CN111464090B - Control method and control device of shift motor and projection system - Google Patents
Control method and control device of shift motor and projection system Download PDFInfo
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- CN111464090B CN111464090B CN202010269011.5A CN202010269011A CN111464090B CN 111464090 B CN111464090 B CN 111464090B CN 202010269011 A CN202010269011 A CN 202010269011A CN 111464090 B CN111464090 B CN 111464090B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors of the kind having motors rotating step by step
- H02P8/32—Reducing overshoot or oscillation, e.g. damping
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors of the kind having motors rotating step by step
- H02P8/14—Arrangements for controlling speed or speed and torque
- H02P8/20—Arrangements for controlling speed or speed and torque characterised by bidirectional operation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors of the kind having motors rotating step by step
- H02P8/22—Control of step size; Intermediate stepping, e.g. microstepping
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N9/00—Details of colour television systems
- H04N9/12—Picture reproducers
- H04N9/31—Projection devices for colour picture display, e.g. using electronic spatial light modulators [ESLM]
- H04N9/3141—Constructional details thereof
Abstract
The embodiment of the invention relates to the technical field of motor control, and particularly discloses a control method and a control device of a shift motor and a projection system. According to the control method of the shaft shifting motor, the moving part is driven to move when the shaft shifting motor rotates, and a first positioning sensor and a second positioning sensor are arranged at two ends of a moving path of the moving part; the method for controlling the shaft-moving motor to rotate towards the first direction and controlling the shaft-moving motor to pass the first positioning sensor step number not to exceed the preset step number of passing the positioning sensor is achieved by receiving the first motion instruction, the position of the positioning sensor is moved out, the step number of passing the positioning sensor is recorded through more accurate software, and errors caused by shaft-moving to the head position through multi-stage gear amplification are reduced.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a control method and a control device of a shift motor and a projection system.
Background
Projection motor products on the market at present generally use two light senses or opto-couplers to detect when arriving at the head, and manually move to the position of two positioning sensors to be considered as arriving at the head. However, since the shaft-moving motor reaches the optical-mechanical module, the error is amplified in a first-level and first-level manner after the speed reduction of a plurality of gears, and the integral error is amplified when the projection distance from the optical-mechanical module to the projection plane is added, so that the actual shaft moving is stopped when the actual shaft moving does not reach the head position, and the integral range of the shaft moving is incorrect. In addition, the focusing motor or the axis shifting motor on the market runs by fixed Pulse Per Second (PPS), shaking (for example, the motor suddenly stops at a speed and suddenly speeds up) may exist when the motor is started and stopped, and when the axis shifting motor drives the moving part to move from top to bottom, the projection plane is farther away from the optical machine in the lower part and closer to the upper part, so that an image on the actual projection plane is caused, and the movement is faster in the lower part and slower in the upper part.
Disclosure of Invention
In view of the above, the present application provides a method for controlling a shift motor, a control device and a projection system, which can solve or at least partially solve the above existing problems.
In order to solve the technical problems, the technical scheme provided by the invention is a control method of a shift motor, the shift motor drives a moving member to move when rotating, a first positioning sensor and a second positioning sensor are arranged at two ends of a moving path of the moving member, and the control method comprises the following steps:
and receiving a first motion instruction, controlling the shaft moving motor to rotate towards a first direction, and controlling the step number of the shaft moving motor to pass over the first positioning sensor not to exceed the preset step number of the shaft moving motor to pass over the positioning sensor.
Preferably, the method for controlling the rotation of the axle moving motor to the first direction and controlling the number of steps of the axle moving motor to pass through the first positioning sensor to be not more than the preset number of steps of the passing through positioning sensor comprises the following steps:
controlling the shaft moving motor to rotate towards a first direction, and continuously detecting whether a signal reaching a first positioning sensor is received or not during rotation;
when the signal of reaching the first positioning sensor is received, the step number of the shaft moving motor crossing the first positioning sensor is recorded;
and when the number of steps of the shaft moving motor for crossing the first positioning sensor is equal to the preset number of steps of the shaft moving motor for crossing the positioning sensor, controlling the shaft moving motor to stop rotating towards the first direction.
Preferably, the method for controlling the rotation of the shift motor in the first direction includes:
acquiring a preset acceleration tolerance, a preset rotation second pulse, a preset averaging step number and a preset deceleration proportion;
controlling the shaft shifting motor to uniformly accelerate and rotate towards a first direction according to a preset acceleration tolerance until the current rotation second pulse of the shaft shifting motor reaches a preset rotation second pulse;
and controlling the shaft shifting motor to continue rotating towards the first direction, and reducing the current rotation second pulse of the shaft shifting motor by a preset deceleration proportion when rotating towards the first direction every time by a preset division step number.
Preferably, the method of controlling the shift motor to stop rotating in the first direction includes:
acquiring a current rotation second pulse of the shaft shifting motor;
and controlling the shaft shifting motor to uniformly decelerate and rotate towards the first direction according to a preset acceleration tolerance until the current rotation second pulse of the shaft shifting motor is 0.
