CN111228107A - Control method and device of massage gun and readable storage medium - Google Patents

Control method and device of massage gun and readable storage medium Download PDF

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Publication number
CN111228107A
CN111228107A CN202010044522.7A CN202010044522A CN111228107A CN 111228107 A CN111228107 A CN 111228107A CN 202010044522 A CN202010044522 A CN 202010044522A CN 111228107 A CN111228107 A CN 111228107A
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China
Prior art keywords
current value
motor
phase
winding
massage gun
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Chinese (zh)
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王正操
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Shenzhen Hengruiling Electromechanical Co ltd
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Shenzhen Hengruiling Electromechanical Co ltd
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Priority to CN202010044522.7A priority Critical patent/CN111228107A/en
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H39/00—Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
    • A61H39/04—Devices for pressing such points, e.g. Shiatsu or Acupressure
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/20—Arrangements for starting
    • H02P6/22—Arrangements for starting in a selected direction of rotation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Rehabilitation Therapy (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Pain & Pain Management (AREA)
  • Epidemiology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

The invention provides a control method and a control device of a massage gun and a readable storage medium, wherein the control method of the massage gun sequentially applies voltage detection pulses to each winding in three-phase windings of a motor through a motor control board, acquires the current value of each winding and the minimum current value in the current values of each winding, and finally determines the phase change position of a rotor according to the minimum current value.

Description

Control method and device of massage gun and readable storage medium
Technical Field
The invention relates to the field of massage instruments, in particular to a control method and a control device of a massage gun and a readable storage medium.
Background
At present, the acupuncture point massage gun mainly massages meridians and acupuncture points, can relax muscles and relieve fatigue, and has the effects of improving the human body immunity, dredging the meridians and collaterals, balancing yin and yang and regulating the human body functions. The traditional acupuncture point massage is that the massage of hands is mostly, and is more laborious, and massage efficiency is not high, and based on this, people have designed a hand-held type massage rifle and have been used for replacing the massage of hands.
However, in order to ensure stable and simple control of the motor inside the massage gun, hall elements are generally installed to obtain the position of the motor rotor, but the hall elements have the problems of high installation accuracy requirement, easy damage, high cost and the like, so that the driving performance of the motor is poor.
Disclosure of Invention
The invention mainly aims to provide a control method and a control device of a massage gun and a readable storage medium, and aims to improve the driving performance of a motor inside the massage gun.
In order to achieve the above object, the present invention provides a control method of a massage gun, the massage gun includes a housing, a motor disposed in the housing, and a motor control board, the motor control board is electrically connected to the motor, the control method of the massage gun includes:
the motor control board sequentially applies voltage detection pulses to each winding in three-phase windings of the motor and obtains the current value of each winding;
acquiring a minimum current value in current values of the windings;
and determining the commutation position of the rotor in the motor according to the minimum current value.
Optionally, the step of controlling the motor control board to sequentially apply voltage detection pulses to each of three-phase windings of the motor includes:
acquiring the duration of applying the voltage detection pulse;
and the motor control board sequentially applies the voltage detection pulse to each winding in the three-phase windings of the motor according to the duration.
Optionally, before the step of controlling the motor control board to sequentially apply the voltage detection pulse to each of the three-phase windings of the motor, the method further includes:
acquiring a conduction sequence in a three-phase winding of the motor;
and conducting the three-phase windings according to the conducting sequence.
Optionally, after the step of obtaining the current value of each winding, the method further includes:
and when the current value of each winding is within a preset current range, executing the step of acquiring the minimum current value in the current values of the windings.
Optionally, the step of determining the commutation position of the rotor according to the minimum current value further includes:
acquiring a second current value and a third current value which are adjacent to the minimum current value;
if the second current value is smaller than the third current value, determining the commutation position of the rotor according to the minimum current value and the second current value;
and if the third current value is smaller than the second current value, determining the commutation position of the rotor according to the minimum current value and the third current value.
Optionally, after the step of determining the commutation position of the rotor according to the minimum current value, the method further includes:
acquiring a target rotation direction of the motor;
and controlling the motor to start according to the commutation position of the rotor and the target rotation direction.
