CN112564043B - Pruning machine control method, control device, control equipment and pruning machine - Google Patents
Pruning machine control method, control device, control equipment and pruning machine Download PDFInfo
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- CN112564043B CN112564043B CN202011379759.7A CN202011379759A CN112564043B CN 112564043 B CN112564043 B CN 112564043B CN 202011379759 A CN202011379759 A CN 202011379759A CN 112564043 B CN112564043 B CN 112564043B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/02—Secateurs; Flower or fruit shears
- A01G3/033—Secateurs; Flower or fruit shears having motor-driven blades
- A01G3/037—Secateurs; Flower or fruit shears having motor-driven blades the driving means being an electric motor
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
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Abstract
The invention relates to a control method, a control device, control equipment and a pruning machine, which are used for acquiring a first target position of a trigger at a current moment, a second target position of the trigger at a previous moment and a current position of a rotor of a motor at the current moment, so that position errors are acquired according to the first target position and the current position, and target position differences are acquired according to the first target position and the second target position, if the target position differences are smaller than a first difference value threshold, the trigger is not operated compared with the previous moment, and at the moment, if the current position of the motor and the target position have errors and the errors are smaller than the first error threshold, the motor is controlled to be in a closed state, and therefore the problems that the motor heats or a position ring shakes due to the fact that branches are not sheared after the rotor of the motor reaches the target position can be avoided.
Description
Technical Field
The invention relates to the technical field of pruning machine control, in particular to a pruning machine control method, a control device, control equipment and a pruning machine.
Background
The trigger of the electric pruning machine is used for controlling the opening and closing size of the knife edge between the two blades, and when the trigger is pressed, the position of the trigger determines the position of the motor rotor in the pruning machine, so that the opening and closing size of the knife edge is determined.
If the motor rotor reaches the target position controlled by the trigger in the process of pressing the trigger by a finger, but the branches are not cut, continuous current exists, and the motor heats or the position ring shakes.
Disclosure of Invention
Based on this, it is necessary to provide a pruning machine control method, a control device, a control apparatus and a pruning machine.
A pruning machine control method, comprising:
acquiring a first target position of a trigger at the current moment and a second target position of the trigger at the previous moment;
acquiring the current position of a rotor of the motor at the current moment;
acquiring a position error according to the first target position and the current position;
acquiring a target position difference according to the first target position and the second target position;
and if the target position difference is smaller than a first difference threshold and the position error is smaller than a first error threshold, controlling the motor to be in a closed state.
In one embodiment, the method further comprises:
and if the target position difference is larger than a second difference threshold, controlling the motor to be in an on state.
In one embodiment, the method further comprises:
and if the target position difference is smaller than a first difference value threshold and the position error is larger than a second error threshold, controlling the motor to be in an on state.
In one embodiment, the acquiring the second target position at the previous time includes:
and acquiring the stored second target position according to the stored list and the time information of the previous time.
In one embodiment, after the obtaining the first target position, the method further includes:
and updating the storage list according to the time information of the current time and the first target position.
A pruning machine control device, comprising:
the target position acquisition module is used for acquiring a first target position of the trigger at the current moment and a second target position of the trigger at the previous moment;
the current position acquisition module is used for acquiring the current position of the rotor of the motor at the current moment;
the position error acquisition module is respectively connected with the target position acquisition module and the current position acquisition module and is used for acquiring a position error according to the first target position and the current position;
the target position difference acquisition module is connected with the target position acquisition module and is used for acquiring a target position difference according to the first target position and the second target position;
the control module is respectively connected with the position error acquisition module and the target position difference acquisition module and is used for controlling the motor to be in a closed state if the target position difference is smaller than a first difference value threshold and the position error is smaller than a first error threshold.
A pruning machine, comprising: the device comprises a motor, a trigger, a position sensor and a controller, wherein the controller is respectively connected with the motor and the position sensor;
the position sensor is used for detecting the target position of the trigger;
the controller is used for
Acquiring a first target position of a trigger at the current moment and a second target position of the trigger at the previous moment;
acquiring the current position of a rotor of the motor at the current moment;
acquiring a position error according to the first target position and the current position; acquiring a target position difference according to the first target position and the second target position; and if the target position difference is smaller than a first difference threshold and the position error is smaller than a first error threshold, controlling the motor to be in a closed state.