Preferably, the control method further includes: receiving a starting-up instruction, and entering a standby state after self-checking;
the method for entering the standby state after self-checking comprises the following steps:
acquiring the current step number of the shaft moving motor, and judging whether the current step number of the shaft moving motor is equal to a preset initial step number or not;
if the current step number of the shaft-moving motor is equal to the preset initial step number, acquiring a preset rotary second pulse, a preset maximum step number, a preset minimum step number, a preset step number of the over-positioning sensor and a preset equipartition fixed value, controlling the shaft-moving motor to rotate to the preset maximum step number in the first direction according to the preset rotary second pulse, continuously detecting whether a signal reaching the first positioning sensor is received or not during rotation, if so, continuously rotating to the first direction for the preset step number of the over-positioning sensor, stopping rotation to enter the next step, if not, stopping rotation and outputting error reporting information after rotating to the first direction for the preset maximum step number,
controlling the shaft-moving motor to rotate to a preset maximum step number in a second direction according to a preset second pulse of rotation, continuously recording the total step number of the shaft-moving motor rotation during the rotation and continuously detecting whether a signal reaching a second positioning sensor is received, if so, continuously rotating to the second direction for a preset step number exceeding the positioning sensor and stopping the rotation to enter the next step, if not, rotating to the second direction for a preset maximum step number and then stopping the rotation and outputting error-reporting information,
judging whether the recorded total steps of the rotation of the shaft-moving motor is smaller than a preset minimum step, if so, outputting error-reporting information, and if not, dividing the total steps of the rotation of the shaft-moving motor by a preset division fixed value to obtain a preset division step and entering a standby state;
and if the current step number of the shaft moving motor is not equal to the preset initial step number, entering a standby state.
The invention also provides a control device of the shaft-moving motor, the shaft-moving motor drives the moving member to move when rotating, a first positioning sensor and a second positioning sensor are arranged at two ends of the moving path of the moving member, the control device comprises:
and the rotation starting module is used for receiving a first motion instruction, controlling the shaft moving motor to rotate towards a first direction and controlling the step number of the shaft moving motor passing over the first positioning sensor not to exceed the preset step number of the shaft moving motor passing over the positioning sensor.
Preferably, the rotation starting module includes:
the arrival first positioning sensor signal detection unit is used for controlling the shaft moving motor to rotate towards a first direction and continuously detecting whether a signal arriving the first positioning sensor is received or not during rotation;
the step number recording unit of the first positioning sensor is used for recording the step number of the shaft moving motor crossing the first positioning sensor after receiving the signal reaching the first positioning sensor;
and the step number detection unit is used for controlling the shaft moving motor to stop rotating towards the first direction when the step number of the shaft moving motor passing the first positioning sensor is equal to the preset step number of the shaft moving motor passing the positioning sensor.
Preferably, the method for controlling the rotation of the shift motor in the first direction includes:
acquiring a preset acceleration tolerance, a preset rotation second pulse, a preset averaging step number and a preset deceleration proportion;
controlling the shaft shifting motor to uniformly accelerate and rotate towards a first direction according to a preset acceleration tolerance until the current rotation second pulse of the shaft shifting motor reaches a preset rotation second pulse;
and controlling the shaft shifting motor to continue rotating towards the first direction, and reducing the current rotation second pulse of the shaft shifting motor by a preset deceleration proportion when rotating towards the first direction every time by a preset division step number.
Preferably, the method of controlling the shift motor to stop rotating in the first direction includes:
acquiring a current rotation second pulse of the shaft shifting motor;
and controlling the shaft shifting motor to uniformly decelerate and rotate towards the first direction according to a preset acceleration tolerance until the current rotation second pulse of the shaft shifting motor is 0.
Preferably, the control device further comprises a power-on processing module, which is used for receiving a power-on instruction and entering a standby state after self-test;
the boot processing module comprises:
the self-checking judging unit is used for acquiring the current step number of the shaft moving motor and judging whether the current step number of the shaft moving motor is equal to the preset initial step number or not;
a self-checking execution unit, which is used for obtaining a preset rotation second pulse, a preset maximum step number, a preset minimum step number, a preset step number of crossing the positioning sensor and a preset equipartition fixed value if the current step number of the shaft-moving motor is equal to a preset initial step number, controlling the shaft-moving motor to rotate to the preset maximum step number in the first direction according to the preset rotation second pulse, continuously detecting whether a signal reaching the first positioning sensor is received or not during rotation, if so, continuously rotating to the first direction for the preset step number of crossing the positioning sensor and then stopping rotation to enter the next step, if not, stopping rotation and outputting error reporting information after rotating to the first direction for the preset maximum step number,
controlling the shaft-moving motor to rotate to a preset maximum step number in a second direction according to a preset second pulse of rotation, continuously recording the total step number of the shaft-moving motor rotation during the rotation and continuously detecting whether a signal reaching a second positioning sensor is received, if so, continuously rotating to the second direction for a preset step number exceeding the positioning sensor and stopping the rotation to enter the next step, if not, rotating to the second direction for a preset maximum step number and then stopping the rotation and outputting error-reporting information,
judging whether the recorded total steps of the rotation of the shaft-moving motor is smaller than a preset minimum step, if so, outputting error-reporting information, and if not, dividing the total steps of the rotation of the shaft-moving motor by a preset division fixed value to obtain a preset division step and entering a standby state;
and the self-checking stopping unit is used for entering a standby state if the current step number of the shaft moving motor is not equal to the preset initial step number.
The present invention also provides a projection system comprising:
the shaft moving motor is used for driving the moving piece to move when rotating;
a memory for storing a computer program for controlling the axis shifting motor;
a processor for executing the computer program for controlling the axis shifting motor to realize the steps of the control method of the axis shifting motor.
The invention also provides a readable storage medium, in which a computer program is stored, which computer program, when being executed by a processor, realizes the steps of the above-mentioned method for controlling a tilt motor.
Compared with the prior art, the beneficial effects of the method are detailed as follows: according to the control method of the shaft shifting motor, the moving part is driven to move when the shaft shifting motor rotates, and a first positioning sensor and a second positioning sensor are arranged at two ends of a moving path of the moving part; the method for controlling the shaft-moving motor to rotate towards the first direction and controlling the shaft-moving motor to pass the first positioning sensor step number not to exceed the preset step number of passing the positioning sensor is achieved by receiving the first motion instruction, the position of the positioning sensor is moved out, the step number of passing the positioning sensor is recorded through more accurate software, and errors caused by shaft-moving to the head position through multi-stage gear amplification are reduced.
