CN111061182A - Anti-clamping method of lifting control system and lifting control system - Google Patents
Anti-clamping method of lifting control system and lifting control system Download PDFInfo
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- CN111061182A CN111061182A CN201911152799.5A CN201911152799A CN111061182A CN 111061182 A CN111061182 A CN 111061182A CN 201911152799 A CN201911152799 A CN 201911152799A CN 111061182 A CN111061182 A CN 111061182A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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Abstract
The invention discloses an anti-pinch method of a lifting control system and the lifting control system. In the anti-pinch method, the running current of a motor is collected according to a preset sampling period to obtain a current detection value; looking up a data table to obtain a current threshold corresponding to the current detection value at the previous moment; whether anti-pinch triggering exists is judged by judging whether the current detection value at the current moment is larger than or equal to the current threshold value. If the current detection value is abnormal, the anti-pinch action is started, the moving element of the lifting control system stops after reversely running for a certain distance, the safe anti-pinch function is effectively achieved, and the use safety performance of the lifting control system is improved.
Description
Technical Field
The present disclosure relates to lifting control systems, and particularly to an anti-pinch method for a lifting control system and a lifting control system.
Background
When the general control system is used, different users have different heights and body types. Therefore, if the height of the control system can be adjusted to a suitable height, the user can feel more comfortable. Some related manufacturers have developed a height adjustable control system to adjust the height of the control system in accordance with users with different heights and body types. At present, the control modes according to the lifting are mainly divided into electric lifting and manual lifting. For a manual lifting control system, the adjusting speed is slow, the physical strength of a user is required, and due to the existence of a mechanical transmission mechanism, the mechanism needs to be maintained frequently, otherwise the mechanism is easy to rust or block. Compared with a manual lifting control system, the electric lifting control system is simple and convenient to control and operate, can well start lifting and brake to stop through motor control, and is higher in precision.
However, no matter what kind of adjustment mechanism is used, when the control system is lifted, the user often ignores whether there is an obstacle under the control system or above the control system. In the lifting process of adjusting the height of the control system, the control system is often impacted by the execution module to an obstacle placed below or above the execution module, so that the control system is inclined by the execution module, and certain potential safety hazards exist.
Disclosure of Invention
The invention aims to provide an anti-pinch method of a lifting control system and the lifting control system, which adds an anti-pinch design to the lifting control system, when the lifting control system encounters an obstacle in the lifting process, the anti-pinch trigger is considered to be included, the anti-pinch design can enable the lifting control system to reversely run for a certain distance and then stop, thereby effectively achieving the safety anti-pinch function and solving the safety problem of the electric lifting control system in the lifting process.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides an anti-pinch method of a lifting control system in a first aspect, which comprises the following steps:
the lifting control system is in a static state, and the motor control unit is in an initialization state;
when the motor control unit receives a one-key switch signal, the motor control unit controls the motor to work, and the motor drives the moving part of the lifting control system to move to a specified position along a moving stroke;
the method comprises the following steps that a lifting control system collects running current of a motor according to a preset sampling period in the lifting process to obtain a current detection value in the current state;
performing a first determination step, the first determination step comprising:
inquiring a data table, and inquiring a current threshold value corresponding to a current detection value at the previous moment in the data table through linear interpolation algorithm processing;
comparing the current detection value at the current moment with the current threshold value, and judging whether the current detection value is greater than or equal to the current threshold value;
and when the result of the first judgment step is yes, starting the anti-pinch action of the lifting control system.
Preferably, the anti-pinch action of the lift control system is the motor stopping or reversing.
Preferably, the data table is a two-dimensional table, the X-axis coordinate of the two-dimensional table is a current value preset at equal intervals, and the Y-axis coordinate is a current threshold; the X-axis coordinate and the Y-axis coordinate are in one-to-one correspondence and meet a linear decreasing relation.
More preferably, the linear interpolation algorithm processing includes:
the current detection value is a variable x, a first point (x0, y0) and a second point (x1, y1) are found in the data table, the sizes of x0 and x1 are closest to the size of x, and x0< x 1;
then x in the data table corresponds to the Y-axis coordinate Y as:
y＝y0-(y1-y0)(x-x0)/(x1–x0)，
wherein x0 represents a preset current value at a first point, y0 represents a current threshold value at the first point, x1 represents a preset current value at a second point, y1 represents a current threshold value at the second point, and y represents a current threshold value corresponding to the detected current value.