In one embodiment, the position sensor comprises:
a magnet disposed on the trigger;
the detection surface of the Hall device faces the magnet, and the Hall device is connected with the controller and used for detecting the first target position and the second target position and sending the first target position and the second target position to the controller.
A pruning machine control device comprising a memory storing a computer program and a processor implementing the steps of the method described above when executing the computer program.
A computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method described above.
According to the control method, the control device, the control equipment and the pruning machine, through obtaining the first target position of the trigger at the current moment, the second target position of the trigger at the previous moment and the current position of the rotor of the motor at the current moment, position errors are obtained according to the first target position and the current position, and target position differences are obtained according to the first target position and the second target position, if the target position differences are smaller than the first difference value threshold value, the trigger does not act compared with the previous moment, at the moment, if the current position of the motor and the target position have errors, and the errors are smaller than the first error threshold value, the motor is controlled to be in a closed state, and therefore the problem that the motor heats or the position ring shakes due to continuous current still existing because branches are not sheared after the rotor of the motor reaches the target position can be avoided.
Drawings
In order to more clearly illustrate the technical solutions of embodiments or conventional techniques of the present application, the drawings required for the descriptions of the embodiments or conventional techniques will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person of ordinary skill in the art.
Fig. 1 is a schematic diagram of an application background of a control method of a pruning machine according to an embodiment;
FIG. 2 is a flow chart of a control method of the pruning machine according to an embodiment;
FIG. 3 is a flow chart of a control method of a pruning machine according to another embodiment;
FIG. 4 is a flow chart of a control method of a pruning machine according to another embodiment;
FIG. 5 is a flow chart of a control method of a pruning machine according to another embodiment;
FIG. 6 is a flow chart of a control method of a pruning machine according to another embodiment;
FIG. 7 is a block diagram showing a configuration of a control device of the pruning machine according to an embodiment;
fig. 8 is a block diagram of a pruning machine according to an embodiment.
Reference numerals illustrate:
101 a trigger; 102 a position sensor; 103 motors; 104, a target position acquisition module; 105 a current position acquisition module; 106, a position error acquisition module; a 107 target position difference acquisition module; 108 a control module; 109 a controller;
Detailed Description
In order to facilitate an understanding of the present application, a more complete description of the present application will now be provided with reference to the relevant figures. Examples of the present application are given in the accompanying drawings. This application may, however, be embodied in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
It will be understood that the terms "first," "second," and the like, as used herein, may be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another element. For example, a first target location may be referred to as a second target location, and similarly, a second target location may be referred to as a first target location, without departing from the scope of the present application. Both the first target location and the second target location are target locations, but they are not the same target location.
It is to be understood that in the following embodiments, "connected" is understood to mean "electrically connected", "communicatively connected", etc., if the connected circuits, modules, units, etc., have electrical or data transfer between them.
As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," and/or the like, specify the presence of stated features, integers, steps, operations, elements, components, or groups thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or groups thereof. Also, the term "and/or" as used in this specification includes any and all combinations of the associated listed items.
Fig. 1 is a schematic diagram of an application background of a control method of a pruning machine according to an embodiment, where the control method is applied to the pruning machine, the pruning machine includes a trigger 101, a position sensor 102 and a motor 103, the position of the trigger 101 corresponds to the rotor position of the motor 103 one by one, and a user can control the rotation angle of the rotor of the motor 103 by pressing the trigger 101, so as to control the opening and closing size of a knife edge between two blades of the pruning machine. Specifically, the position sensor 102 may acquire the position of the trigger 101, and the motor 103 may sequentially perform position loop, speed loop, and current loop control according to the acquired position of the trigger 101, thereby controlling the rotor of the motor 103 to reach the target position. Wherein the motor 103 may be a permanent magnet synchronous motor.
Fig. 2 is a flowchart of a control method of the pruning machine according to an embodiment, where the control method includes steps S210 to S250.
In step S210, a first target position of the trigger 101 at the current time and a second target position at the previous time are acquired.