In order to achieve the above object, the present invention further provides a control device of a massage gun, including a memory, a processor, and a control program of the massage gun stored in the memory and operable on the processor, wherein the control program of the massage gun, when executed by the processor, implements the steps of the control method of the massage gun as described above.
Further, in order to achieve the above object, the present invention also proposes a readable storage medium having stored thereon a control program of a massage gun, which when executed by a processor, implements the steps of the control method of the massage gun as described above.
According to the control method of the massage gun, the motor control board sequentially applies voltage detection pulses to each winding in three-phase windings of the motor, obtains the current value of each winding and the minimum current value of the current values of each winding, and finally determines the phase change position of the rotor in the motor according to the minimum current value.
Drawings
In order to more clearly illustrate the embodiments or exemplary technical solutions of the present invention, the drawings used in the embodiments or exemplary descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an electronic control terminal according to an embodiment of the present invention;
FIG. 2 is a schematic view of a massage gun according to an embodiment of the present invention;
FIG. 3 is a schematic cross-sectional view of a massage gun in accordance with an embodiment of the present invention;
fig. 4 is a schematic view of a three-phase winding of a stator of an electric machine according to an embodiment of the invention;
FIG. 5(a, b, c, d, e, f) are six schematic diagrams of relative positions of a stator and a rotor of a motor according to an embodiment of the present invention;
FIG. 6 is a schematic flow chart illustrating a control method of the massage gun according to the first embodiment of the present invention;
fig. 7 is a flowchart illustrating a control method of a massage gun according to a second embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, fig. 1 is a schematic diagram of a hardware operating environment of an electronic control terminal according to an embodiment of the present invention.
As shown in fig. 1, the electronic control terminal may include: a processor 1001, such as a CPA, a memory 1003, a communications bus 1002. The memory 1003 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration of the electronically controlled terminal illustrated in fig. 1 is not intended to be limiting of the terminal and may include more or fewer components than illustrated, or some components in combination, or a different arrangement of components.
As shown in fig. 1, a control program of the massage gun may be included in the memory 1003 as a kind of computer storage medium. In the terminal shown in fig. 1, the processor 1001 may be configured to call up a control program of the massage gun stored in the memory 1003, and perform the following operations:
the motor control board sequentially applies voltage detection pulses to each winding in three-phase windings of the motor and obtains the current value of each winding;
acquiring a minimum current value in current values of the windings;
and determining the commutation position of the rotor according to the minimum current value.
Further, the processor 1001 may call up a control program of the massage gun stored in the memory 1003, and also perform the following operations:
acquiring the duration of applying the voltage detection pulse;
and the motor control board sequentially applies the voltage detection pulse to each winding in the three-phase windings of the motor according to the duration.
Further, the processor 1001 may call up a control program of the massage gun stored in the memory 1003, and also perform the following operations:
acquiring a conduction sequence in a three-phase winding of the motor;
and conducting the three-phase windings according to the conducting sequence.
Further, the processor 1001 may call up a control program of the massage gun stored in the memory 1003, and also perform the following operations:
and when the current value of each winding is within the preset current range, executing the step of acquiring the minimum current value in the current values of each winding.
Further, the processor 1001 may call up a control program of the massage gun stored in the memory 1003, and also perform the following operations:
acquiring a second current value and a third current value which are adjacent to the minimum current value;
if the second current value is smaller than the third current value, determining the commutation position of the rotor according to the minimum current value and the second current value;
and if the third current value is smaller than the second current value, determining the commutation position of the rotor according to the minimum current value and the third current value.
Further, the processor 1001 may call up a control program of the massage gun stored in the memory 1003, and also perform the following operations:
acquiring a target rotation direction of the motor;
and controlling the motor to start according to the commutation position of the rotor and the target rotation direction.
As shown in FIGS. 2 to 5(a, b, c, d, e, f), the present invention provides a massage gun.
