CN112491320A - Method and system for determining switching time by motor-driven mechanism - Google Patents
Method and system for determining switching time by motor-driven mechanism Download PDFInfo
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- CN112491320A CN112491320A CN202011300386.XA CN202011300386A CN112491320A CN 112491320 A CN112491320 A CN 112491320A CN 202011300386 A CN202011300386 A CN 202011300386A CN 112491320 A CN112491320 A CN 112491320A
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Abstract
The embodiment of the invention discloses a method and a system for determining switching time by a motor-driven mechanism, wherein in the switching process of the motor-driven mechanism, the switching time of the mechanism is determined according to a position signal acquired by a position sensor, and is compared with the set expected switching time to obtain a switching time error value; calculating to obtain a compensation control quantity according to the switching time error value; and increasing the compensation control quantity on the basis of the set motor control quantity to obtain a final control quantity, and controlling the motor driving mechanism to be switched on and off according to the final control quantity when the motor driving mechanism is switched on and off next time. Therefore, when the motor of the driving mechanism is controlled in an open loop mode, the embodiment of the invention considers the condition that the determined switching time of the mechanism is inaccurate due to inaccurate position signals acquired by the low-precision sensor, and compensates the control quantity of the control motor when the motor driving mechanism is switched next time, so that the switching time of the motor driving mechanism gradually tends to be accurate.
Description
Technical Field
The invention relates to a motor control technology, in particular to a method and a system for determining switching time by a motor-driven mechanism.
Background
The motor can drive a plurality of mechanisms to operate, for example, the motor drives the automatic opening and closing of the door wing of the automatic door or the passage gate to lead users to pass. The automatic door is characterized in that a motor drives a door leaf to open and close after a switching signal is recognized, and a door system of a people supplying channel is generally called and comprises a smooth automatic door, a rotary automatic door, a side-hung automatic door or a folding automatic door and the like. The gate is installed at the entrance of the passageway, a passageway for people to pass through is formed between the body and the body or between the body and other building facilities, and the gate wing is switched by a motor through an executive device of an entrance control system for guiding people to pass in order according to a specified direction through an electric control blocking device and/or an indicating device.
Different control techniques are commonly used for different types of motors to control the different types of motor drive mechanisms to act. For a Brushless Direct Current (BLDC), a closed-loop control technique of proportional, integral, and derivative (PID) regulation of three-phase six-step commutation is generally adopted, and the cost is relatively high. For a Permanent Magnet Synchronous Motor (PMSM), an advanced Field-Oriented Control (FOC) technology is generally adopted to Control the operation of a PMSM driving mechanism, so as to realize precise position Control (for example, position Control of a gate wing or an automatic door leaf), and an FOC system of the PMSM is required to adopt three-loop Control of a position loop, a speed loop and a current loop. The closed-loop control technology of the FOC system adopting the PMSM can realize the accurate control of the opening and closing time of a gate wing or an automatic door leaf, but in order to realize the three-loop control of the FOC system, a position sensor with higher precision, such as a photoelectric encoder or a magnetoelectric encoder, is required to acquire a motor running state signal, so that the control can be realized, the cost is higher, and the realization is difficult.
For the control of the brush motor or the stepping motor, a position sensor with low precision such as a position contact switch or a photoelectric switch can be configured to acquire a position signal of the movement of the mechanism, and then the position signal is transmitted to a control unit such as a Programmable Logic Controller (PLC) or a low-end singlechip to adjust the voltage or current of the brush motor or the stepping motor driving mechanism so as to control the opening and closing time of the mechanism such as a gate wing or an automatic door leaf.
However, the above process adopts an open-loop control mode to control the brush motor or the stepping motor, and when the position signal collected by the low-precision position sensor is used as the input of the motor control, the switching time of the motor driving mechanism deviates from the expected switching time, which causes the inaccurate switching time of the mechanism.
Disclosure of Invention
In view of the above, embodiments of the present invention provide a method for determining a switching time of a motor-driven mechanism, which enables the switching time of the motor-driven mechanism to be accurate when the motor of the driving mechanism is controlled in an open loop manner.