Specifically, the target position of the trigger 101 is the target position of the rotor of the motor 103. The position sensor 102 detects the target position of the trigger 101, and thus the target position of the trigger 101 can be acquired in real time every a preset time period. The first target position is a target position of the trigger 101 acquired at the current moment, the first target position can be acquired in real time through the position sensor 102, after the target position of the trigger 101 is acquired in real time, the target position of the trigger 101 can be stored, and a preset time length is waited for acquiring the target position of the trigger 101 at the next moment, so that a storage list storing moment information of each moment and the target position corresponding to the moment information is obtained. The second target position is the target position of the trigger 101 that was acquired at a previous time, and in one embodiment, the second target position may be acquired by a stored list.
Step S220, a current position of the rotor of the motor 103 at the current time is acquired.
The position of the rotor of the motor 103 determines the actual opening and closing size of the knife edge between the two blades of the pruning machine, specifically, the position of the rotor of the motor 103 can be detected and obtained through a photoelectric encoder, a position-free observer, a switch hall device and the like, and the detection device and the principle of the position of the rotor of the motor 103 are not limited in this embodiment.
Step S230, position errors are acquired according to the first target position and the current position.
Specifically, in the process of controlling the operation of the motor 103 by pressing the trigger 101, the position loop controller in the three loop controller of the motor 103 can adjust the position of the rotor of the motor 103 according to the difference between the current position of the rotor of the motor 103 and the target position of the trigger 101, so that the actual position of the motor 103 is continuously close to the target position, and the accurate control of the trigger 101 on the opening and closing dimensions of the knife edge is realized.
Step S240, obtaining a target position difference according to the first target position and the second target position.
It will be appreciated that the target position difference may be obtained by calculating the difference between the first target position and the second target position to determine whether the trigger 101 is actuated, and the target position difference may be the absolute value of the difference between the first target position and the second target position, at which point the target position difference is 0 or a positive number. Desirably, if the target position difference is 0, it indicates that the trigger 101 is not actuated, and if the target position difference is not 0, it indicates that the user is controlling the actuation of the trigger 101. In one embodiment, in general, considering the existence of loosening of the trigger 101 or the influence of accidental factors, a non-0 threshold may be set for comparison with the target position difference when determining the action of the trigger 101, thereby improving the accuracy of the trigger 101 action determination.
In step S250, if the target position difference is smaller than the first difference threshold and the position error is smaller than the first error threshold, the motor 103 is controlled to be in the off state.
Specifically, the motor 103 is controlled by a three-ring controller, that is, a position ring controller, a speed ring controller and a current ring controller, where the position ring controller, the speed ring controller, the current ring controller and the motor 103 are sequentially connected, and the motor 103 is controlled to be in a closed state, that is, the rotor of the motor 103 stops rotating, specifically, the output parameter of the position ring controller is controlled to be 0, and the integral term in the speed ring controller is controlled to be 0.
It can be understood that whether the trigger 101 is operated can be determined according to the relationship between the target position difference and the first difference threshold, if the target position difference is smaller than the first difference threshold, it indicates that the trigger 101 is not operated, the user does not issue a command for changing the opening and closing size of the incision, and if the position error between the current position and the target position is within the first error range, it can be determined that the situation that the branch is not cut at this time occurs, so that the position error can be ignored, and the motor 103 is controlled to be in the off state.
When the target position difference is smaller than the first difference threshold, setting the current position and the target position of the motor 103 within the first error threshold controls the motor 103 to be in a closed state, so that the situation that the rotor position of the motor 103 reaches the target position and the knife edge angle is retracted due to stress generated by branches after the motor 103 is closed, and then the rotor position of the motor 103 is retracted, and finally the motor 103 is restarted when reaching the target position is avoided.
According to the embodiment of the invention, the first target position of the trigger 101 at the current moment and the second target position of the trigger at the previous moment are obtained, and the current position of the rotor of the motor 103 at the current moment is obtained according to the first target position and the current position, and the target position difference is obtained according to the first target position and the second target position, if the target position difference is smaller than the first difference threshold value, the trigger 101 is not operated compared with the previous moment, at this moment, if the current position of the motor 103 and the target position have errors, and the errors are smaller than the first error threshold value, the motor 103 is controlled to be in a closed state, so that the problem that the motor 103 heats or the position ring shakes due to continuous current which is still existing because branches are not sheared after the rotor of the motor 103 reaches the target position can be avoided.
Fig. 3 is a flow chart of a pruning machine control method according to another embodiment, which is different from the embodiment of fig. 2 only in that step S310 is added.
In step S310, if the target position difference is greater than the second difference threshold, the motor 103 is controlled to be in an on state.
