step is as follows: controlling a motor of the sewing machine to rotate for P circles, and recording a corresponding motor mechanical angle when the rotating speed is lower than a preset first rotating speed for the first time when the sewing machine rotates for each circle; wherein, P is a positive integer;
the second step is that: and filtering the numerical values which are higher than a first threshold value or lower than a second threshold value in the recorded P motor mechanical angles, and taking the average value after filtering as a motor mechanical angle A.
The specific values of the first threshold, the second threshold and P can be set and selected according to actual needs, and of course, the second threshold needs to be smaller than the first threshold. In this kind of embodiment, determine motor mechanical angle A through the mode of getting the average value, be favorable to reducing the influence of accidental error to the scheme, improve the stability of scheme. And in this embodiment, when taking the average value, the obviously wrong value is excluded, namely the value higher than the first threshold value or lower than the second threshold value is filtered, and the influence of the accidental error on the scheme is further reduced. Of course, in some cases, it is considered that the obtained angle values usually do not deviate too much, and in order to increase the calculation speed, the values may not be filtered but may be directly averaged, and the implementation of the present invention is not affected.
Step S102: and acquiring the mechanical angle of the motor when the rotating speed of the motor is the lowest in the process of rotating for one circle, and taking the mechanical angle as the mechanical angle B of the motor.
The needle pierces the cloth, after the motor speed reduces to the first rotational speed, with the needle further stabs the cloth, the resistance increases, the motor speed will further reduce, when reaching the maximum load point of the motor, the motor speed will reach the minimum rotational speed, then the motor load reduces, the motor speed begins to resume, the needle passes the cloth and continues downwards then upwards, until the needle retrieves to the needle stopping position, the motor rotates the round. This application needs to note the motor mechanical angle B when the rotational speed is minimum at the in-process that the motor rotated the round, and the motor mechanical angle that corresponds when this moment also is exactly the motor and is in the biggest load point.
It should be noted that, similar to the mechanical angle a of the motor, the mechanical angle B of the motor may also be determined by taking an average value, so as to reduce the influence of accidental errors on the scheme.
For example, in a specific scenario, after the user puts the thick cloth under the presser foot of the sewing machine, the user enters the thick cloth detection interface through the operation panel and enables the sewing machine to execute the thick cloth detection function through key operation, that is, execute the operations of step S101 and step S102. At this time, the main control module can control the motor to run for P circles at a low speed, for example, to rotate for 5 circles at a speed of 200 rpm/min. And for each circle of the rotation of the motor, recording the current mechanical angle of the motor when the rotation speed of the motor in the circle is detected to be reduced from 200rpm/min to 150rpm/min, and simultaneously, for each circle of the rotation of the motor, recording the corresponding mechanical angle of the motor when the rotation speed of the motor in the circle is the lowest. In the example, the first rotating speed value is 150rpm/min, and can be set and adjusted according to needs in other scenes.
After the motor rotates for 5 circles, the main control can record the corresponding motor mechanical angles when 5 rotating speeds are reduced from 200rpm/min to 150rpm/min, which are not shown as A1, A2, A3, A4 and A5, and can also record the motor mechanical angles corresponding to the 5 lowest rotating speed points, which are not shown as B1, B2, B3, B4 and B5, the motor mechanical angle A can be determined by calculating the average value of A1 to A5, and the motor mechanical angle B can be determined by calculating the average value of B1 to B5.
Step S103: in the sewing process, when the mechanical angle of the motor is A-M, adjusting the parameters of a speed ring in a motor control system to improve the output torque of the motor, and when the mechanical angle of the motor is B-N, restoring the parameters of the speed ring to default values;
wherein M is more than 0 and less than A, N is more than 0 and less than B, and B-N is more than A-M.
As can be seen from the foregoing description, the meaning of the mechanical angle a of the motor is that the rotational speed of the motor is reduced to the preset first rotational speed due to the large resistance encountered by the motor, and therefore, in the scheme of the application, after the mechanical angle a and the mechanical angle B of the motor are determined, in the subsequent sewing process, when the mechanical angle of the motor is a-M, the parameter of the speed loop is adjusted to increase the output torque of the motor.
That is to say, before the mechanical angle of the motor reaches A, the output of the speed ring is increased, so that the rotating speed of the motor is prevented from dropping greatly, and the rotating speed of the motor is more stable. The specific value of M may be set and adjusted as required, for example, selected to be 5 °.
There are various ways to adjust the parameters of the speed loop in the motor control system to increase the output torque of the motor, and fig. 2 is a schematic diagram of the speed loop control of the sewing machine motor, and it can be seen that the output of the speed loop can be increased by adjusting the proportionality coefficient, that is, in a specific embodiment of the present invention, the adjusting the parameters of the speed loop in the motor control system to increase the output torque of the motor described in step S103 may specifically be:
and increasing the proportional control parameter Kp of a speed ring in the motor control system to increase the output torque of the motor.