In one embodiment, as shown in fig. 2 and 3, the massage gun includes a housing 1, a massage head 2 and a motor 3, the massage head 2 is movably connected to the outside of the housing 1, the motor 3 is disposed inside the housing 1, an output shaft 31 is disposed on the motor 3, and the output shaft 31 is connected to the massage head 2 through a driving rod 4, that is, the output shaft 31 of the motor 3 drives the massage head 2 to make telescopic motion on the housing 1 through the driving rod 4, so as to provide a massage function.
Further, the motor 3 of the present embodiment is a brushless motor, the motor 3 includes a stator (not shown) and a rotor (not shown) disposed on the stator, and the stator has a three-phase winding (not shown), that is, when the motor 3 is controlled to rotate, the position of the rotor of the motor 3 needs to be obtained, for example, when the motor 3 is in a stationary state, there is no back electromotive force on the three-phase winding of the motor 3, and at this time, when the motor 3 is started, a phenomenon of failed start or poor start is caused because the position of the rotor cannot be obtained. In this embodiment promptly the massage rifle still including locate 1 inside motor control panel 5 of shell and integrated in drive circuit (not shown) on the motor control panel 5, motor control panel 5 with motor 3 electric connection, promptly motor control panel 5 passes through drive circuit with three phase winding connects, motor control panel 5 is used for to inject pulse current into the three phase winding of stator and pass through pulse current judges the stator with the relative position of rotor, in order to obtain the commutation position of motor 3 to produce the correct current signal that driving motor needs according to the commutation position of motor, make motor 3 can normally start, guarantee motor 3 can drive massage head 2 moves, realizes the massage function of massage rifle.
Further, as shown in fig. 4, the three-phase winding includes an a-phase coil winding, a B-phase coil winding, and a C-phase coil winding that are connected to each other, the a-phase coil winding is provided with an a-phase lead, the B-phase coil winding is provided with a B-phase lead, and the C-phase coil winding is provided with a C-phase lead. The phase a coil winding, the phase B coil winding and the phase C coil winding include a star connection manner and a delta connection manner, and are star-connected as shown in fig. 3, that is, the phase a coil winding, the phase B coil winding and the phase C coil winding are connected together in a Y-shaped manner through a central connection point of the stator, and a phase a lead wire, a phase B lead wire and a phase C lead wire are respectively led out, and the phase a lead wire, the phase B lead wire and the phase C lead wire are used for being electrically connected with the control circuit board 5.
Specifically, a driving circuit is integrated on the control circuit board 5, and the three-phase coil windings are independently controlled, that is, three driving circuits are provided, and at this time, the phase a lead, the phase B lead and the phase C lead are respectively connected with the motor control board 5 through the driving circuit, so that the control circuit board 5 can respectively control the phase a coil winding, the phase B coil winding and the phase C coil winding.
In the present embodiment, a two-phase conduction mode is adopted, and since the motor 3 is powered between the coil windings, can be divided into six conditions including AB phase electrification, AC phase electrification, BC phase electrification, BA phase electrification, CA phase electrification and CB phase electrification, in the present embodiment, "AB-phase energization" indicates that a current flows from the a-phase coil winding to the B-phase coil winding, "BA-phase energization" indicates that a current flows from the B-phase coil winding to the a-phase coil winding, "AC-phase energization" indicates that a current flows from the a-phase coil winding to the C-phase coil winding, "CA-phase energization" indicates that a current flows from the C-phase coil winding to the a-phase coil winding, "BC-phase energization" indicates that a current flows from the B-phase coil winding to the C-phase coil winding, and "CB-phase energization" indicates that a current flows from the C-phase coil winding to the B-phase coil winding.