The embodiment of the invention also provides a system for determining the switching time by the motor-driven mechanism, and the system ensures that the switching time of the motor-driven driving mechanism is accurate when the motor of the driving mechanism is controlled in an open loop mode.
An embodiment of the present invention provides a method for determining a switching time by a mechanism driven by a motor, where the method includes:
in the process of opening and closing the motor driving mechanism, determining mechanism opening and closing time according to a position signal of mechanism motion acquired by a position sensor, and comparing the determined mechanism opening and closing time with set expected opening and closing time to obtain an opening and closing time error value;
calculating to obtain a compensation control quantity according to the switching time error value;
and increasing the compensation control quantity on the set control quantity to obtain a final control quantity, and controlling the motor driving mechanism to be switched on and off according to the final control quantity when the motor driving mechanism is switched on and off next time.
Preferably, the determining the mechanism switching time according to the position signal of the mechanism motion collected by the position sensor comprises:
and acquiring the starting time of the motor, acquiring the closing time when the position sensor identifies the closing position of the motor driving mechanism, and taking the difference between the acquired starting time and the acquired closing time of the motor as the determined mechanism switching time.
Preferably, the comparing the determined mechanism switching time with a set expected switching time to obtain a switching time error value comprises:
and comparing the determined mechanism switching time with the set expected switching time under the corresponding switching speed gear, and taking the difference between the determined mechanism switching time and the expected switching time under the corresponding switching speed gear as the obtained switching time error value under the corresponding switching speed gear.
Preferably, the calculating the compensation control amount according to the switching time error value includes: calculating to obtain a compensation control quantity according to a switching time error value based on a proportional integral PI control mode of the motor;
the step of adding the compensation control amount to the set motor control amount to obtain a final control amount includes:
and taking the sum of the set motor control quantity and the compensation control quantity as the obtained final control quantity.
Preferably, before controlling the motor driving mechanism to be switched according to the final control quantity, the method further comprises the following steps:
judging whether the obtained final control quantity is larger than the set maximum control quantity or not, and if not, controlling the motor driver according to the final control quantity; if yes, controlling the motor driving mechanism to be switched on and off according to the set maximum control quantity.
Preferably, the controlling the motor driving mechanism switch according to the final control amount includes:
and outputting a corresponding Pulse Width Modulation (PWM) signal according to the final control quantity to control the switching of the motor driving mechanism.
A system for determining switching times by a motor driven mechanism, comprising: a position sensor, a switch time calculation unit, a time control unit and a modulation unit, wherein,
the position sensor is used for acquiring a position signal of the movement of the mechanism;
the switching time calculation unit is used for determining the switching time of the mechanism according to the position signal of the mechanism motion acquired by the position sensor and comparing the determined switching time of the mechanism with the set expected switching time to obtain a switching time error value;
the time control unit is used for calculating to obtain a compensation control quantity according to the switching time error value, and increasing the compensation control quantity on the basis of the set motor control quantity to obtain a final control quantity;
and the modulation unit is used for controlling the switching of the motor driving mechanism according to the final control quantity when the motor driving mechanism is switched on and off next time.
Preferably, the switching time calculation unit is further configured to acquire a starting time of the motor, acquire a closing time when the position sensor recognizes a closing position of the motor driving mechanism, and use a difference between the acquired starting time of the motor and the acquired closing time as the determined mechanism switching time.
Preferably, the switching time calculation unit is further configured to compare the determined mechanism switching time with a set expected switching time in a corresponding switching speed range, and use a difference therebetween as a switching time error value in the corresponding switching speed range.
Preferably, the time control unit is further configured to calculate a compensation control amount according to the switching time error value based on a proportional-integral PI control mode of the motor;
and the time control unit is also used for taking the sum of the set motor control quantity and the compensation control quantity as the obtained final control quantity.
