CN111142423A - 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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- CN111142423A CN111142423A CN201911153002.3A CN201911153002A CN111142423A CN 111142423 A CN111142423 A CN 111142423A CN 201911153002 A CN201911153002 A CN 201911153002A CN 111142423 A CN111142423 A CN 111142423A
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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; calculating a current change rate value according to the sampling period, the current detection value obtained at the current moment and the current detection value obtained at the previous moment; looking up a data table to obtain a change rate threshold corresponding to the current detection value at the current moment; whether anti-pinch triggering exists is judged by judging whether the current change rate value is larger than or equal to the change rate threshold value. If the current rate of change value appears unusually, start and prevent pressing from both sides the action, make the moving member of lift control system reverse operation certain distance after stop, effectively reach safe function of preventing pressing from both sides, improved lift control system's safety in utilization performance.
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 moving part of the control system can be adjusted to a proper 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 moving part often collides with an obstacle placed below or above the moving part, so that the table top inclines, 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:
calculating a current change rate value according to the sampling period, the current detection value obtained at the current moment and the current detection value obtained at the previous moment;
inquiring a data table, processing by a linear interpolation algorithm, and calculating a change rate threshold value corresponding to the current detection value at the current moment;
comparing the current change rate value with a change rate threshold value, and judging whether the current change rate value is greater than or equal to the change rate 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 change rate threshold; the X-axis coordinate and the Y-axis coordinate are in one-to-one correspondence and satisfy a linear increasing relationship.
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 of a first point, y0 represents a change rate threshold value of the first point, x1 represents a preset current value of a second point, y1 represents a change rate threshold value of the second point, and y represents a change rate threshold value corresponding to a 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 change rate value, and the Z-axis coordinate is a change rate threshold value; the X-axis coordinate and the Z-axis coordinate satisfy a linear increasing relationship, the X-axis coordinate and the Y-axis coordinate satisfy a linear increasing relationship, and the Y-axis coordinate and the Z-axis coordinate satisfy a linear increasing relationship.
A second aspect of the present invention provides a lift control system comprising:
a motor;
the detection module is electrically connected with the motor, collects the running current of the motor according to a preset sampling period and obtains a current detection value or a current change rate 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 change rate value obtained by the detection module and a preset change rate threshold value;
the data table is stored in the motor control unit and presets a one-to-one corresponding relation between different current values and change rate 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:
calculating a current change rate value according to the sampling period, the current detection value obtained at the current moment and the current detection value obtained at the previous moment;
inquiring a data table, processing by a linear interpolation algorithm, and calculating a change rate threshold value corresponding to the current detection value at the current moment;
comparing the current change rate value with a change rate threshold value, and judging whether the current change rate value is greater than or equal to the change rate 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 reverses.
Specifically, a lift control system for implementing the anti-pinch method includes:
a motor;
the detection module is electrically connected with the motor, collects the running current of the motor according to a preset sampling period and obtains a current detection value or a current change rate 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 change rate value obtained by the detection module and a preset change rate threshold value;
the data table is stored in the motor control unit and presets a one-to-one corresponding relation between different current values and change rate 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):
when the lifting control system touches an obstacle in the lifting process, the current gradient of the motor changes, the current change rate is calculated according to the gradient of the current change, and the current change rate is used as the anti-pinch judgment condition.
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 change rate threshold value, and the two are in one-to-one correspondence and form a linear increasing relationship. 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
| Threshold rate of change value (A/S) | 0.1 | 0.1 | 0.3 | 0.3 | 0.3 | 0.5 | 0.5 | 0.5 | 0.7 | 0.7 |
| 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;
step A5: subtracting the current detection value obtained at the previous moment from the current detection value obtained at the current moment, and dividing the difference of the current detection value and the current detection value by the sampling period to calculate a current change rate value, namely a current gradient;
step A6: performing data table query according to the current detection value at the current moment, and calculating a corresponding change rate threshold value of the current detection value at the current moment in the data table through linear interpolation algorithm processing;
step A7: comparing the current change rate value with a change rate threshold value, and judging whether the current change rate value is greater than or equal to the change rate threshold value;
step A8: when the current change rate value is larger than or equal to the change rate threshold value, cutting off the current and starting the anti-pinch action of the lifting control system;
step A9: when the current change rate value is smaller than the change rate threshold value, the detection module continues to detect the current and calculates the current change rate value.