Further, the positions of the rotors in these six cases are different, and in the case where the rotor is a two-pole magnet, as shown in fig. 5(a), when the AB phase is energized, that is, the a phase lead is a positive pole, and the B phase lead is a negative pole, the direction of the magnetic induction line generated by the a phase coil winding is shown by an arrow m, and the direction of the magnetic induction line generated by the B phase coil winding is shown by an arrow N, the direction of the resultant force generated is shown by an arrow t, and the direction of the N pole coincides with the direction shown by the arrow t according to the expression that the middle rotor causes the direction of the magnetic induction line inside to coincide with the direction of the external magnetic induction line. As shown in fig. 5(b, c, d, e, f), when the AC phase, the BC phase, the BA phase, the CA phase and the CB phase are energized respectively, the N-pole direction coincides with the direction indicated by the arrow t, and after the phase from the AB phase to the CB phase is energized, the rotor rotates by one rotation, that is, by 60 ° in each process, and at this time, the motor 3 rotates by one rotation. Therefore, in this embodiment, pulse current is injected into the three-phase winding of the stator, and the relative position of the stator and the rotor is determined by the pulse current, so as to obtain the phase change position of the rotor of the motor, so as to generate a correct current signal required by driving the motor according to the phase change position of the rotor, so as to correctly start the rotor, thereby normally starting the motor, ensuring that the motor can drive the massage head to move, and realizing the massage function.
Based on the above embodiments, the present invention provides a control method of a massage gun.
In one embodiment, a current-carrying coil is wound on a stator core of a motor of the massage gun, when current is introduced into the current-carrying coil, a certain magnetic flux is generated in the stator core, and if an external magnetic field is also applied to a stator winding (namely, the current-carrying coil) at the moment, the magnetic fluxes generated by the external magnetic field and the winding current jointly determine the saturation degree of the stator core. The winding inductance can change along with the saturation degree of a magnetic circuit, so that when the motor is static or rotates, if the direction of magnetic flux generated by a permanent magnet (rotor) is consistent with the direction of magnetic flux generated by winding current, a magnetizing effect is generated, the saturation degree of the magnetic circuit of a stator core is increased, and the winding inductance is reduced; on the contrary, the saturation degree of the magnetic circuit of the stator core is reduced, and the winding inductance is increased. Therefore, the relative position of the rotor and the stator is different and is directly reflected on the magnitude of the winding inductance.
Further, according to the motor voltage formula, as follows:
A＝Ri+L*di/dt+e；
wherein, A is direct current bus voltage, R is stator winding internal resistance, i is armature current, L is stator winding inductance, and e is the back electromotive force of the motor.
As can be seen from the above, when the motor is at rest, the back electromotive force e of the motor is zero, and since the internal resistance R of the stator winding is actually small, the voltage drop across it is negligible with respect to the dc bus voltage a applied to the stator winding, the above formula can be simplified as:
A＝L*di/dt≈L*Δi/Δt；
that is, when a is constant, L is inversely proportional to the change in Δ i, i.e., the larger L, the smaller Δ i, and vice versa; Δ i is proportional to Δ t, and the larger Δ t, the larger Δ i.
In the embodiment, a pulse positioning method (also called a short-time pulse method) is adopted, which is based on the stator core saturation effect principle, and 6 short-time voltage detection pulses with proper widths are selected, voltage is sequentially applied to a stator winding of the motor according to a corresponding electrifying sequence, and current values are sampled and compared to determine an electrical angle interval where the rotor is located. For example, each electrical cycle of the motor corresponds to 360 ° electrical angle, wherein each 60 ° electrical angle is a conduction interval.
Based on the above principle, referring to fig. 6, fig. 6 is a schematic flow chart of a first embodiment of a control method of the massage gun according to the present invention.
The present embodiment proposes a control method of a massage gun, including:
s10, the motor control board sequentially applies voltage detection pulses to each winding in the three-phase windings of the motor, and obtains the current value of each winding;
s20, acquiring the minimum current value in the current values of the windings;
and S30, determining the commutation position of the rotor in the motor according to the minimum current value.
In one embodiment, the three-phase winding of the motor is a three-phase winding on a stator of the motor, such as: A. b, C three-phase winding. When the rotor of the motor is positioned, the motor control board sequentially applies voltage detection pulses to each winding in three-phase windings of the motor. In this embodiment, a two-phase conduction mode is adopted to apply voltage detection pulses to three-phase windings of the motor, that is, the motor control board sequentially applies voltage detection pulses to two of the three-phase windings of the motor, for example, the AB phase winding may be conducted and applied with voltage detection pulses first, and in addition, voltage detection pulses need to be applied to the AC phase winding, the BC phase winding, the BA phase winding, the CA phase winding, the CB phase winding, and the like.