Preferably, the data table is a three-dimensional table, the X-axis coordinate of the three-dimensional table is a preset current value, the Y-axis coordinate is a preset voltage value, and the Z-axis coordinate is a current threshold; the X-axis coordinate and the Z-axis coordinate satisfy a linear decreasing relation, the X-axis coordinate and the Y-axis coordinate satisfy a linear increasing relation, and the Y-axis coordinate and the Z-axis coordinate satisfy a linear decreasing relation.
A second aspect of the present invention provides a lift control system comprising:
a motor;
the detection module is electrically connected with the motor, and is used for collecting the running current of the motor according to a preset sampling period to obtain a current detection value;
the motor control unit is electrically connected with the detection module and the motor, and controls the motor to work according to the comparison between the current detection value at the current moment received by the detection module and the preset current threshold corresponding to the current detection value at the previous moment;
the data table is stored in the motor control unit and presets a one-to-one correspondence relationship between different current values and current thresholds;
the moving piece is electrically connected with the motor, and the motor drives the moving piece to move to a specified position along a moving stroke.
Preferably, the moving member is disposed in a table foot of the lift control system.
Preferably, the motor drives the moving member to perform height lifting adjustment of the lifting control system.
Preferably, the motor control unit is further connected with a lifting switch for starting the height lifting adjustment of the lifting control system.
Preferably, the motor control unit is further connected with a position sensor for measuring whether the lifting control system is lifted in place.
Preferably, the motor is a direct current motor or a stepping motor.
In this application, the current time refers to the current sampling period, and the previous time refers to the previous sampling period.
Compared with the prior art, the technical scheme of the invention has the following beneficial effects:
according to the scheme provided by the invention, the current detection method is adopted to realize anti-pinch real-time detection of the lifting control system in the lifting process, and the lifting control system can automatically rebound when encountering an obstacle, so that the safety anti-pinch function is effectively achieved, and the use safety performance of the lifting control system is improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:
fig. 1 is a flowchart illustrating an anti-pinch method of a lift control system according to a preferred embodiment of the invention.
Detailed Description
The invention provides an anti-pinch method of a lifting control system and the lifting control system, and in order to make the purpose, technical scheme and effect of the invention clearer and clearer, the invention is further described in detail by referring to the attached drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order, it being understood that the data so used may be interchanged under appropriate circumstances. Furthermore, the terms "comprises," "comprising," and any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Generally speaking, when a moving member of the lifting control system is lifted, such as touching an obstacle, the operating current of the motor driving the moving member is also significantly increased, so that the moving member can generate an anti-pinch action by detecting the current or the change of the current according to the characteristic.
An anti-pinch method of a lift control system, comprising:
the lifting control system is in a static state, and the motor control unit is in an initialization state;
when the motor control unit receives a one-key switch signal, the motor control unit controls the motor to work, and the motor drives the moving part of the lifting control system to move to a specified position along a moving stroke;
the method comprises the following steps that a lifting control system collects running current of a motor according to a preset sampling period in the lifting process to obtain a current detection value in the current state;
performing a first determination step, the first determination step comprising:
inquiring a data table, and inquiring a current threshold value corresponding to a current detection value at the previous moment in the data table through linear interpolation algorithm processing;
comparing the current detection value at the current moment with a current threshold value, and judging whether the current detection value is greater than or equal to the current threshold value;
and when the result of the first judgment step is yes, starting the anti-pinch action of the lifting control system, wherein the anti-pinch action is that the motor stops running or rotates reversely.
Specifically, a lift control system for implementing the anti-pinch method includes:
a motor;
the detection module is electrically connected with the motor, and is used for collecting the running current of the motor according to a preset sampling period to obtain a current detection value;
the motor control unit is electrically connected with the detection module and the motor, and controls the motor to work according to the comparison between the current detection value at the current moment received by the detection module and the preset current threshold corresponding to the current detection value at the previous moment;
the data table is stored in the motor control unit and presets a one-to-one correspondence relationship between different current values and current thresholds;
the moving piece is electrically connected with the motor, and the motor drives the moving piece to move to a specified position along a moving stroke.
Example (b):
the current peak threshold value has a certain relation with the current/voltage when the lifting control system is actuated. The current is motor current, the electric energy of a direct current power supply enters an armature winding through an electric brush and a commutator to generate armature current, and a magnetic field generated by the armature current interacts with a main magnetic field to generate electromagnetic torque so that the motor rotates to drive a load.