Drawings
In order to illustrate the embodiments of the present invention more clearly, the drawings that are needed in the embodiments 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 that other drawings can be obtained by those skilled in the art without inventive effort.
Fig. 1 is a schematic flow chart of a method for controlling a shift motor according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a method for controlling a spindle motor to rotate in a first direction without exceeding a first direction to a head position according to an embodiment of the present invention;
fig. 3 is a schematic flow chart of another method for controlling a shift motor according to an embodiment of the present invention;
fig. 4 is a schematic flow chart of another method for controlling a shift motor according to an embodiment of the present invention;
fig. 5 is a flowchart illustrating a method for entering a standby state according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a control device of a shift motor according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without any creative work belong to the protection scope of the present invention.
In order to make the technical solutions of the present invention better understood by those skilled in the art, the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, an embodiment of the present invention provides a method for controlling a shift motor, where the shift motor drives a moving member to move when rotating, a first positioning sensor and a second positioning sensor are disposed at two ends of a moving path of the moving member, where neither end includes an end position, but refers to a non-end position on a certain side, and since the shift motor needs to continue to move to the end after reaching the positioning sensors by a preset number of steps to cross the positioning sensors, a distance from the first positioning sensor to a corresponding end and a distance from the second positioning sensor to the corresponding end are at least greater than or equal to the preset distance to cross the number of steps to cross the positioning sensors.
When the shaft shifting motor rotates towards the first direction, the moving part is driven to move towards the first positioning sensor, when the moving part moves towards the first positioning sensor, a signal reaching the first positioning sensor is sent out, when the shaft shifting motor rotates towards the second direction, the moving part is driven to move towards the second positioning sensor, and when the moving part moves towards the second positioning sensor, a signal reaching the second positioning sensor is sent out. The embodiment can be applied to a shift motor for driving a moving member to move up and down, and the control method comprises the following steps:
s11: receiving a first motion instruction, controlling the shaft moving motor to rotate towards a first direction, and controlling the step number of the shaft moving motor to cross the first positioning sensor not to exceed the preset step number of the shaft moving motor to cross the positioning sensor;
specifically, the detection of the end of the tilt-shift motor can be detected by a positioning sensor, the positioning sensor can be a light sensor or an optical coupler, when the optical coupler or the light sensor is shielded, a signal changes, if adc detection is performed, the more shielding is performed, the lower the adc value is, if gpio detection is performed, and when the adc detection is performed to a certain degree, the gpio is pulled down; when the axle moving motor rotates, a separation blade on the optical machine module can rotate, and when the optical coupler is rotated, the optical coupler can be shielded. For software, if the arrival location sensor signal is given by adc, the range of adc is 0-255, the software will use the intermediate value 125 as the judgment condition, if the arrival location sensor signal is given by gpio, the gpio has only 0 or 1, and 0 will be used as the in-place flag. The software may be configured to accommodate both acquisition modes when the adc signal is less than 125 and not equal to 1 as the detected arrival at the position sensor signal.
Specifically, the first motion command does not limit one command, and the step number of the axis moving motor for controlling the axis moving motor to rotate towards the first direction and the step number of the axis moving motor for crossing the first positioning sensor does not exceed the preset step number of the axis moving motor for crossing the positioning sensor may correspond to one command, two commands, or more than two commands.
It should be noted that, as shown in fig. 2, the method for controlling the rotation of the shift motor in the first direction and controlling the number of steps of the shift motor to pass through the first position sensor to not exceed the preset number of steps of passing through the position sensor in S11 includes:
s111: controlling the shaft moving motor to rotate towards a first direction, and continuously detecting whether a signal reaching a first positioning sensor is received or not during rotation;
s112: when the signal of reaching the first positioning sensor is received, the step number of the shaft moving motor crossing the first positioning sensor is recorded;
s113: and when the number of steps of the shaft moving motor for crossing the first positioning sensor is equal to the preset number of steps of the shaft moving motor for crossing the positioning sensor, controlling the shaft moving motor to stop rotating towards the first direction.
The specific process comprises the following steps: acquiring the number of steps of the shaft-moving motor crossing the first positioning sensor and the preset number of steps of the shaft-moving motor crossing the positioning sensor, and judging whether the shaft-moving motor crosses the first positioning sensor;
if the shaft moving motor does not cross the first positioning sensor, the shaft moving motor is controlled to rotate towards the first direction, whether a signal reaching the first positioning sensor is received or not is continuously detected during rotation, the number of steps of the shaft moving motor crossing the first positioning sensor is continuously recorded after the signal reaching the first positioning sensor is received, and when the number of steps of the shaft moving motor crossing the first positioning sensor is equal to the preset number of steps of the shaft moving motor crossing the positioning sensor, the shaft moving motor is controlled to stop rotating towards the first direction, and the direction is prompted to be adjusted to the head reaching position;
if the shaft moving motor passes over the first positioning sensor, judging whether the number of steps of passing over the first positioning sensor is equal to the preset number of steps of passing over the positioning sensor;
if the number of steps of crossing the first positioning sensor is not equal to the preset number of steps of crossing the positioning sensor, controlling the shaft-moving motor to rotate towards the first direction, continuously recording the number of steps of crossing the first positioning sensor during rotation and continuously detecting whether the number of steps of crossing the first positioning sensor is equal to the preset number of steps of crossing the positioning sensor, and controlling the shaft-moving motor to stop rotating towards the first direction and prompting that the direction is adjusted to the head position when the number of steps of crossing the first positioning sensor is equal to the preset number of steps of crossing the positioning sensor;
if the number of steps over the first alignment sensor is equal to the preset number of steps over the alignment sensor, the direction is prompted to be adjusted to the head position.