As seen above, in the switching process of the motor driving mechanism, the switching time of the mechanism is determined according to the position signal collected by the position sensor, and is compared with the set expected switching time to obtain a switching time error value; calculating to obtain a compensation control quantity according to the switching time error value; and increasing the compensation control quantity on the basis of the set motor control quantity to obtain a final control quantity, and controlling the motor driving mechanism to be switched on and off according to the final control quantity when the motor driving mechanism is switched on and off next time. Therefore, when the motor of the driving mechanism is controlled in an open loop mode, the embodiment of the invention considers the condition that the determined switching time of the mechanism is inaccurate due to inaccurate position signals acquired by the low-precision sensor, and compensates the control quantity of the control motor when the motor driving mechanism is switched next time, so that the switching time of the motor driving mechanism gradually tends to be accurate.
Drawings
FIG. 1 is a flow chart of a method for determining a switching time for a motor-driven mechanism according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a system for determining a switching time by a motor-driven mechanism according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating an example method for determining a switching time for a motor-driven mechanism according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of an open-loop control system for a motor according to an embodiment of the present invention;
fig. 5 is a flowchart of a method for calculating a switching time of a mechanism by using a switching time calculating unit according to an embodiment of the present invention;
FIG. 6 is a graph showing the variation of the gate opening and closing time of the left and right channels according to the method provided by the embodiment of the present invention;
FIG. 7 is a graph showing the variation of the gate opening and closing times of the left and right channels in a conventional method;
fig. 8 is a graph showing the variation of the switching time error of the left and right channels in the case of using the method of the present invention and the conventional method.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and examples.
It can be seen from the background art that when an open-loop control mode is adopted to control a brushed motor or a stepping motor, so that a motor driving mechanism is switched on and off, when position information acquired by a low-precision position sensor is used as input of motor control, the switching time of the motor driving mechanism deviates from the expected switching time, and the switching time of the mechanism is inaccurate.
Particularly, when the mechanism is an automatic door or a passage gate, if the door leaves of the automatic door or the passage gate are at least two, for example, the left door and the right door are opened and closed by two brushed motors or two stepping motors, the left door and the right door are respectively driven by the two brushed motors or the two stepping motors, and the opening and closing time of the left door and the right door can not be synchronized due to different opening and closing time of the brushed motors or the two stepping motors respectively driving the left door and the right door, which greatly affects user experience.
In order to overcome the problem, in the switching process of the motor driving mechanism, the switching time of the mechanism is determined according to the position signal of the mechanism motion acquired by the position sensor, and the switching time is compared with the set expected switching time to obtain a switching time error value; calculating to obtain a compensation control quantity according to the switching time error value; and increasing the compensation control quantity on the basis of the determined control quantity of the motor at the next time to obtain a final control quantity, and controlling the motor driving mechanism to be switched on and off according to the final control quantity when the motor driving mechanism is switched on and off at the next time.
Therefore, when the motor of the driving mechanism is controlled in an open loop mode, the embodiment of the invention considers the condition that the determined switching time of the mechanism is inaccurate due to inaccurate position signals acquired by the low-precision sensor, and compensates the control quantity of the control motor when the motor driving mechanism is switched next time, so that the switching time of the motor driving mechanism gradually tends to be accurate.
Particularly, when the mechanism is an automatic door or an access gate, if the door leaves of the automatic door or the access gate are at least two, for example, the left door and the right door, the different brush motors or stepping motors respectively drive the left door and the right door to have accurate opening and closing time and tend to expect the opening and closing time, so that the opening and closing time of the left door and the right door is synchronous, and the user experience is improved.
Fig. 1 is a flowchart of a method for determining a switching time by a motor-driven mechanism according to an embodiment of the present invention, which includes the following specific steps:
102, calculating to obtain a compensation control quantity according to the switching time error value;
and 103, adding the compensation control quantity to the set control quantity to obtain a final control quantity, and controlling the motor driving mechanism to be switched on and off according to the final control quantity when the motor driving mechanism is switched on and off next time.
In the method, the determining the mechanism switching time according to the position signal of the mechanism motion collected by the position sensor comprises the following steps:
and acquiring the starting time of the motor, acquiring the closing time when the position sensor identifies the closing position of the motor driving mechanism, and taking the difference between the acquired starting time and the acquired closing time of the motor as the determined mechanism switching time.
In the method, comparing the determined mechanism switching time with a set desired switching time to obtain a switching time error value comprises:
and comparing the determined mechanism switching time with the set expected switching time under the corresponding switching speed gear to obtain a switching time error value under the corresponding switching speed gear. In a specific comparison, is the difference between the determined switching time of the mechanism and the desired switching time at the set corresponding switching speed gear.