It will be appreciated that a second difference threshold may be provided for determining actuation of the trigger 101, and specifically, if the target position difference is greater than the second difference threshold, the motor 103 is controlled to be in an on state. Specifically, the motor 103 is controlled to be in an on state, specifically, the three-ring controller controls the rotor of the motor 103 to operate according to the current position of the rotor of the motor 103 at the current moment and the first target position of the trigger 101, so that the rotor of the motor 103 reaches the first target position indicated by the trigger 101.
In one embodiment, the second difference threshold is not equal to the first difference threshold, when the target position difference is between the first difference threshold and the second difference threshold, no control operation is performed on the motor 103 at this time, and if the motor 103 is in an on state, the on state is continuously maintained; if the motor 103 is in the off state, the off state is continued. By setting a second error threshold value that is not equal to the first error threshold value, and controlling the motor 103 to be in an on state when the target position difference is greater than the second error threshold value, compared with setting a single critical threshold value as a condition for executing the two different states of on and off, the phenomenon that the motor 103 is repeatedly turned on and off due to fluctuation of the target position difference near the critical threshold value can be avoided, thereby avoiding the phenomenon of discontinuous knife edge closing.
According to the embodiment of the invention, the second difference threshold is set, so that when the target position difference is larger than the second difference threshold, the motor 103 is controlled to be in an on state, and the three-ring controller controls the motor 103 rotor to reach the first target position indicated by the trigger 101; the second difference threshold is unequal to the first difference threshold, so that the phenomenon that the motor 103 is repeatedly turned on and off due to fluctuation of the target position difference near the critical threshold can be avoided, and the phenomenon of discontinuous knife edge closing is avoided.
Fig. 4 is a flow chart of a control method of a pruning machine according to another embodiment, which is different from the embodiment of fig. 2 only in that step S410 is added.
In step S410, if the target position difference is smaller than the first difference threshold and the position error is larger than the second error threshold, the motor 103 is controlled to be in an on state.
It will be appreciated that when the target position difference is less than the first difference threshold, it may indicate that the user does not instruct the trigger 101 to act, and when the position error is greater than the second error threshold, it indicates that the rotor of the motor 103 does not reach the target position, and the motor 103 may be controlled to be in an on state at this time, specifically, the motor 103 may be controlled to be in an on state by the three-ring controller to control the operation of the rotor of the motor 103 according to the current position of the rotor of the motor 103 at the current time and the first target position of the trigger 101, so that the rotor of the motor 103 reaches the first target position indicated by the trigger 101.
According to the embodiment of the invention, when the target position difference is smaller than the first difference threshold and the position error is larger than the second error threshold, the motor 103 is controlled to be in an on state, so that the three-ring controller can control the motor 103 to run according to the current position of the motor 103 rotor at the current moment and the first target position of the trigger 101, and the motor 103 rotor reaches the first target position indicated by the trigger 101, thereby realizing accurate control of the motor 103 through the trigger 101.
In one embodiment, acquiring the second target location of the previous time may include acquiring the stored second target location based on the stored list and the time information of the previous time.
It will be appreciated that the position sensor 102 detects the target position of the trigger 101, and thus the target position of the trigger 101 can be acquired in real time at intervals of a preset time period. The first target position is a target position of the trigger 101 acquired at the current moment, the first target position can be acquired in real time through the position sensor 102, after the target position of the trigger 101 is acquired in real time, the target position of the trigger 101 can be stored, and a preset time length is waited for acquiring the target position of the trigger 101 at the next moment, so that a storage list storing moment information of each moment and the target position corresponding to the moment information is obtained. Therefore, the corresponding second target position can be acquired against the stored list based on the time information of the previous time.
Fig. 5 is a schematic flow chart of a control method of a pruning machine according to another embodiment, and the difference between the present embodiment and the embodiment of fig. 2 is that step S510 is further added after the first target position is obtained.
Step S510, updating the storage list according to the time information of the current time and the first target position.
It will be appreciated that after the first target position at the current time is obtained, the first target position may be stored as the second target position at the next time.
Fig. 6 is a flowchart of a control method of a pruning machine according to another embodiment, where the control method of the pruning machine includes:
in step S210, a first target position of the trigger 101 at the current time and a second target position at the previous time are acquired.