Specifically, the shift motor enters a state of waiting for control, remains in a stopped state and cyclically waits for triggering of forward rotation or reverse rotation, for example, if forward rotation is performed, i.e., clockwise rotation, corresponding to the rotation in the first direction, it is first detected whether the shift motor has passed the first positioning sensor, since the step number of crossing the first positioning sensor is continuously recorded after the shaft moving motor crosses the first positioning sensor, by detecting the recorded step number of crossing the first positioning sensor and the preset step number of crossing the positioning sensor, it may be determined whether the shift motor has crossed the first positioning sensor, for example if the number of recorded steps crossing the first positioning sensor is 0, the shaft moving motor can be considered to not cross the first positioning sensor, the shaft moving motor can rotate towards the first direction, the signal reaching the first positioning sensor is continuously detected during rotation, and the situation that the step number of the shaft moving motor crosses the first positioning sensor is continuously detected after the shaft moving motor crosses the first positioning sensor; if the number of steps of crossing the first positioning sensor is more than 0 and less than the preset number of steps of crossing the positioning sensor, the shaft-moving motor can be considered to cross the first positioning sensor, but the preset number of steps of crossing the positioning sensor is not reached, namely the first direction to head position is not reached, the shaft-moving motor can rotate towards the first direction, and the situation of crossing the first positioning sensor is continuously detected during the rotation; if the number of steps of crossing the first positioning sensor is equal to the preset number of steps of crossing the first positioning sensor, the situation shows that the shaft-moving motor rotates to the head position in the first direction and cannot rotate any more, the interface prompts that the head is adjusted, the direction cannot rotate, and the shaft-moving motor does not rotate towards the first direction so as to ensure that the head cannot be adjusted by the shaft-moving motor.
The method of controlling the rotation of the shift motor in the first direction includes:
acquiring a preset acceleration tolerance, a preset rotation second pulse, a preset averaging step number and a preset deceleration proportion;
controlling the shaft shifting motor to uniformly accelerate and rotate towards a first direction according to a preset acceleration tolerance until the current rotation second pulse of the shaft shifting motor reaches a preset rotation second pulse;
and controlling the shaft shifting motor to continue rotating towards the first direction, and reducing the current rotation second pulse of the shaft shifting motor by a preset deceleration proportion when rotating towards the first direction every time by a preset division step number.
Specifically, the shaft-moving motor is controlled to rotate towards a first direction, a uniform acceleration starting mode is firstly entered, a rotation second pulse of current software is obtained, the shaft-moving motor is controlled to rotate by one step with 1-set preset acceleration tolerance, and one step with 2-set preset acceleration tolerance. Here, whether the shift motor is accelerated to rotate in the first direction or accelerated to rotate in the second direction, the same uniform acceleration mode is adopted to avoid the shake of the shift motor caused by the rapid acceleration of the shift motor.
After the rotation speed is accelerated to the preset rotation second pulse, the rotation speed is started to rotate towards the first direction at the preset rotation second pulse speed, every time the rotation speed is rotated by a preset average step number, the rotation second pulse is controlled to reduce a preset deceleration proportion P% (the preset deceleration proportion is the deceleration proportion determined by the structure and the performance of the shaft-moving motor, the rotation range and the like and is obtained by combining theory and actual measurement), for example, the average step number is 1000, the preset rotation second pulse of software is 500, and P is 2, so after the rotation speed is 1000 steps, the rotation second pulse is reduced to 490, and the deceleration is continued in this way. The mode that the rotating second pulse of the shaft shifting motor is decelerated according to the preset equal division step number is adopted, because when the shaft shifting motor rotates to drive the moving piece to move downwards, the distance between the projection surface and the optical machine is farther in the lower part and closer in the upper part, an image on the actual projection surface can be caused, and the movement is faster in the lower part and slower in the upper part. Therefore, when the shift motor rotates to drive the moving part to move so that the projection picture moves towards the direction far away from the position of the optical machine, the rotation second pulse of the shift motor is decelerated according to the preset averaging step number, namely, the moving speed of the projection picture is decelerated, and the projection picture can keep moving at a uniform speed on the projection plane. Meanwhile, in the rotating process of the shaft moving motor, the step number of the shaft moving motor passing the first positioning sensor is required to be continuously detected and cannot exceed the preset step number of the shaft moving motor passing the positioning sensor, so that the shaft moving motor is ensured to rotate towards the first direction and cannot exceed the head reaching position. For example, if the second direction heading position is set to the starting step number of 0 steps, if the first direction is rotated, the recorded number of steps over the first position sensor is incremented, i.e., after the first position sensor is passed, the first position sensor step number +1 is passed every step, i.e., after the first position sensor signal is detected, the number of steps over the first position sensor step number starts from 0 +1 to the maximum value (preset number of steps over the position sensor), i.e., the first direction heading position is reached; if the rotation is towards the second direction, the recorded number of steps crossing the second positioning sensor is decreased progressively, namely after the second positioning sensor is crossed, every step is crossed by the number of steps-1 of the second positioning sensor until the number is zero, namely the head position in the second direction is reached; the current rotation second pulse value is stored in real time in the rotation process, and whether a rotation stopping signal is received or not is detected in real time; when the head arriving position is reached, namely the head arriving position is triggered, the rotation is stopped, and the user is prompted that the direction is adjusted to the head arriving position.
The method of controlling the shift motor to stop rotating in the first direction includes:
acquiring a current rotation second pulse of the shaft shifting motor;
and controlling the shaft shifting motor to uniformly decelerate and rotate towards the first direction according to a preset acceleration tolerance until the current rotation second pulse of the shaft shifting motor is 0.
It should be noted that, as shown in fig. 3, another method for controlling a shift motor according to an embodiment of the present invention includes:
s11: receiving a first motion instruction, controlling the shaft moving motor to rotate towards a first direction, and controlling the step number of the shaft moving motor to cross the first positioning sensor not to exceed the preset step number of the shaft moving motor to cross the positioning sensor;
s12: and receiving a first motion stopping instruction, and controlling the shaft shifting motor to stop rotating towards the first direction.