Here, the set desired switching time is actually the switching time for different switching speed steps according to the user's requirements.
That is, the method builds up control compensation for the motor drive mechanism at different switching speed steps of the mechanism, thus enabling more accurate compensation. Here, different switch speed gears of the mechanism reflect different switch speed modes of the mechanism in normal use, and can be set to multiple gears, such as 1-10 gears and the like.
In the method, the calculating the compensation control amount according to the switching time error value includes: and calculating to obtain a compensation control quantity according to the switching time error value based on a Proportional Integral (PI) control mode of the motor. Thus, a more accurate compensation control amount can be obtained.
The operation process of the motor driving mechanism can be divided into a starting stage, a normal operation stage, a stopping stage and a fault stage, and the stage to which the method is applied is the normal operation stage of the motor driving mechanism.
In the method, increasing the compensation control amount on the basis of the set motor control amount to obtain a final control amount includes: and taking the sum of the set motor control quantity and the compensation control quantity as a final control quantity.
Further, before controlling the motor driving mechanism to be switched according to the final control quantity, the method further comprises the following steps:
judging whether the obtained final control quantity is larger than the set maximum control quantity or not, and if not, controlling the motor driver according to the final control quantity; if yes, controlling the motor driving mechanism to be switched on and off according to the set maximum control quantity. Therefore, the control quantity of the switch of the motor driving mechanism can be prevented from exceeding the bearing range of the motor, and the safety of the motor is ensured.
In the method, controlling the motor drive mechanism switch according to the final control amount includes:
and outputting a corresponding Pulse Width Modulation (PWM) signal according to the final control quantity to control the motor driving mechanism to be switched on and off.
Fig. 2 is a schematic structural diagram of a system for determining a switching time by a mechanism driven by a motor according to an embodiment of the present invention, including: a position sensor, a switch time calculation unit, a time control unit and a modulation unit, wherein,
the position sensor is used for acquiring a position signal of the movement of the mechanism;
the switching time calculation unit is used for determining the switching time of the mechanism according to the position signal of the mechanism motion acquired by the position sensor and comparing the determined switching time of the mechanism with the set expected switching time to obtain a switching time error value;
the time control unit is used for calculating to obtain a compensation control quantity according to the switching time error value, and increasing the compensation control quantity on the basis of the set motor control quantity to obtain a final control quantity;
and the modulation unit is used for controlling the switching of the motor driving mechanism according to the final control quantity when the motor driving mechanism is switched on and off next time.
In the system, the action of the mechanism is realized by driving the motor through the motor transmission movement, and in the figure, the position sensing can acquire the position of the transmission movement, namely a position signal of the movement of the mechanism.
In the system, the switching time calculation unit is further configured to acquire a starting time of the motor, acquire a closing time when the position sensor recognizes a closing position of the motor drive mechanism, and use a difference between the acquired starting time of the motor and the acquired closing time as the determined mechanism switching time.
Further, the switching time calculation unit is further configured to compare the determined mechanism switching time with a set expected switching time in a corresponding switching speed gear, so as to obtain a switching time error value in the corresponding switching speed gear. In a specific comparison, is the difference between the determined switching time of the mechanism and the desired switching time at the set corresponding switching speed gear.
In the system, the time control unit is further used for calculating to obtain a compensation control quantity according to the switching time error value based on a proportional-integral control mode of the motor.
In this system, the modulation unit is further configured to use a sum of the set motor control amount and the compensation control amount as the obtained final control amount.
Fig. 3 is a schematic diagram of an example of a method for determining a switching time by a mechanism driven by a motor according to an embodiment of the present invention, including:
301, according to the position signal of the mechanism motion collected by the position sensor, the switching time calculation unit calculates the switching time t of the kth switching speed gear nn(k)；
Wherein n is a natural number, and k is a natural number;
Step 303: according to the switching time error value delta tn(k) Under the action of the time control unit, calculating to obtain a control compensation quantity s with the next switching speed gear position being nc(k +1), and controlling the control quantity s (t) at the time t in the normal operation stage of the motor and the motor control compensation quantity sc(k) Summing to obtain final control quantity s of the motorl(t)；
Step 304: according to the final control quantity s of the motorlAnd (t) the modulation unit outputs a PWM signal for controlling the motor required by the mechanism.