A data table is arranged in a motor control unit, the data table is a two-dimensional table, the X-axis coordinate of the two-dimensional table is a current value preset at equal intervals, the Y-axis coordinate is a current threshold value, and the two are in one-to-one correspondence and form a linear decreasing relation. An example of a two-dimensional data table is given in Table 1, where the motor supply voltage is 12V, the no-load speed is 300 +/-10% RPM, and the nominal load is 1.2Nm, as shown in Table 1.
TABLE 1 two-dimensional data sheet
| Current threshold (A) | 1.5 | 1.3 | 1.1 | 0.9 | 0.7 | 0.5 | 0.3 | 0.2 | 0.2 | 0.1 |
| Current value (A) | 0.5 | 1 | 1.5 | 2 | 2.5 | 3 | 3.5 | 4 | 4.5 | 5 |
Fig. 1 is a flowchart illustrating an anti-pinch method of a lift control system according to a preferred embodiment of the invention.
As shown in fig. 1, the anti-pinch method includes the following steps:
step A1: powering up the system;
step A2: initializing a motor control unit;
step A3: opening a lifting switch connected with the motor control unit;
step A4: in the lifting process of the lifting control system, a detection module collects the running current of the motor according to a preset sampling period to obtain a current detection value of the current state;
step A5: performing data table query according to the current detection value at the previous moment, and querying a current threshold value corresponding to the current detection value at the previous moment in the data table through linear interpolation algorithm processing;
step A6: comparing the current detection value at the current moment with a current threshold corresponding to the current detection value at the previous moment, and judging whether the current detection value at the current moment is greater than or equal to the current threshold or not;
step A7: when the current detection value is larger than or equal to the current threshold value, the current is cut off, and the anti-pinch action of the lifting control system is started;
step A8: when the current detection value is smaller than the current threshold value, the detection module continues to perform current detection.
In the step a5, the linear interpolation algorithm processing includes:
the current detection value is a variable x, a first point (x0, y0) and a second point (x1, y1) are found in the data table, the sizes of x0 and x1 are closest to the size of x, and x0< x 1;
then x in the data table corresponds to the Y-axis coordinate Y as:
y＝y0-(y1-y0)(x-x0)/(x1–x0)，
wherein x0 represents a preset current value at a first point, y0 represents a current threshold value at the first point, x1 represents a preset current value at a second point, y1 represents a current threshold value at the second point, and y represents a current threshold value corresponding to a current detection value at the current moment.
The data table can be inquired to obtain the corresponding current threshold value of the current detection value at the previous moment in the data table, and as the current detection value changes, the corresponding current threshold value also changes correspondingly. This current threshold may be used as a condition for anti-pinch determination. For example, the sampling period of the current is 100ms, the current detection value at the previous 100ms detected by the detection module is used for obtaining the corresponding current threshold value by looking up the table, and the current threshold value is compared with the current detection value at the current time detected by the detection module for judgment.
Since the voltage changes when the barrier motion occurs, the data table may also be a three-dimensional table in a preferred embodiment. The X-axis coordinate of the three-dimensional table is a preset current value, the Y-axis coordinate is a preset voltage value, and the Z-axis coordinate is a current threshold value. The X-axis coordinate and the Z-axis coordinate satisfy a linear decreasing relation, the X-axis coordinate and the Y-axis coordinate satisfy a linear increasing relation, and the Y-axis coordinate and the Z-axis coordinate satisfy a linear decreasing relation. Thus, the current threshold value can be queried with both the voltage detection value and the current detection value.
In conclusion, according to the scheme provided by the invention, the current detection method is adopted to realize the anti-pinch real-time detection of the lifting control system in the lifting process, and the lifting control system can automatically bounce when meeting an obstacle, so that the safety anti-pinch function is effectively achieved, and the use safety performance of the lifting control system is improved.
The embodiments of the present invention have been described in detail, but the embodiments are merely examples, and the present invention is not limited to the embodiments described above. Any equivalent modifications and substitutions to those skilled in the art are also within the scope of the present invention. Accordingly, equivalent changes and modifications made without departing from the spirit and scope of the present invention should be covered by the present invention.
Claims (10)
1. An anti-pinch method of a lift control system, comprising:
the lifting control system is in a static state, and the motor control unit is in an initialization state;
when the motor control unit receives a one-key switch signal, the motor control unit controls the motor to work, and the motor drives the moving part of the lifting control system to move to a specified position along a moving stroke;
the method comprises the following steps that a lifting control system collects running current of a motor according to a preset sampling period in the lifting process to obtain a current detection value in the current state;
performing a first determination step, the first determination step comprising:
inquiring a data table, and inquiring a current threshold value corresponding to a current detection value at the previous moment in the data table through linear interpolation algorithm processing;
comparing the current detection value at the current moment with the current threshold value, and judging whether the current detection value is greater than or equal to the current threshold value;
and when the result of the first judgment step is yes, starting the anti-pinch action of the lifting control system.