In S12, the method of controlling the shift motor to stop rotating in the first direction includes:
acquiring a current rotation second pulse of the shaft shifting motor;
and controlling the shaft shifting motor to uniformly decelerate and rotate towards the first direction according to a preset acceleration tolerance until the current rotation second pulse of the shaft shifting motor is 0.
Specifically, for example, when the shift motor receives a stop first motion signal or the first direction rotates to the head, the first direction deceleration stop logic is entered, the current software rotation second pulse is obtained, the shift motor is controlled to rotate by one step (the current rotation second pulse-1 × the preset acceleration tolerance), and then rotate by one step (the current rotation second pulse-2 × the preset acceleration tolerance), i.e., the preset acceleration tolerance is decelerated every step until the current rotation second pulse is 0, for example, the current shift motor rotation second pulse is 480, the preset acceleration tolerance is 20, and then the rotation second pulse is 24 steps in a 480, 460, i.e., 0 manner. Here, the same uniform deceleration method is used to avoid the shaking of the shift motor due to the rapid deceleration of the shift motor, regardless of whether the shift motor receives the rotation stop signal when rotating in the first direction, or the rotation stop signal when rotating in the second direction, or the rotation stop signal when rotating in the first direction until the head stops rotating, or the rotation stop signal when rotating in the second direction until the head stops rotating. Although the deceleration process is started after the shaft-moving motor rotates to the head position, the actual number of steps of the shaft-moving motor passing the positioning sensor exceeds the preset number of steps of the shaft-moving motor passing the positioning sensor, the number of steps of the shaft-moving motor decelerating is very short, and abnormal conditions such as jamming and blocking of the shaft-moving motor cannot occur.
It should be noted that, in the embodiment of the present application, the control method of the shift motor is described in the description of the rotation and stop of the rotation in the first direction, and this embodiment is used to define a specific rotation direction, and the control method of the rotation and stop of the rotation of the shift motor in the second direction may be directly referred to the control method of the rotation and stop of the rotation in the first direction. For example, the control method of the shift motor further includes:
receiving a second motion instruction, controlling the shaft moving motor to rotate towards a second direction, and controlling the number of steps of the shaft moving motor passing through the second positioning sensor not to exceed the preset number of steps of the shaft moving motor passing through the positioning sensor;
and receiving a second motion stopping instruction, and controlling the shaft shifting motor to stop rotating towards the second direction.
For the description of the features of the embodiment corresponding to the rotation in the second direction and the stop of the rotation, reference may be made to the description of the embodiment corresponding to the rotation in the first direction and the stop of the rotation, and details are not repeated here.
It should be noted that, as shown in fig. 4, another method for controlling a shift motor according to an embodiment of the present invention includes:
s10: receiving a starting-up instruction, and entering a standby state after self-checking;
s11: receiving a first motion instruction, controlling the shaft moving motor to rotate towards a first direction, and controlling the step number of the shaft moving motor to cross the first positioning sensor not to exceed the preset step number of the shaft moving motor to cross the positioning sensor;
s12: and receiving a first motion stopping instruction, and controlling the shaft shifting motor to stop rotating towards the first direction.
As shown in fig. 5, the method of entering the standby state after the self-test in S10 includes:
s101: acquiring the current step number of the shaft moving motor, and judging whether the current step number of the shaft moving motor is equal to a preset initial step number or not;
s1021: if the current step number of the shaft-moving motor is equal to the preset initial step number, acquiring a preset rotary second pulse, a preset maximum step number, a preset minimum step number, a preset step number of the over-positioning sensor and a preset equipartition fixed value, controlling the shaft-moving motor to rotate to the preset maximum step number in the first direction according to the preset rotary second pulse, continuously detecting whether a signal reaching the first positioning sensor is received or not during rotation, if so, continuously rotating to the first direction for the preset step number of the over-positioning sensor, stopping rotation to enter the next step, if not, stopping rotation and outputting error reporting information after rotating to the first direction for the preset maximum step number,
s1022: controlling the shaft-moving motor to rotate to a preset maximum step number in a second direction according to a preset second pulse of rotation, continuously recording the total step number of the shaft-moving motor rotation during the rotation and continuously detecting whether a signal reaching a second positioning sensor is received, if so, continuously rotating to the second direction for a preset step number exceeding the positioning sensor and stopping the rotation to enter the next step, if not, rotating to the second direction for a preset maximum step number and then stopping the rotation and outputting error-reporting information,
s1023: judging whether the recorded total steps of the rotation of the shaft-moving motor is smaller than a preset minimum step, if so, outputting error-reporting information, and if not, dividing the total steps of the rotation of the shaft-moving motor by a preset division fixed value to obtain a preset division step and entering a standby state;
s103: and if the current step number of the shaft moving motor is not equal to the preset initial step number, entering a standby state.
Specifically, the positioning sensor is arranged to determine the position of the shaft moving motor, the upper head and the lower head are not fixed points due to structural tolerance, if the position of the shaft moving motor is determined without the positioning sensor, the shaft moving motor is blocked and jammed, and the lower adjusting distance is too small due to too much movement of the shaft moving motor. When a power key interruption triggering starting signal is received, whether the shaft moving motor is started for the first time is judged, if the current step number of the shaft moving motor is equal to the preset starting step number, the shaft moving motor is considered to be started for the first time, and a shaft moving motor self-checking process is started, for example, when the read current step number of the shaft moving motor is-1 (a default value), the shaft moving motor self-checking process is started.
After entering a self-checking process, firstly, controlling a shaft-moving motor to move in a first direction by X steps (X is the maximum step number preset by software, the maximum step number is the number of steps to the head determined by a structure and is obtained by combining theory and actual measurement) according to a preset rotation second pulse, continuously detecting whether a signal reaching a first positioning sensor is received during rotation, stopping after a signal is received, continuously rotating Y steps (Y is the number of steps of crossing the positioning sensor preset by the software), namely, reaching the position from the first direction to the head, and stopping rotation and prompting the shaft-moving motor to be bad by an interface if the signal reaching the first positioning sensor is not detected after the X steps are completed.