Further, when a voltage detection pulse is applied to each of the three-phase windings of the motor, a duration time for applying the voltage detection pulse is obtained first, and at this time, the motor control board sequentially applies the voltage detection pulse to each of the three-phase windings of the motor according to the duration time. That is, only when the time of the input voltage detection pulse is kept at the duration (i.e. Δ t in the above principle), the value of the duration is determined by the current that can be borne by the winding inductance, and the smaller the winding inductance, the larger the winding current, and vice versa. In an embodiment of the invention, the duration ranges from 85As to 100 As.
Further, after voltage detection pulses are applied to respective windings among three-phase windings of the motor, current values of the respective windings are acquired. Namely, the current values after voltage detection pulses are applied to the AB phase winding, the AC phase winding, the BC phase winding, the BA phase winding, the CA phase winding and the CB phase winding and the duration time is maintained are obtained. It will be appreciated that each two phase winding conduction is independent, i.e. the motor control board can only apply one voltage sense pulse to each winding in turn.
Further, before the motor control board sequentially applies the voltage detection pulse to each of the three-phase windings of the motor, it is necessary to obtain a conduction sequence of the three-phase windings of the motor, and conduct the three-phase windings according to the conduction sequence. For example, in the present embodiment, the A, B, C three-phase windings are conducted in the order of an AB phase winding, an AC phase winding, a BC phase winding, a BA phase winding, a CA phase winding, and a CB phase winding, i.e., the corresponding vectors are a + B-, a + C-, B + a-, C + a-, and C + B-. It can be understood that, in this embodiment, two of the power devices (the switching tubes Q1 to Q6) in the three-phase inverter bridge may be controlled by the motor control board to implement the conducting sequence of the A, B, C three-phase winding of the stator, and the specific control sequence is not described herein again.
Optionally, when each winding performs voltage detection pulse detection, the other phase winding is in an off state; and after the detection of each two-phase winding is finished and the corresponding current value is obtained, the conduction of the two-phase winding is cut off so as to conduct the two-phase winding in the next conduction sequence. For example, the conduction test of the AB phase winding is completed, and the current value i corresponding to the AB phase winding is obtainedABWhen the temperature of the water is higher than the set temperature,at this point, the AB phase winding is turned off for conduction testing in the following conduction sequence (e.g., AC phase winding).
Specifically, according to the above-described conduction sequence, six current values including i can be obtainedAB、iAC、iBC、iBA、iCAAnd iCB. It should be noted that the pulse injection process illustrated above is in the order of the turn-on sequence, but the order is not essential, and the current value obtained by the sequence may not be affected by any order, i.e. the turn-on sequence is not limited in the present embodiment.
After the current value is obtained every time, the current offset operation is carried out on the corresponding phase, so that the situation that the collected current value cannot reflect the real size and the positioning failure is caused due to the current judgment error is caused because the reverse pulse current caused by injecting the reverse pulse (such as BA) and obtaining the corresponding current value is not really established after the forward pulse is injected (such as AB) and obtaining the corresponding current value is effectively avoided, and the rotor positioning is more accurate and reliable.
Further, a minimum current value among current values of the respective windings is acquired. I.e. six current values i are obtainedAB、iAC、iBC、iBA、iCAAnd iCBThereafter, the minimum current value among the six current values is acquired. In this embodiment, however, it is first determined whether each of the six acquired current values is within a preset current range; if each current value in the plurality of current values is within a preset current range, then acquiring the minimum current value in the plurality of current values; and if at least one current value in the plurality of current values is not in the preset current range, determining an invalid interval according to the at least one current value, and performing fault treatment according to the invalid interval. The preset current range can be calibrated according to actual conditions.