It can be understood that when the proportional control parameter Kp of the speed loop is increased, the proportional output of the speed loop is increased, so that the overall output of the speed loop is increased, that is, the output current command is increased, and the torque output by the motor is increased. Because the torque output by the motor is increased at the position with the mechanical angle of the motor being A-M, the rotating speed of the motor is still higher when the mechanical angle of the motor is A, and therefore the rotating speed is prevented from being reduced to the first rotating speed.
When the mechanical angle of the motor is a point B, the maximum resistance, namely the maximum load point, is met by the motor at the moment, and the application considers that if the parameter of the speed loop is restored at the moment, the speed overshoot can be caused due to the sudden reduction of the subsequent load, so that the parameter of the speed loop is restored in advance before the maximum load point. That is, when the motor mechanical angle is B-N, the parameters of the speed loop are restored to the default values. Therefore, the overshoot condition of the speed can be avoided, and due to the inertia effect, the rotating speed of the motor can not be reduced when the motor passes through the point B by restoring the parameters of the speed ring in advance, so that the rotating speed of the motor is stable.
The specific values of M and N can be set and adjusted according to actual needs, but generally should not be set too large, and it can be understood that 0 < M < A, so that A-M > 0; n is more than 0 and less than B, so that B-N is more than 0; furthermore, B-N needs to be greater than A-M.
In an embodiment of the present invention, adjusting the parameter of the speed loop in the motor control system to increase the output torque of the motor in step S103 may include:
a motor feedback rotational speed for performing a calculation of a speed loop in a motor control system is set to a fixed value lower than an actual rotational speed to increase an output torque of a motor.
In the foregoing embodiment, the output torque of the motor is increased by adjusting the proportional control parameter Kp, and in this embodiment, the output torque of the motor can be increased by adjusting the feedback rotation speed.
Specifically, the motor feedback rotation speed used for calculating the speed loop is set to be a fixed value lower than the actual rotation speed, the error Err is increased, and therefore the integral output of the speed loop is increased, and further the output current instruction is increased, so that the torque output by the motor is increased.
In addition, in other embodiments, the proportional control parameter may be increased, and the feedback rotation speed of the motor may be adjusted as in this embodiment, without affecting the implementation of the present invention. Of course, when the parameters of the speed loop are subsequently recovered in such a manner, both the proportional control parameters and the feedback rotation speed of the motor need to be recovered.
In an embodiment of the present invention, the method may further include:
when the motor of the sewing machine is controlled to rotate for P circles, when the rotating speed of the motor is always greater than or equal to the first rotating speed in the process of rotating for each circle, a default motor control process is executed to enable the speed ring parameter to be always kept as the default parameter.
In this kind of embodiment, the cloth variety of considering to make up needs is various, to thick cloth, can make motor rotational speed more steady through the adjustment of the preceding description and the scheme of recovering speed ring parameter, and to thin cloth, also can realize compatibly among this kind of embodiment, improves the commonality of this application.
Specifically, when the cloth is a thin cloth, the rotation speed of the motor is reduced in the process that the needle pierces the cloth, but the reduction range is not high, so that the adjustment of the speed ring parameter is not needed. That is, when the motor of the sewing machine is controlled to rotate P circles, when the rotating speed of the motor is always greater than or equal to the first rotating speed in the process of rotating each circle, the thin cloth can be determined, and then a default motor control flow is executed, that is, the control speed loop parameter is always kept as the default parameter, and the operation of the step S103 is not triggered.
It should be noted that, in the foregoing embodiment, the operation panel enables the sewing machine to perform the thick material detection function, and the motor is controlled to rotate for 5 turns to determine the motor mechanical angle a and the motor mechanical angle B, that is, the embodiment controls the motor of the sewing machine to rotate for P turns in the test mode to determine the motor mechanical angle a and the motor mechanical angle B. In other embodiments, the determination of the mechanical angle a and the mechanical angle B of the motor can be performed in the front P circles in the normal sewing process, which is beneficial to improving the efficiency.
Namely, the operation of controlling the motor of the sewing machine to rotate the P-turn may be embodied as follows: and controlling the motor of the sewing machine to rotate for P circles in the test mode, or controlling the motor of the sewing machine to rotate for P circles in the sewing mode.
The sewing mode is a normal sewing process. For example, in the sewing process of the first 5 circles, if the cloth is thick, the electromechanical angle a and the electromechanical angle B are determined by the data of the 5 circles, and the operation of step S103 is performed in the subsequent sewing process. If the cloth is thin cloth, namely the sewing process of the first 5 circles, the rotating speed of the motor is detected to be always greater than or equal to the first rotating speed, and then a default motor control process can be executed subsequently, so that the speed ring parameter is always kept as the default parameter.