2. The anti-pinch method of the lift control system of claim 1, wherein: the anti-pinch action of the lifting control system is that the motor stops running or rotates reversely.
3. The anti-pinch method of the lift control system of claim 1, wherein: the X-axis coordinate of the two-dimensional table is a current value preset at equal intervals, and the Y-axis coordinate is a current threshold; the X-axis coordinate and the Y-axis coordinate are in one-to-one correspondence and meet a linear decreasing relation.
4. The anti-pinch method of claim 3, wherein the linear interpolation algorithm processing comprises:
the current detection value is a variable x, a first point (x0, y0) and a second point (x1, y1) are found in the data table, the sizes of x0 and x1 are closest to the size of x, and x0< x 1;
then x in the data table corresponds to the Y-axis coordinate Y as:
y＝y0-(y1-y0)(x-x0)/(x1–x0)，
wherein x0 represents a preset current value at a first point, y0 represents a current threshold value at the first point, x1 represents a preset current value at a second point, y1 represents a current threshold value at the second point, and y represents a current threshold value corresponding to the detected current value.
5. The anti-pinch method of the lift control system of claim 1, wherein: the X-axis coordinate of the three-dimensional table is a preset current value, the Y-axis coordinate is a preset voltage value, and the Z-axis coordinate is a current threshold value; the X-axis coordinate and the Z-axis coordinate satisfy a linear decreasing relation, the X-axis coordinate and the Y-axis coordinate satisfy a linear increasing relation, and the Y-axis coordinate and the Z-axis coordinate satisfy a linear decreasing relation.
6. A lift control system, comprising:
a motor;
the detection module is electrically connected with the motor, and is used for collecting the running current of the motor according to a preset sampling period to obtain a current detection value;
the motor control unit is electrically connected with the detection module and the motor, and controls the motor to work according to the comparison between the current detection value at the current moment received by the detection module and the preset current threshold corresponding to the current detection value at the previous moment;
the data table is stored in the motor control unit and presets a one-to-one correspondence relationship between different current values and current thresholds;
the moving piece is electrically connected with the motor, and the motor drives the moving piece to move to a specified position along a moving stroke.
7. The lift control system of claim 6, wherein: the moving member is arranged in a table foot of the lifting control system.
8. The lift control system of claim 6, wherein: the motor drives the moving piece to adjust the height of the lifting control system in a lifting mode.
9. The lift control system of claim 6, wherein: the motor control unit is also connected with a lifting switch for starting the height lifting adjustment of the lifting control system.
10. The lift control system of claim 6, wherein: the motor control unit is also connected with a position sensor for measuring whether the lifting control system is lifted in place.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911152799.5A CN111061182A (en) | 2019-11-22 | 2019-11-22 | Anti-clamping method of lifting control system and lifting control system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911152799.5A CN111061182A (en) | 2019-11-22 | 2019-11-22 | Anti-clamping method of lifting control system and lifting control system |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0168520A1 (en) * | 1983-10-08 | 1986-01-22 | Robert Bosch Gmbh | Device for the automatic control of doors |
| CN101215947A (en) * | 2007-01-04 | 2008-07-09 | 敦扬科技股份有限公司 | Vehicle open and close body clamping-proof method |
| CN103244004A (en) * | 2013-05-13 | 2013-08-14 | 清华大学 | Electric car window anti-pinch parameter automatic matching method |
| CN104005635A (en) * | 2014-06-11 | 2014-08-27 | 厦门博电电子有限公司 | Anti-pinch control method for automobile window |
-
2019
- 2019-11-22 CN CN201911152799.5A patent/CN111061182A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0168520A1 (en) * | 1983-10-08 | 1986-01-22 | Robert Bosch Gmbh | Device for the automatic control of doors |
| CN101215947A (en) * | 2007-01-04 | 2008-07-09 | 敦扬科技股份有限公司 | Vehicle open and close body clamping-proof method |
| CN103244004A (en) * | 2013-05-13 | 2013-08-14 | 清华大学 | Electric car window anti-pinch parameter automatic matching method |
| CN104005635A (en) * | 2014-06-11 | 2014-08-27 | 厦门博电电子有限公司 | Anti-pinch control method for automobile window |
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Application publication date: 20200424 |