Specifically, the target position of the trigger 101 is the target position of the rotor of the motor 103. The position sensor 102 detects the target position of the trigger 101, and thus the target position of the trigger 101 can be acquired in real time every a preset time period. The first target position is a target position of the trigger 101 acquired at the current moment, the first target position can be acquired in real time through the position sensor 102, after the target position of the trigger 101 is acquired in real time, the target position of the trigger 101 can be stored, and a preset time length is waited for acquiring the target position of the trigger 101 at the next moment, so that a storage list storing moment information of each moment and the target position corresponding to the moment information is obtained. The second target position is the target position of the trigger 101 that was acquired at a previous time, and in one embodiment, the second target position may be acquired by a stored list.
Step S220, a current position of the rotor of the motor 103 at the current time is acquired.
The position of the rotor of the motor 103 determines the actual opening and closing size of the knife edge between the two blades of the pruning machine.
Step S510, updating the storage list according to the time information of the current time and the first target position.
It will be appreciated that after the first target position at the current time is obtained, the first target position may be stored as the second target position at the next time.
Step S230, position errors are acquired according to the first target position and the current position.
Specifically, in the process of controlling the operation of the motor 103 by pressing the trigger 101, the position loop controller in the three loop controller of the motor 103 can adjust the position of the rotor of the motor 103 according to the difference between the current position of the rotor of the motor 103 and the target position of the trigger 101, so that the actual position of the motor 103 is continuously close to the target position, and the accurate control of the trigger 101 on the opening and closing dimensions of the knife edge is realized.
Step S240, obtaining a target position difference according to the first target position and the second target position.
It will be appreciated that the target position difference may be obtained by calculating the difference between the first target position and the second target position to determine whether the trigger 101 is actuated, and the target position difference may be the absolute value of the difference between the first target position and the second target position, at which point the target position difference is 0 or a positive number.
In step S250, if the target position difference is smaller than the first difference threshold and the position error is smaller than the first error threshold, the motor 103 is controlled to be in the off state.
Specifically, the motor 103 is controlled by a three-ring controller, that is, a position ring controller, a speed ring controller and a current ring controller, where the position ring controller, the speed ring controller, the current ring controller and the motor 103 are sequentially connected, and the motor 103 is controlled to be in a closed state, that is, the rotor of the motor 103 stops rotating, specifically, the output parameter of the position ring controller is controlled to be 0, and the integral term in the speed ring controller is controlled to be 0.
In step S310, if the target position difference is greater than the second difference threshold, the motor 103 is controlled to be in an on state.
It will be appreciated that a second difference threshold may be provided for determining actuation of the trigger 101, and specifically, if the target position difference is greater than the second difference threshold, the motor 103 is controlled to be in an on state. Specifically, the motor 103 is controlled to be in an on state, specifically, the three-ring controller controls the rotor of the motor 103 to operate according to the current position of the rotor of the motor 103 at the current moment and the first target position of the trigger 101, so that the rotor of the motor 103 reaches the first target position indicated by the trigger 101.
In one embodiment, the second difference threshold is not equal to the first difference threshold, when the target position difference is between the first difference threshold and the second difference threshold, no control operation is performed on the motor 103 at this time, and if the motor 103 is in an on state, the on state is continuously maintained; if the motor 103 is in the off state, the off state is continued. By setting a second error threshold value that is not equal to the first error threshold value, and controlling the motor 103 to be in an on state when the target position difference is greater than the second error threshold value, compared with setting a single critical threshold value as a condition for executing the two different states of on and off, the phenomenon that the motor 103 is repeatedly turned on and off due to fluctuation of the target position difference near the critical threshold value can be avoided, thereby avoiding the phenomenon of discontinuous knife edge closing.
In step S410, if the target position difference is smaller than the first difference threshold and the position error is larger than the second error threshold, the motor 103 is controlled to be in an on state.