In the step a6, the linear interpolation algorithm processing includes:
the current detection value at the current moment 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 of a first point, y0 represents a change rate threshold value of the first point, x1 represents a preset current value of a second point, y1 represents a change rate threshold value of the second point, and y represents a change rate threshold value corresponding to a current detection value.
In a preferred embodiment, the data table may also be 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 change rate value, and the Z-axis coordinate is a change rate threshold value. The X-axis coordinate and the Z-axis coordinate satisfy a linear increasing relationship, the X-axis coordinate and the Y-axis coordinate satisfy a linear increasing relationship, and the Y-axis coordinate and the Z-axis coordinate satisfy a linear increasing relationship.
The detection module detects a current value and a current voltage value at the current moment, a current change rate value and a voltage change rate value can be calculated according to the current value and the voltage value acquired in the last sampling period, a three-dimensional table is checked by the current value and the voltage change rate value to obtain a current change rate threshold value at the current moment, the current change rate value is compared with the change rate threshold value, and anti-pinch protection is triggered if the current change rate value is larger than the change rate threshold 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:
calculating a current change rate value according to the sampling period, the current detection value obtained at the current moment and the current detection value obtained at the previous moment;
inquiring a data table, processing by a linear interpolation algorithm, and calculating a change rate threshold value corresponding to the current detection value at the current moment;
comparing the current change rate value with a change rate threshold value, and judging whether the current change rate value is greater than or equal to the change rate 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 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 change rate threshold value; the X-axis coordinate and the Y-axis coordinate are in one-to-one correspondence and satisfy a linear increasing relationship.
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 of a first point, y0 represents a change rate threshold value of the first point, x1 represents a preset current value of a second point, y1 represents a change rate threshold value of the second point, and y represents a change rate threshold value corresponding to a detected current value.
5. The anti-pinch method of the lift control system of claim 1, wherein: 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 change rate value, and the Z-axis coordinate is a change rate threshold value; the X-axis coordinate and the Z-axis coordinate satisfy a linear increasing relationship, the X-axis coordinate and the Y-axis coordinate satisfy a linear increasing relationship, and the Y-axis coordinate and the Z-axis coordinate satisfy a linear increasing relationship.
6. A lift control system, comprising:
a motor;
the detection module is electrically connected with the motor, collects the running current of the motor according to a preset sampling period and obtains a current detection value or a current change rate 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 change rate value obtained by the detection module and a preset change rate threshold value;
the data table is stored in the motor control unit and presets a one-to-one corresponding relation between different current values and change rate 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. A lift control system according to claim 6, wherein: the moving member is arranged in a table foot of the lifting control system.
8. A lift control system according to claim 6, wherein: the motor drives the moving piece to adjust the height of the lifting control system in a lifting mode.
9. A lift control system according to 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. A lift control system according to 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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| CN201911153002.3A CN111142423A (en) | 2019-11-22 | 2019-11-22 | Anti-clamping method of lifting control system and lifting control system |
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| CN201911153002.3A CN111142423A (en) | 2019-11-22 | 2019-11-22 | Anti-clamping method of lifting control system and lifting control system |
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Cited By (6)
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| CN112065024A (en) * | 2020-09-07 | 2020-12-11 | 常德市铭驰环保科技有限公司 | Lifting frame capable of being intelligently and automatically controlled |
| CN112099385A (en) * | 2020-09-24 | 2020-12-18 | 珠海格力电器股份有限公司 | Display panel control method and device of household appliance and household appliance |
| CN114421853A (en) * | 2022-02-10 | 2022-04-29 | 三一汽车制造有限公司 | Current control method, current control system, boom control system and vehicle |
| CN115083129A (en) * | 2022-06-30 | 2022-09-20 | 华帝股份有限公司 | Early warning method and device for preventing hands from being clamped by turning plate |
| WO2022247221A1 (en) * | 2021-05-25 | 2022-12-01 | 昆山泓杰电子股份有限公司 | Control method and apparatus for electric lifting stand column, and electronic device |
| CN116261618A (en) * | 2020-09-18 | 2023-06-13 | 捷温汽车有限公司 | Anti-pinch motor control |
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