By applying the technical scheme provided by the embodiment of the invention, the mechanical angle A of the motor is determined firstly, and the mechanical angle A of the motor indicates that the motor meets larger resistance at the moment, so that the rotating speed is reduced to the preset first rotating speed. Then, a mechanical angle B of the motor is determined, which indicates that the motor meets the maximum resistance at the moment. In the scheme of the application, when the mechanical angle of the motor is A-M, the parameters of the speed ring are adjusted to improve the output torque of the motor, namely, before the motor meets a larger resistance, the output torque of the motor is improved in advance, so that the motor can pass through a heavy load point at a higher rotating speed without the obvious condition of reducing the rotating speed. Then, when the mechanical angle of the motor is B-N, the parameters of the speed ring are restored to the default values, so that the condition that the speed is overshot due to the reduction of the load after the point with the heaviest load is passed can be avoided. Therefore, the scheme of this application can let the rotational speed of motor more steady when sewing machine sews the thick material to can improve the production efficiency and the effect of making up, improve user and use experience.
Corresponding to the above method embodiment, the embodiment of the invention also provides a motor control system of the sewing machine, which can be correspondingly referred to with the above.
Referring to fig. 3, a schematic structural diagram of a motor control system of a sewing machine according to the present invention includes:
a motor mechanical angle a determining module 301, configured to obtain a motor mechanical angle when a rotation speed of a motor of the sewing machine is first lower than a preset first rotation speed in a process of rotating for one turn, and use the motor mechanical angle as the motor mechanical angle a;
a motor mechanical angle B determining module 302, configured to obtain a motor mechanical angle when the rotation speed of the motor is the lowest in a process of one rotation of the motor, and use the motor mechanical angle as the motor mechanical angle B;
the speed ring parameter adjusting and recovering module 303 is used for adjusting the parameters of a speed ring in a motor control system to improve the output torque of a motor when the mechanical angle of the motor is A-M in the sewing process, and recovering the parameters of the speed ring to default values when the mechanical angle of the motor is B-N;
wherein M is more than 0 and less than A, N is more than 0 and less than B, and B-N is more than A-M.
In an embodiment of the present invention, the speed loop parameter adjustment recovery module 303 is specifically configured to:
in the sewing process, when the mechanical angle of the motor is A-M, the proportional control parameter Kp of the speed ring is increased to increase the output torque of the motor, and when the mechanical angle of the motor is B-N, the parameter of the speed ring is restored to a default value.
In an embodiment of the present invention, the speed loop parameter adjustment recovery module 303 is specifically configured to:
in the sewing process, when the mechanical angle of the motor is A-M, the feedback rotating speed of the motor for calculating the speed ring is set to be a fixed value lower than the actual rotating speed so as to improve the output torque of the motor, and when the mechanical angle of the motor is B-N, the parameter of the speed ring is restored to a default value.
In an embodiment of the present invention, the module 301 for determining a mechanical angle a of a motor is specifically configured to:
controlling a motor of the sewing machine to rotate for P circles, and recording a corresponding motor mechanical angle when the rotating speed is lower than a preset first rotating speed for the first time when the sewing machine rotates for each circle; wherein, P is a positive integer;
and filtering the numerical values which are higher than a first threshold value or lower than a second threshold value in the recorded P motor mechanical angles, and taking the average value after filtering as a motor mechanical angle A.
In one embodiment of the present invention, the method further comprises:
the thin cloth sewing triggering module is used for executing a default motor control process to enable a speed ring parameter to be always kept as a default parameter when the motor of the sewing machine is controlled to rotate for P circles and the rotating speed is always greater than or equal to a first rotating speed in the process that the motor rotates for each circle.
In an embodiment of the present invention, the module 301 for determining a mechanical angle a of a motor is specifically configured to:
controlling a motor of the sewing machine to rotate P rings in the test mode or controlling the motor of the sewing machine to rotate P rings in the sewing mode, and recording a corresponding motor mechanical angle when the rotating speed is lower than a preset first rotating speed for the first time when each ring is rotated; wherein, P is a positive integer;
filtering the numerical values higher than a first threshold value or lower than a second threshold value in the recorded P motor mechanical angles, and taking the average value after filtering as a motor mechanical angle A
Corresponding to the above method and system embodiments, the embodiments of the present invention also provide a motor control apparatus of a sewing machine and a computer readable storage medium, which can be referred to in correspondence with the above.