According to the embodiment of the invention, the first target position of the trigger 101 at the current moment and the second target position of the trigger at the previous moment are obtained, and the current position of the rotor of the motor 103 at the current moment is obtained, so that the position error is obtained according to the first target position and the current position, and the target position difference is obtained according to the first target position and the second target position. If the target position difference is smaller than the first difference threshold, it indicates that the trigger 101 is not operated compared with the previous time, and if the current position of the motor 103 is in error with the target position and the error is smaller than the first error threshold, the motor 103 is controlled to be in a closed state, so that the problem that the motor 103 heats or the position ring shakes due to continuous current still existing because the branches are not sheared after the rotor of the motor 103 reaches the target position can be avoided; when the target position difference is greater than a second difference threshold, the motor 103 is controlled to be in an on state, wherein the second difference threshold is unequal to the first difference threshold, so that the phenomenon of discontinuous knife edge closing is avoided; when the target position difference is smaller than the first difference threshold and the position error is larger than the second error threshold, the motor 103 is controlled to be in an on state, so that accurate control of the motor 103 through the trigger 101 is realized. The control method can solve the problem of the fault of the pruning machine caused by external factors, and can realize the accurate control of the opening and closing positions of the knife edge of the pruning machine.
It should be understood that, although the steps in the flowcharts of fig. 2-6 are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in fig. 2-6 may include multiple steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor does the order in which the steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of the steps or stages in other steps or other steps.
Fig. 7 is a block diagram of the control device of the pruning machine according to an embodiment, and as shown in fig. 7, the control device includes a target position obtaining module 104, a current position obtaining module 105, a position error obtaining module 106, a target position difference obtaining module 107, and a control module 108.
The target position obtaining module 104 is configured to obtain a first target position of the trigger 101 at a current time and a second target position of the trigger at a previous time; the current position obtaining module 105 is configured to obtain a current position of a rotor of the motor 103 at a current moment; the position error acquisition module 106 is respectively connected with the target position acquisition module 104 and the current position acquisition module 105, and is used for acquiring a position error according to the first target position and the current position; the target position difference acquisition module 107 is connected with the target position acquisition module 104, and is used for acquiring a target position difference according to the first target position and the second target position; the control module 108 is connected to the position error obtaining module 106 and the target position difference obtaining module 107, respectively, and is configured to control the motor 103 to be in a closed state if the target position difference is smaller than the first difference threshold and the position error is smaller than the first error threshold.
According to the control device of the pruning machine, the first target position of the trigger 101 at the current moment and the second target position of the trigger at the previous moment are obtained, and the current position of the rotor of the motor 103 at the current moment is obtained, so that the position error is obtained according to the first target position and the current position, and the target position difference is obtained according to the first target position and the second target position. If the target position difference is smaller than the first difference threshold, it indicates that the trigger 101 is not operated compared with the previous time, and if the current position of the motor 103 is in error with the target position and the error is smaller than the first error threshold, the motor 103 is controlled to be in a closed state, so that the problem that the motor 103 heats or the position ring shakes due to continuous current still existing because the branches are not sheared after the rotor of the motor 103 reaches the target position can be avoided.
Fig. 8 is a block diagram of an embodiment of a pruning machine, which includes a motor 103, a trigger 101, a position sensor 102, and a controller 109, the controller 109 being connected to the motor 103 and the position sensor 102, respectively; the position sensor 102 is used to detect a target position of the trigger 101; the controller 109 is configured to acquire a first target position of the trigger 101 at a current time and a second target position at a previous time; acquiring the current position of the rotor of the motor 103 at the current moment; acquiring a position error according to the first target position and the current position; acquiring a target position difference according to the first target position and the second target position; and if the target position difference is smaller than the first difference threshold and the position error is smaller than the first error threshold, controlling the motor 103 to be in a closed state.
In one embodiment, the position sensor 102 comprises a magnet and a hall device, wherein the magnet is disposed on the trigger 101; the detection surface of the hall device faces the magnet, and the hall device is connected to the controller 109 for detecting the first target position and the second target position and transmitting to the controller 109.
The pruning machine comprises a motor 103, a trigger 101, a position sensor 102 and a controller 109, wherein the controller 109 is respectively connected with the motor 103 and the position sensor 102; the position sensor 102 is used to detect a target position of the trigger 101, and the controller 109 obtains a position error from the first target position and the current position by obtaining a first target position of the trigger 101 at the current time and a second target position of the trigger at the previous time, and a current position of the rotor of the motor 103 at the current time, and obtains a target position difference from the first target position and the second target position. If the target position difference is smaller than the first difference threshold, it indicates that the trigger 101 is not operated compared with the previous time, and if the current position of the motor 103 is in error with the target position and the error is smaller than the first error threshold, the motor 103 is controlled to be in a closed state, so that the problem that the motor 103 heats or the position ring shakes due to continuous current still existing because the branches are not sheared after the rotor of the motor 103 reaches the target position can be avoided.