In the process of fig. 3, the switching time calculation unit described in step 301 calculates the switching time of the k-th time of the mechanism from the start time of the motor and the stop time of the motor.
In the process of fig. 3, the different switching speed gears in step 301 reflect different switching speed modes of the mechanism in the normal use process, and the general speed gears are 1-10 gears.
In the process of fig. 3, the desired switching time t is described in step 302n(k) The switching time setting value is a switching time setting value aiming at different switching speed gears according to the requirement of a user.
In the process of FIG. 3, the switching time error value Δ t is set forth in step 302n(k) Comprises the following steps: Δ tn(k)＝t*n(k)-tn(k)。
In the process of fig. 3, the time control unit described in step 302 is designed in a PI control manner, but the design of the time control unit is not limited to the PI control algorithm, and any control algorithm that can eliminate errors is applicable.
When the motor driving mechanism is used, the operation process of the mechanism is roughly divided into a starting stage, a normal operation stage, a stopping stage and a fault stage, and the stage only related to the compensation in fig. 3 is the normal operation stage of the motor driving mechanism.
In the process of fig. 3, the final control amount sl(t) is: sl(t)＝s(t)+sc(k)。
Further, when the final control quantity s of the motor isl(t) amplitude | sl(t) | satisfies: | sl(t)|>smaxWhen s isl(t)＝smax，smaxThe maximum output value that the time control unit can output.
It can be seen that the embodiment of the invention solves the problem that when a plurality of mechanisms are provided, such as the left door wing and the right door wing of a gate or the left door wing and the right door wing of an automatic door, different motors can not synchronize the opening and closing time of different mechanisms when driving different mechanisms. The embodiment of the invention is applied to the condition that the precision of the adopted position sensor is not high when the motor adopts an open-loop control mode. A schematic diagram of a motor open-loop control system provided by an embodiment of the present invention is shown in fig. 4, and includes: the device comprises a modulation unit, an H-bridge driving circuit, a time control unit, a switching time calculation unit, a position sensor, a direct current brush motor and a motor core. The specific implementation process of the whole embodiment of the present invention is described by taking fig. 4 as an example, and the embodiment of the present invention is described in detail by taking the mechanism as the door wing of the gate.
The method comprises the following steps: according to the position signal of the mechanism motion collected by the position sensor, the switching time calculation unit calculates the switching time t of the kth switching speed gear nn(k) The specific implementation process of the switching time calculation unit is shown in fig. 5.
In this step, as shown in fig. 5, the door opening/closing command of the gate is received and the state of the motor is updated, and then it is determined whether the motor starts, if the motor starts, the timer starts to count time, and obtains the position signal of the position sensor, the state of the motor is updated in real time according to the position signal, and then it is determined whether the motor has startedStopping the motor, if the motor is stopped, indicating that the kth opening/closing motion is finished, stopping the timer for timing, and assigning a value to tn(k) And clearing the timer to finish the calculation of the opening/closing time.
Step two: setting the desired switching time t for the kth switching speed step n* n(k) The expected switching time value is set according to the requirement of a user, and the expected switching time t is set* n(k) And the door opening and closing time t obtained by the calculation in the step onen(k) Obtaining the time error delta t under the action of the time comparatorn(k) The calculation formula of the time error is as follows: Δ tn(k)＝t* n(k)-tn(k)。
Step three: according to the time error Deltatn(k) Under the action of the time control unit, calculating to obtain a control compensation quantity s of the motor with the next switching speed gear nc(k +1) in which the time control unit is set in a PI control manner so that the control compensation amount s of the motor is compensatedcThe calculation formula of (k +1) is: sc(k+1)＝sc(k)+kpΔtn(k) Wherein k ispFor time control of the gain, set as required.