And then controlling the shaft moving motor to move in the second direction by X steps according to a preset second pulse of rotation, continuously recording the total step number of the shaft moving motor rotation during rotation and continuously detecting whether a signal reaching the second positioning sensor is received, stopping after continuously rotating by Y steps if the signal is received, namely reaching the head position in the second direction, and stopping rotation and prompting the poor quality of the shaft moving motor through an interface if the signal reaching the second positioning sensor is not detected after the X steps are completed.
Judging whether the recorded total step number of the rotation of the shaft moving motor is smaller than a minimum step number preset by software (the minimum step number is a minimum limit value given by a structure, if the minimum step number is smaller than the minimum limit value, the actually adjusted shaft moving motor cannot reach an ideal range, and user experience is poor), if the minimum step number is smaller than the minimum limit value, prompting that the shaft moving motor is poor through an interface, otherwise, setting the current position as a starting point step number, wherein the step number is 0, recording the current rotation second pulse and the total step number, and dividing the total step number by an averaging fixed value preset by the software to obtain an averaging step number, wherein the averaging step number is 10000, 10 is the averaging fixed value, 1000 is the averaging step number, and is recorded as the preset averaging step number. Self-test failed in three cases: 1. the step number of walking towards the first direction or walking towards the second direction is larger than the maximum structural limit step number, and jamming may be caused at this time, 2, if the signal reaching the first positioning sensor or the signal reaching the second positioning sensor is not detected, the hardware is considered to be abnormal, 3, if the positioning sensor is detected too early or too late, the shaft moving range may be insufficient, or the hardware is considered to be jammed too much, and the installation problem is considered. Through the self-checking process, the total steps from the first direction to the head of the shaft-moving motor to the second direction can be determined, and the preset average step number of the shaft-moving motor is calculated. In the self-checking process, the shift motor rotates to the first direction and then rotates to the second direction, or rotates to the second direction and then rotates to the first direction, the first direction provided in the application is not used for limiting a specific direction, the first direction can be a clockwise direction or an anticlockwise direction, and correspondingly, when the first direction is the clockwise direction, the second direction is the anticlockwise direction; when the first direction is counterclockwise, the second direction is clockwise, and in some special cases, the first direction and the second direction may be other directions, and the first direction and the second direction are only limited to two opposite directions in which the shift motor can rotate. The position set as the starting step number may be either a first direction to head position or a second direction to head position, where the starting step number position is set only to determine the positive or negative direction when the software records steps over the position sensor.
Specifically, if the current step number of the shift motor is not equal to the preset starting step number, the shift motor is not considered to be started for the first time, that is, the self-checking process of the shift motor is already passed, the self-checking process of the shift motor is not entered, and the standby state is directly entered.
Presetting a step number value of crossing the positioning sensor, such as 1572 steps; presetting the maximum step number as 12000 steps; using the number of steps from self-test, the number of steps between 10800 and 12000 steps can be selected. It should be noted that the above steps are not limited to specific values and ranges, and the corresponding steps are specifically set according to the actually selected motor and hardware structure.
The technical scheme of the application has the advantages that: 1. the prior art is when walking to the position sensor position, thinks to move the axle to the head, and the technical scheme of this application is after walking out the position sensor position, crosses the position sensor step number through software record and judges to the head, because software note step is more accurate, has reduced because the error of the axle that moves to the head position that leads to through multistage gear amplification. 2. In the prior art, when a shaft moving motor is started and stopped, the equal difference acceleration and deceleration is not carried out, and after multi-stage amplification, the phenomenon of shaking can be caused. 3. In the prior art, fixed Pulse Per Second (PPS) operation is adopted, and the technical scheme of the application is that PPS dynamic adjustment is adopted, so that uniform movement of a projection picture on a projection surface is realized.
As shown in fig. 6, an embodiment of the present invention further provides a control device for a shift motor, the shift motor drives a moving member to move when rotating, a first positioning sensor and a second positioning sensor are disposed at two ends of a moving path of the moving member, the control device includes:
and the rotation starting module 21 is configured to receive a first motion instruction, control the shift motor to rotate in the first direction, and control the step number of the shift motor passing over the first positioning sensor to be not more than a preset step number of the shift motor passing over the positioning sensor.
Note that the rotation start module 21 includes:
the arrival first positioning sensor signal detection unit is used for controlling the shaft moving motor to rotate towards a first direction and continuously detecting whether a signal arriving the first positioning sensor is received or not during rotation;
the step number recording unit of the first positioning sensor is used for recording the step number of the shaft moving motor crossing the first positioning sensor after receiving the signal reaching the first positioning sensor;
and the step number detection unit is used for controlling the shaft moving motor to stop rotating towards the first direction when the step number of the shaft moving motor passing the first positioning sensor is equal to the preset step number of the shaft moving motor passing the positioning sensor.
The method of controlling the rotation of the shift motor in the first direction includes:
acquiring a preset acceleration tolerance, a preset rotation second pulse, a preset averaging step number and a preset deceleration proportion;
controlling the shaft shifting motor to uniformly accelerate and rotate towards a first direction according to a preset acceleration tolerance until the current rotation second pulse of the shaft shifting motor reaches a preset rotation second pulse;
and controlling the shaft shifting motor to continue rotating towards the first direction, and reducing the current rotation second pulse of the shaft shifting motor by a preset deceleration proportion when rotating towards the first direction every time by a preset division step number.
The method of controlling the shift motor to stop rotating in the first direction includes:
acquiring a current rotation second pulse of the shaft shifting motor;
and controlling the shaft shifting motor to uniformly decelerate and rotate towards the first direction according to a preset acceleration tolerance until the current rotation second pulse of the shaft shifting motor is 0.