In particular, the rotor of the machine is almost immobile due to the very short duration, i.e. the time of the above-mentioned pulse currents is very short (typically of the order us, the sum of the times of all pulse currents being only a few milliseconds) when voltage detection pulses of duration are applied to the different phases of the stator winding. In order to prevent the false judgment of the position of the invalid pulse current generation interval acquired when the current sampling module fails, in practical application, the pulse current validity check can be added, the interval judgment is allowed only when the acquired pulse current is within the valid range, otherwise, the invalid interval number is returned for the program to perform fault processing, and the detailed description of how to perform fault processing is omitted.
Specifically, after obtaining the plurality of current values, the plurality of current values may be checked for validity, and when the check is completed and it is determined that each current value is valid, the minimum current value of the plurality of current values is obtained, and the phase corresponding to the minimum current value is recorded as the commutation position of the rotor, at which time the rotor position is determined at the commutation position.
Optionally, each electrical cycle of the motor corresponds to 360 ° electrical angle, that is, each 60 ° electrical angle is used as a conduction interval, and an interval number is set correspondingly. At this time, the phase (i.e. vector) and the interval number of the pulse injection are not necessarily and uniquely, and actually, the interval number may be arbitrarily set as long as 6 sectors equally divided in a 360 ° range can be distinguished. That is, the commutation position of this embodiment is one of the conduction intervals of 60 ° in electrical angle.
In an embodiment, in order to make the position of the rotor more accurate, that is, in this embodiment, by obtaining a second current value and a third current value adjacent to the minimum current value, if the second current value is smaller than the third current value, the commutation position of the rotor is determined according to the minimum current value and the second current value, and if the third current value is smaller than the second current value, the commutation position of the rotor is determined according to the minimum current value and the third current value.
Specifically, it is determined whether the minimum current value is biased toward the second current value or the third current value by comparing the magnitudes of two current values adjacent to the minimum current value, i.e., the magnitudes of the second current value and the third current value. For example, if the second current value is smaller than the third current value, the minimum current value is biased to the second current value; the third current value is less than the second current value, the minimum current value is biased toward a third current value. Alternatively, in the above manner, the position of the rotor may be determined at the conduction interval of 30 °. For example, the minimum current value is iBCAt this time, the current value adjacent to the minimum current value is iACAnd iBA。
Alternatively, a fourth current value close to the current corresponding to the minimum current value may be obtained, for example, the minimum current value is iBCThe fourth current value is iACAt this time, current values i adjacent to the minimum current value are comparedBACurrent value i adjacent to the fourth current valueAB(ii) a If the current value iBALess than the current value iABI.e. the minimum current value is biased towards the current value iBA(ii) a If the current value iBAGreater than the current value iABI.e. the minimum current value is biased towards the current value iABThat is, in the above manner, the position of the rotor can be determined in the conduction interval of 30 °. Of course, the above description is only illustrative and not restrictive to the present embodiment.
In the embodiment of the invention, the control method of the massage gun sequentially applies voltage detection pulses to each winding in three-phase windings of the motor through the motor control board, acquires current values of each winding and a minimum current value in the current values of each winding, and finally determines the phase change position of the rotor according to the minimum current value, namely, the technical scheme provided by the embodiment can determine the phase change position of the rotor of the motor through the current values obtained by the voltage detection pulses by injecting the voltage detection pulses into the three-phase windings of the stator, so that the motor can be normally started, and the driving performance of the massage gun motor is improved.
Further, referring to fig. 7, a second embodiment of the present invention is proposed based on the first embodiment, and in this embodiment, after the step of determining the commutation position of the rotor according to the minimum current value, the method further includes:
s40, acquiring the target rotation direction of the motor;
and S50, controlling the motor to start according to the commutation position of the rotor and the target rotation direction.
In one embodiment, after the commutation position of the rotor is determined, that is, the initial position of the rotor is obtained, the target rotation direction of the motor is obtained, and at this time, the target rotation direction may be clockwise rotation or counterclockwise rotation.