In this step, the working process of the motor is roughly divided into: starting stage, normal operation stage, stopping stage and fault stage, in which the control compensation stage of motor is in the normal operation stage of motor, so that the motor control quantity s (t) and motor control compensation quantity s at time t in the normal operation stage can be regulatedc(k) Summing to obtain final control quantity s of the motorl(t) the final control quantity of the motor is calculated by the formula sl(t)＝s(t)+sc(k)。
In this example, the brushed dc motor is selected, and the motor control amount is a voltage value, so the final control amount s of the motor at the current time islThe magnitude of (t) is lower than the maximum output value, i.e. | sl(t)|＜smax，smaxThe maximum value that can be output by the time control unit is generally 95% of the maximum voltage value.
Step four: according to the final control quantity s of the motorlAnd (t) changing, modulating the final control quantity of the motor through a modulation unit, generating a driving signal, namely controlling the motor to run through a PWM signal, and driving the gate wing to be switched by the motor.
Fig. 5 is a flowchart of a method for calculating a switching time of a mechanism by a switching time calculating unit according to an embodiment of the present invention, where the mechanism adopts a gate as an example, the switching time calculating unit is a main part of a controller for controlling a motor, and is specifically implemented as follows:
The method provided by the embodiment of the invention is adopted to carry out comparison test with the traditional method for driving the gate wing to open and close by the motor. The testing environment adopts the binary channels floodgate door wing to carry out the test of opening and shutting, and the binary channels divide into left channel and right passageway, and the motor selects direct current to have the brush motor, and drive mechanism selects for the geneva gear, and position sensor selects photoelectric switch, and the main control chip of the controller of control motor selects the controller chip of dominant frequency 48MHz, sets up to 1.4s according to user's demand switch door time, controls passageway time error plus or minus 0.1 s. The test results are shown in fig. 6, 7 and 8. Fig. 6 is a graph showing the variation of the gate switching time of the left and right channels according to the method provided by the embodiment of the present invention, fig. 7 is a graph showing the variation of the gate switching time of the left and right channels according to the conventional method, and fig. 8 is a graph showing the variation of the error of the gate switching time of the left and right channels according to the method of the present invention and the conventional method.
According to the analysis of fig. 6 and 7, the large time error exists in the previous door opening and closing processes of the left channel and the right channel, the main reason is that the consistency of a direct current brush motor is poor, the structure of a machine core is complex, the consistency of the machine core is difficult to guarantee, the situation that the load of the left channel and the right channel is inconsistent is inevitable, due to the fact that a low-precision position sensor is used, the motor control adopts an open-loop control mode, the speed adjusting capacity is poor, when the load is inconsistent, the door opening and closing speeds of the left channel and the right channel are difficult to guarantee to be consistent, and therefore the large time error occurs. Further comparing the curve changes of fig. 6 and fig. 7, the time error of the left channel and the right channel in fig. 6 is continuously reduced, when the door is opened and closed for about 20 times, the time error of the left channel and the right channel is reduced to within 0.1s, the asynchronous phenomenon of the left channel and the right channel is obviously improved, and the user requirements are met. Only a traditional synchronization method is adopted, the time error of the left channel and the right channel fluctuates circularly continuously, and the problem that the opening and closing time of the left channel and the right channel is different is not solved effectively. According to the time error curve chart of fig. 8, it can be seen more intuitively that, by adopting the method of the present invention, the time error gradually approaches zero from the maximum error of 0.8 second, and the time error of the left channel and the right channel can be effectively adjusted, whereas by adopting the conventional method, the time error always fluctuates between 0.2s and 0.5s, and the time error of the left channel and the right channel cannot be effectively adjusted.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A method of determining switching times by a motor driven mechanism, the method comprising:
in the process of opening and closing the motor driving mechanism, determining mechanism opening and closing time according to a position signal of mechanism motion acquired by a position sensor, and comparing the determined mechanism opening and closing time with set expected opening and closing time to obtain an opening and closing time error value;
calculating to obtain a compensation control quantity according to the switching time error value;
and increasing the compensation control quantity on the set control quantity to obtain a final control quantity, and controlling the motor driving mechanism to be switched on and off according to the final control quantity when the motor driving mechanism is switched on and off next time.