In one embodiment, there is also provided a pruner control device including a memory and a processor, the memory storing a computer program, the processor implementing the steps of the above-described method embodiments when executing the computer program.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when executed by a processor, carries out the steps of the method embodiments described above.
In the description of the present specification, reference to the terms "some embodiments," "other embodiments," "desired embodiments," and the like, means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic descriptions of the above terms do not necessarily refer to the same embodiment or example.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (9)
1. A method for controlling a pruning machine, comprising:
acquiring a first target position of a trigger at the current moment and a second target position of the trigger at the previous moment;
acquiring a current position of a rotor of a motor at a current moment, wherein the current position is used for controlling the opening and closing size of a blade of the pruning machine;
acquiring a position error according to the first target position and the current position;
acquiring a target position difference according to the first target position and the second target position;
if the target position difference is smaller than a first difference value threshold and the position error is smaller than a first error threshold, controlling the motor to be in a closed state;
and if the target position difference is larger than a second difference threshold, controlling the motor to be in an on state.
2. The method of controlling a pruning machine according to claim 1, further comprising:
and if the target position difference is smaller than a first difference value threshold and the position error is larger than a second error threshold, controlling the motor to be in an on state.
3. The method according to claim 1, wherein the acquiring the second target position at the previous time includes:
and acquiring the stored second target position according to the stored list and the time information of the previous time.
4. The method according to claim 3, wherein after the first target position is obtained, the method further comprises:
and updating the storage list according to the time information of the current time and the first target position.
5. A pruning machine control device, characterized by comprising:
the target position acquisition module is used for acquiring a first target position of the trigger at the current moment and a second target position of the trigger at the previous moment;
the current position acquisition module is used for acquiring the current position of the rotor of the motor at the current moment, and the current position is used for controlling the opening and closing size of the edge of the pruning machine;
the position error acquisition module is respectively connected with the target position acquisition module and the current position acquisition module and is used for acquiring a position error according to the first target position and the current position;
the target position difference acquisition module is connected with the target position acquisition module and is used for acquiring a target position difference according to the first target position and the second target position;
the control module is respectively connected with the position error acquisition module and the target position difference acquisition module and is used for controlling the motor to be in a closed state if the target position difference is smaller than a first difference value threshold value and the position error is smaller than a first error threshold value and controlling the motor to be in an open state if the target position difference is larger than a second difference value threshold value.
6. A pruning machine, comprising: the device comprises a motor, a trigger, a position sensor and a controller, wherein the controller is respectively connected with the motor and the position sensor;
the position sensor is used for detecting the target position of the trigger;
the controller is used for acquiring a first target position of the trigger at the current moment and a second target position of the trigger at the previous moment;
acquiring a current position of a rotor of a motor at a current moment, wherein the current position is used for controlling the opening and closing size of a blade of the pruning machine;
acquiring a position error according to the first target position and the current position; acquiring a target position difference according to the first target position and the second target position; and if the target position difference is smaller than a first difference threshold and the position error is smaller than a first error threshold, controlling the motor to be in a closed state, and if the target position difference is larger than a second difference threshold, controlling the motor to be in an open state.
7. The pruning machine of claim 6, wherein the position sensor comprises:
a magnet disposed on the trigger;
the detection surface of the Hall device faces the magnet, and the Hall device is connected with the controller and used for detecting the first target position and the second target position and sending the first target position and the second target position to the controller.
8. A pruner control device comprising a memory and a processor, said memory storing a computer program, characterized in that the processor implements the steps of the method of any one of claims 1 to 4 when executing said computer program.
9. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 4.
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| JP4217384B2 (en) * | 2001-03-28 | 2009-01-28 | 東芝マイクロエレクトロニクス株式会社 | Motor drive device by PWM control system |
| JP4379221B2 (en) * | 2004-06-17 | 2009-12-09 | ブラザー工業株式会社 | Sewing machine and control method thereof |
| CN102088266A (en) * | 2010-11-08 | 2011-06-08 | 浙江理工大学 | Brushless motor stepless speed change controller based on FPGA (Field Programmable Gate Array) digitization control |
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