Further, the motor is controlled to be started according to the commutation position of the rotor and the target rotation direction. Alternatively, in order to advance the actual magnetic potential of the rotor by the ideal rotor magnetic potential, the stator magnetic potential lagging or advancing by 60 ° to 120 ° is applied to the stator of the motor according to the target rotation direction in the present embodiment, so that the rotor of the motor is started toward the given target rotation direction. Namely, the magnetic potential of the stator provides pulling force to the rotor so as to provide starting power to the rotor.
In the embodiment of the invention, the control method of the massage gun sequentially applies voltage detection pulses to each winding in three-phase windings of the motor through the motor control board, acquires the current value of each winding and the minimum current value in the current values of each winding, finally determines the phase change position of the rotor according to the minimum current value, and controls the motor to start according to the phase change position of the rotor and the target rotation direction after the phase change position is determined, so as to correctly start the rotor, thereby normally starting the motor, ensuring that the motor can drive the massage head to move, and realizing the massage function.
The invention also provides a control device of the massage gun, which comprises the following components: a memory, a processor and a control program of the massage gun stored on the memory and operable on the processor, the control program of the massage gun implementing the steps of the control method of the massage gun as described in the above embodiments when executed by the processor.
The present invention also proposes a readable storage medium having stored thereon a control program of a massage gun, which when executed by a processor implements the steps of the control method of the massage gun according to any one of the above embodiments.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be substantially or partially embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk), and includes several instructions for enabling a terminal device (e.g., a mobile phone, a computer, a cloud server, or a network device) to execute the method of the embodiments of the present invention.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (8)

1. The control method of the massage gun is characterized in that the massage gun comprises a shell, a motor and a motor control board, wherein the motor and the motor control board are arranged in the shell, the motor control board is electrically connected with the motor, and the control method of the massage gun comprises the following steps:
the motor control board sequentially applies voltage detection pulses to each winding in three-phase windings of the motor and obtains the current value of each winding;
acquiring a minimum current value in current values of the windings;
and determining the commutation position of the rotor in the motor according to the minimum current value.
2. The control method of a massage gun as set forth in claim 1, wherein the step of controlling the motor control board to sequentially apply voltage detection pulses to respective windings of three-phase windings of the motor comprises:
acquiring the duration of applying the voltage detection pulse;
and the motor control board sequentially applies the voltage detection pulse to each winding in the three-phase windings of the motor according to the duration.
3. The control method of a massage gun as set forth in claim 1, wherein before the step of controlling the motor control board to sequentially apply the voltage detection pulses to the respective three-phase windings of the motor, the method further comprises:
acquiring a conduction sequence in a three-phase winding of the motor;
and conducting the three-phase windings according to the conducting sequence.
4. The control method of a massage gun as set forth in claim 1, wherein the step of obtaining the current value of each of the windings is followed by further comprising:
and when the current value of each winding is within a preset current range, executing the step of acquiring the minimum current value in the current values of the windings.
5. The control method of a massage gun as set forth in claim 1, wherein the step of determining the commutation position of the rotor based on the minimum current value further comprises:
acquiring a second current value and a third current value which are adjacent to the minimum current value;
if the second current value is smaller than the third current value, determining the commutation position of the rotor according to the minimum current value and the second current value;
and if the third current value is smaller than the second current value, determining the commutation position of the rotor according to the minimum current value and the third current value.
6. The control method of a massage gun as set forth in claim 1, wherein the step of determining the commutation position of the rotor based on the minimum current value is followed by further comprising:
acquiring a target rotation direction of the motor;
and controlling the motor to start according to the commutation position of the rotor and the target rotation direction.
7. A control device for a massage gun, comprising a memory, a processor, and a control program for a massage gun stored in the memory and executable on the processor, wherein the control program for a massage gun, when executed by the processor, implements the steps of the control method for a massage gun according to any one of claims 1 to 6.
8. A readable storage medium having stored thereon a control program for a massage gun, the control program for the massage gun realizing the steps of the control method for the massage gun according to any one of claims 1 to 6 when executed by a processor.
CN202010044522.7A 2020-01-14 2020-01-14 Control method and device of massage gun and readable storage medium Pending CN111228107A (en)

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