The motor control apparatus of the sewing machine may include:
a memory for storing a computer program;
a processor for executing a computer program to implement the steps of the motor control method of the sewing machine in any of the above embodiments.
The computer readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the motor control method of the sewing machine in any of the above embodiments. A computer-readable storage medium as referred to herein may include Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The principle and the implementation of the present invention are explained in the present application by using specific examples, and the above description of the embodiments is only used to help understanding the technical solution and the core idea of the present invention. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. A motor control method of a sewing machine is characterized by comprising the following steps:
acquiring a motor mechanical angle when the rotating speed of a motor of the sewing machine is lower than a preset first rotating speed for the first time in the process of rotating for one circle, and taking the motor mechanical angle as a motor mechanical angle A;
acquiring a motor mechanical angle when the rotating speed of the motor is lowest in the process of rotating for one circle, and taking the motor mechanical angle as a motor mechanical angle B;
in the sewing process, when the mechanical angle of the motor is A-M, adjusting the parameters of a speed ring in a motor control system to improve the output torque of the motor, and when the mechanical angle of the motor is B-N, restoring the parameters of the speed ring to default values;
wherein M is more than 0 and less than A, N is more than 0 and less than B, and B-N is more than A-M.
2. The method of claim 1, wherein the adjusting the parameter of the speed loop in the motor control system to increase the output torque of the motor comprises:
and increasing the proportional control parameter Kp of a speed ring in the motor control system to increase the output torque of the motor.
3. The method of claim 1, wherein the adjusting the parameter of the speed loop in the motor control system to increase the output torque of the motor comprises:
a motor feedback rotational speed for performing a calculation of a speed loop in a motor control system is set to a fixed value lower than an actual rotational speed to increase an output torque of the motor.
4. The motor control method of the sewing machine according to claim 1, wherein the obtaining of the mechanical angle of the motor when the rotation speed of the motor of the sewing machine is first lower than the preset first rotation speed in the process of one rotation as the mechanical angle a of the motor comprises:
controlling a motor of the sewing machine to rotate for P circles, and recording a corresponding motor mechanical angle when the rotating speed is lower than a preset first rotating speed for the first time when the sewing machine rotates for each circle; wherein, P is a positive integer;
and filtering the numerical values which are higher than a first threshold value or lower than a second threshold value in the recorded P motor mechanical angles, and taking the average value after filtering as a motor mechanical angle A.
5. The motor control method of a sewing machine according to any one of claims 1 to 4, characterized by further comprising:
when a motor of the sewing machine is controlled to rotate for P circles, when the rotating speed of the motor is always greater than or equal to the first rotating speed in the process of rotating for each circle, a default motor control process is executed to enable the speed ring parameter to be always kept as the default parameter.
6. The motor control method of a sewing machine according to claim 4, wherein the controlling of the motor of the sewing machine to rotate for P turns comprises:
and controlling the motor of the sewing machine to rotate for P circles in the test mode, or controlling the motor of the sewing machine to rotate for P circles in the sewing mode.
7. A motor control system of a sewing machine, comprising:
the motor mechanical angle A determining module is used for acquiring a motor mechanical angle when the rotating speed of a motor of the sewing machine is lower than a preset first rotating speed for the first time in the process of rotating for one circle and taking the motor mechanical angle as the motor mechanical angle A;
the motor mechanical angle B determining module is used for acquiring a motor mechanical angle when the rotating speed of the motor is lowest in the process of rotating for one circle and taking the motor mechanical angle as the motor mechanical angle B;
the speed ring parameter adjusting and recovering module is used for adjusting the parameters of a speed ring in a motor control system to improve the output torque of the motor when the mechanical angle of the motor is A-M in the sewing process, and recovering the parameters of the speed ring to default values when the mechanical angle of the motor is B-N;
wherein M is more than 0 and less than A, N is more than 0 and less than B, and B-N is more than A-M.
8. The motor control system of a sewing machine according to claim 7, further comprising:
and the thin cloth sewing triggering module is used for executing a default motor control process to enable the speed ring parameter to be always kept as the default parameter when the motor of the sewing machine is controlled to rotate for P circles and the rotating speed of the motor is always greater than or equal to the first rotating speed in the process of rotating each circle.
9. A motor control apparatus of a sewing machine, characterized by comprising:
a memory for storing a computer program;
processor for executing said computer program for implementing the steps of the motor control method of a sewing machine according to any of claims 1 to 6.
10. A computer-readable storage medium, characterized in that it has stored thereon a computer program which, when being executed by a processor, carries out the steps of a method for controlling a motor of a sewing machine according to any one of claims 1 to 6.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2024093166A1 (en) * | 2022-10-31 | 2024-05-10 | 杰克科技股份有限公司 | Rotation speed control method for sewing machine, sewing machine, and storage medium |
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