The control device further includes: and the rotation stopping module 22 is configured to receive a first motion stopping instruction and control the shift motor to stop rotating in the first direction.
The method of controlling the shift motor to stop rotating in the first direction includes:
acquiring a current rotation second pulse of the shaft shifting motor;
and controlling the shaft shifting motor to uniformly decelerate and rotate towards the first direction according to a preset acceleration tolerance until the current rotation second pulse of the shaft shifting motor is 0.
The control device further includes: the starting-up processing module 20 is used for receiving a starting-up instruction and entering a standby state after self-test; the boot processing module 20 includes:
the self-checking judging unit is used for acquiring the current step number of the shaft moving motor and judging whether the current step number of the shaft moving motor is equal to the preset initial step number or not;
a self-checking execution unit, which is used for obtaining a preset rotation second pulse, a preset maximum step number, a preset minimum step number, a preset step number of crossing the positioning sensor and a preset equipartition fixed value if the current step number of the shaft-moving motor is equal to a preset initial step number, controlling the shaft-moving motor to rotate to the preset maximum step number in the first direction according to the preset rotation second pulse, continuously detecting whether a signal reaching the first positioning sensor is received or not during rotation, if so, continuously rotating to the first direction for the preset step number of crossing the positioning sensor and then stopping rotation to enter the next step, if not, stopping rotation and outputting error reporting information after rotating to the first direction for the preset maximum step number,
controlling the shaft-moving motor to rotate to a preset maximum step number in a second direction according to a preset second pulse of rotation, continuously recording the total step number of the shaft-moving motor rotation during the rotation and continuously detecting whether a signal reaching a second positioning sensor is received, if so, continuously rotating to the second direction for a preset step number exceeding the positioning sensor and stopping the rotation to enter the next step, if not, rotating to the second direction for a preset maximum step number and then stopping the rotation and outputting error-reporting information,
judging whether the recorded total steps of the rotation of the shaft-moving motor is smaller than a preset minimum step, if so, outputting error-reporting information, and if not, dividing the total steps of the rotation of the shaft-moving motor by a preset division fixed value to obtain a preset division step and entering a standby state;
and the self-checking stopping unit is used for entering a standby state if the current step number of the shaft moving motor is not equal to the preset initial step number.
For the description of the features in the embodiment corresponding to fig. 6, reference may be made to the related description of the embodiments corresponding to fig. 1 to fig. 5, which is not repeated here.
An embodiment of the present invention further provides a projection system, including: the shaft moving motor is used for driving the moving piece to move when rotating; a memory for storing a computer program for controlling the axis shifting motor; and the processor is used for executing a computer program for controlling the shift motor so as to realize the steps of the control method of the shift motor.
The embodiment of the invention also provides a readable storage medium, wherein the readable storage medium stores a computer program, and the computer program is executed by a processor to realize the steps of the control method of the shift motor.
The foregoing details a control method, a control device, and a readable storage medium for a shift motor according to embodiments of the present invention are described. The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
Claims (9)
1. A method for controlling a tilt-shift motor is characterized in that,
the shaft moving motor drives the moving part to move when rotating, a first positioning sensor and a second positioning sensor are arranged at two ends of a moving path of the moving part, the moving path of the moving part is from bottom to top or from top to bottom, the two ends are positions of non-end parts of a certain side, and the distance between the first positioning sensor and the corresponding end part and the distance between the second positioning sensor and the corresponding end part are greater than or equal to the distance corresponding to the preset step number of crossing positioning sensors;
the control method comprises the following steps: receiving a first motion instruction, controlling the shaft-moving motor to rotate towards a first direction and controlling the step number of the shaft-moving motor to cross the first positioning sensor not to exceed the preset step number of the shaft-moving motor to cross the positioning sensor, comprising: controlling the shaft moving motor to rotate towards a first direction, and continuously detecting whether a signal reaching a first positioning sensor is received or not during rotation; when the signal of reaching the first positioning sensor is received, the step number of the shaft moving motor crossing the first positioning sensor is recorded; and when the number of steps of the shaft moving motor for crossing the first positioning sensor is equal to the preset number of steps of the shaft moving motor for crossing the positioning sensor, controlling the shaft moving motor to stop rotating towards the first direction.
2. The method of controlling a shift motor according to claim 1, wherein the method of controlling the shift motor to rotate in the first direction includes:
acquiring a preset acceleration tolerance, a preset rotation second pulse, a preset averaging step number and a preset deceleration proportion;
controlling the shaft shifting motor to uniformly accelerate and rotate towards a first direction according to a preset acceleration tolerance until the current rotation second pulse of the shaft shifting motor reaches a preset rotation second pulse;
and controlling the shaft shifting motor to continue rotating towards the first direction, and reducing the current rotation second pulse of the shaft shifting motor by a preset deceleration proportion when rotating towards the first direction every time by a preset division step number.
3. The method of controlling a shift motor according to claim 1, wherein the method of controlling the shift motor to stop rotating in the first direction includes:
acquiring a current rotation second pulse of the shaft shifting motor;
and controlling the shaft shifting motor to uniformly decelerate and rotate towards the first direction according to a preset acceleration tolerance until the current rotation second pulse of the shaft shifting motor is 0.