2. The method of claim 1, wherein determining a mechanism on-off time based on the position signal of the mechanism motion collected by the position sensor comprises:
and acquiring the starting time of the motor, acquiring the closing time when the position sensor identifies the closing position of the motor driving mechanism, and taking the difference between the acquired starting time and the acquired closing time of the motor as the determined mechanism switching time.
3. The method of claim 1, wherein comparing the determined mechanism on-off time to a set desired on-off time to obtain an on-off time error value comprises:
and comparing the determined mechanism switching time with the set expected switching time under the corresponding switching speed gear, and taking the difference between the determined mechanism switching time and the expected switching time under the corresponding switching speed gear as the obtained switching time error value under the corresponding switching speed gear.
4. The method of claim 1, wherein calculating the compensation control amount based on the switching time error value comprises: calculating to obtain a compensation control quantity according to a switching time error value based on a proportional integral PI control mode of the motor;
the step of adding the compensation control amount to the set motor control amount to obtain a final control amount includes:
and taking the sum of the set motor control quantity and the compensation control quantity as the obtained final control quantity.
5. The method of claim 1, further comprising, prior to controlling the motor drive mechanism switching according to the final control amount:
judging whether the obtained final control quantity is larger than the set maximum control quantity or not, and if not, controlling the motor driver according to the final control quantity; if yes, controlling the motor driving mechanism to be switched on and off according to the set maximum control quantity.
6. The method of claim 1, wherein controlling the motor drive mechanism switch based on the final control amount comprises:
and outputting a corresponding Pulse Width Modulation (PWM) signal according to the final control quantity to control the switching of the motor driving mechanism.
7. A system for determining switching time by a motor driven mechanism, comprising: a position sensor, a switch time calculation unit, a time control unit and a modulation unit, wherein,
the position sensor is used for acquiring a position signal of the movement of the mechanism;
the switching time calculation unit is used for determining the switching time of the mechanism according to the position signal of the mechanism motion acquired by the position sensor and comparing the determined switching time of the mechanism with the set expected switching time to obtain a switching time error value;
the time control unit is used for calculating to obtain a compensation control quantity according to the switching time error value, and increasing the compensation control quantity on the basis of the set motor control quantity to obtain a final control quantity;
and the modulation unit is used for controlling the switching of the motor driving mechanism according to the final control quantity when the motor driving mechanism is switched on and off next time.
8. The system of claim 7, wherein the on-off time calculation unit is further configured to obtain a start time of the motor, obtain an off time when the position sensor recognizes an off position of the motor driving mechanism, and use a difference between the obtained start time of the motor and the obtained off time as the determined mechanism on-off time.
9. The system of claim 7, wherein the switching time calculation unit is further configured to compare the determined mechanism switching time with a set desired switching time for the corresponding switching speed step, and to use the difference as the switching time error value for the corresponding switching speed step.
10. The system of claim 7, wherein the time control unit is further configured to calculate a compensation control amount according to the switching time error value based on a proportional-integral (PI) control manner of the motor;
and the time control unit is also used for taking the sum of the set motor control quantity and the compensation control quantity as the obtained final control quantity.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011300386.XA CN112491320A (en) | 2020-11-19 | 2020-11-19 | Method and system for determining switching time by motor-driven mechanism |
| PCT/CN2021/131833 WO2022105885A1 (en) | 2020-11-19 | 2021-11-19 | Method and system for determining opening/closing time of motor-driven mechanism |
Applications Claiming Priority (1)
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| WO2022105885A1 (en) * | 2020-11-19 | 2022-05-27 | 杭州海康威视数字技术股份有限公司 | Method and system for determining opening/closing time of motor-driven mechanism |
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| CN107346951A (en) * | 2017-07-03 | 2017-11-14 | 广东威灵电机制造有限公司 | The field weakening control method and device of permagnetic synchronous motor system |
| CN108988693A (en) * | 2018-08-01 | 2018-12-11 | 中控智慧科技股份有限公司 | A kind of brush motor parameter control method, device and equipment |
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| WO2022105885A1 (en) * | 2020-11-19 | 2022-05-27 | 杭州海康威视数字技术股份有限公司 | Method and system for determining opening/closing time of motor-driven mechanism |
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