4. The method of controlling a shift motor according to claim 1, further comprising: receiving a starting-up instruction, and entering a standby state after self-checking;
the method for entering the standby state after self-checking comprises the following steps:
acquiring the current step number of the shaft moving motor, and judging whether the current step number of the shaft moving motor is equal to a preset initial step number or not;
if the current step number of the shaft-moving motor is equal to the preset initial step number, acquiring a preset rotary second pulse, a preset maximum step number, a preset minimum step number, a preset step number of the over-positioning sensor and a preset equipartition fixed value, controlling the shaft-moving motor to rotate to the preset maximum step number in the first direction according to the preset rotary second pulse, continuously detecting whether a signal reaching the first positioning sensor is received or not during rotation, if so, continuously rotating to the first direction for the preset step number of the over-positioning sensor, stopping rotation to enter the next step, if not, stopping rotation and outputting error reporting information after rotating to the first direction for the preset maximum step number,
controlling the shaft-moving motor to rotate to a preset maximum step number in a second direction according to a preset second pulse of rotation, continuously recording the total step number of the shaft-moving motor rotation during the rotation and continuously detecting whether a signal reaching a second positioning sensor is received, if so, continuously rotating to the second direction for a preset step number exceeding the positioning sensor and stopping the rotation to enter the next step, if not, rotating to the second direction for a preset maximum step number and then stopping the rotation and outputting error-reporting information,
judging whether the recorded total steps of the rotation of the shaft-moving motor is smaller than a preset minimum step, if so, outputting error-reporting information, and if not, dividing the total steps of the rotation of the shaft-moving motor by a preset division fixed value to obtain a preset division step and entering a standby state;
and if the current step number of the shaft moving motor is not equal to the preset initial step number, entering a standby state.
5. A control device of a shaft-moving motor is characterized in that the shaft-moving motor drives a moving part to move when rotating, a first positioning sensor and a second positioning sensor are arranged at two ends of a moving path of the moving part, the moving path of the moving part is from bottom to top or from top to bottom, the two ends are non-end positions of a certain side, and the distance between the first positioning sensor and a corresponding end and the distance between the second positioning sensor and the corresponding end are greater than or equal to the preset distance corresponding to the step number of the crossing positioning sensors;
the control device includes: the rotation starting module is used for receiving a first motion instruction, controlling the shaft moving motor to rotate towards a first direction and controlling the step number of the shaft moving motor passing over the first positioning sensor not to exceed the preset step number of the shaft moving motor passing over the positioning sensor, and comprises: controlling the shaft moving motor to rotate towards a first direction, and continuously detecting whether a signal reaching a first positioning sensor is received or not during rotation; when the signal of reaching the first positioning sensor is received, the step number of the shaft moving motor crossing the first positioning sensor is recorded; and when the number of steps of the shaft moving motor for crossing the first positioning sensor is equal to the preset number of steps of the shaft moving motor for crossing the positioning sensor, controlling the shaft moving motor to stop rotating towards the first direction.
6. The apparatus of claim 5, wherein the rotation start module comprises:
the arrival first positioning sensor signal detection unit is used for controlling the shaft moving motor to rotate towards a first direction and continuously detecting whether a signal arriving the first positioning sensor is received or not during rotation;
the step number recording unit of the first positioning sensor is used for recording the step number of the shaft moving motor crossing the first positioning sensor after receiving the signal reaching the first positioning sensor;
and the step number detection unit is used for controlling the shaft moving motor to stop rotating towards the first direction when the step number of the shaft moving motor passing the first positioning sensor is equal to the preset step number of the shaft moving motor passing the positioning sensor.
7. The control device of the shaft-moving motor according to claim 5, further comprising a power-on processing module for receiving a power-on command and entering a standby state after self-test;
the boot processing module comprises:
the self-checking judging unit is used for acquiring the current step number of the shaft moving motor and judging whether the current step number of the shaft moving motor is equal to the preset initial step number or not;
a self-checking execution unit, which is used for obtaining a preset rotation second pulse, a preset maximum step number, a preset minimum step number, a preset step number of crossing the positioning sensor and a preset equipartition fixed value if the current step number of the shaft-moving motor is equal to a preset initial step number, controlling the shaft-moving motor to rotate to the preset maximum step number in the first direction according to the preset rotation second pulse, continuously detecting whether a signal reaching the first positioning sensor is received or not during rotation, if so, continuously rotating to the first direction for the preset step number of crossing the positioning sensor and then stopping rotation to enter the next step, if not, stopping rotation and outputting error reporting information after rotating to the first direction for the preset maximum step number,
controlling the shaft-moving motor to rotate to a preset maximum step number in a second direction according to a preset second pulse of rotation, continuously recording the total step number of the shaft-moving motor rotation during the rotation and continuously detecting whether a signal reaching a second positioning sensor is received, if so, continuously rotating to the second direction for a preset step number exceeding the positioning sensor and stopping the rotation to enter the next step, if not, rotating to the second direction for a preset maximum step number and then stopping the rotation and outputting error-reporting information,
judging whether the recorded total steps of the rotation of the shaft-moving motor is smaller than a preset minimum step, if so, outputting error-reporting information, and if not, dividing the total steps of the rotation of the shaft-moving motor by a preset division fixed value to obtain a preset division step and entering a standby state;
and the self-checking stopping unit is used for entering a standby state if the current step number of the shaft moving motor is not equal to the preset initial step number.
8. A projection system, comprising:
the shaft moving motor is used for driving the moving piece to move when rotating;
a memory for storing a computer program for controlling the axis shifting motor;
a processor for executing the computer program for controlling a shift motor to carry out the steps of the method of controlling a shift motor according to any one of claims 1 to 4.
9. A readable storage medium, characterized in that the readable storage medium stores a computer program which, when being executed by a processor, carries out the steps of the method of controlling a tilt motor according to any one of claims 1 to 4.
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Address after: 610000 building 4, zone a, Tianfu Software Park, No. 1129, shijicheng Road, high tech Zone, Chengdu, Sichuan Patentee after: Jimi Technology Co.,Ltd. Address before: No.2, floor 2, unit 1, building 4, Tianfu Software Park, no.1129, shijicheng Road, hi tech Zone, Chengdu, Sichuan 610041 Patentee before: Chengdu Jimi Technology Co.,Ltd. |