CN112688595B - Motor duty ratio control method for electric tool - Google Patents
Motor duty ratio control method for electric tool Download PDFInfo
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Abstract
The invention discloses a motor duty ratio control method for an electric tool, which belongs to the technical field of motor driving and comprises the following steps ofThe electric tool is provided with an executing piece capable of moving back and forth and a battery pack for supplying power, and the electric tool is detected to be in different preset gears D M The lower motor is at different predetermined voltages U N The duty ratio preset value P of the time executive member moves forward by the same distance M·N (ii) a The control module of the electric tool after starting up is based on the measured actual gear D A And the actual voltage U B In conjunction with the duty cycle predetermined value P measured in step S100 M·N Determining the actual value of the duty cycle P A·B . In the actual working process of the electric tool, the control module determines the actual value of the duty ratio according to the measured actual gear and the actual voltage in combination with the predetermined value of the duty ratio, so that dynamic electricity compensation can be performed on the motor under the condition that the output voltage of the battery pack is reduced, the motor can drive the actuator of the electric tool to stably move, and the stability of the actuator in working is effectively improved.
Description
Technical Field
The invention relates to the technical field of motor driving, in particular to a motor duty ratio control method for an electric tool.
Background
The duty ratio refers to the ratio of the energizing time and the energizing period of the pulse signal, the larger the duty ratio of the motor is, the higher the rotating speed of the motor is, and the faster the motor drives the actuating member of the electric tool to move. For the glue gun, the actuating piece comprises a push rod and a push block arranged at the front end of the push rod, the glue gun is powered by a battery pack, and the motor drives the push rod and the push block to move forwards to extrude an end cover of the rubber tube so that glue in the rubber tube flows out. Because the output voltage of battery package can reduce gradually when the power supply, the operating voltage and the rotational speed of motor also can descend gradually at the during operation, lead to the translation rate of executive component to slow down, to beating the rifle of gluing, beat the glue speed and can not remain stable, be unfavorable for improving and beat the glue effect.
Disclosure of Invention
In order to solve the defects and shortcomings in the prior art, the invention provides a motor duty ratio control method for an electric tool, which can effectively improve the stability of an actuating member of the electric tool in work.
In order to achieve the technical purpose, the invention provides a motor duty ratio control method for an electric tool, wherein the electric tool is provided with an executing piece capable of moving back and forth and a battery pack for supplying power, the method comprises the following steps,
s100, detecting that the electric tool is in different preset gears D M The lower motor is positionedDifferent predetermined voltages U N The time executive component moves forward by the same distance and the duty ratio preset value P M·N ；
S200, the control module of the electric tool after starting up is used for measuring the actual gear D A And the actual voltage U B In conjunction with the duty cycle predetermined value P measured in step S100 M·N Determining the actual value of the duty cycle P A·B 。
Preferably, in step S200, if the actual gear position D is reached A And a predetermined gear D M Consistent and actual voltage U B And a predetermined voltage U N If they are consistent, the actual value P of the duty ratio is A·B With the duty ratio preset value P under the same gear and voltage state M·N And (5) the consistency is achieved.
Preferably, in step S200, if the actual gear position D is reached A And a predetermined gear D M Consistent and actual voltage U B Between two similar predetermined voltages U n1 、U n2 (U n1 ＜U n2 ) Determining the actual value P of the duty ratio according to the formula I A·B Predetermined gear D M Lower predetermined voltage is U n1 Duty ratio of time is predetermined value P M·n1 Predetermined gear D M Lower predetermined voltage is U n2 Duty ratio of time is predetermined value P M·n2 ，
P A·B ＝(U B -U n1 )÷(U n2 -U n1 )×(P M·n2 -P M·n1 )+P M·n1 And a formula I.
Preferably, in step S200, if the actual gear position D is reached A Between two adjacent predetermined gears D m1 、D m2 (D m1 ＜D m2 ) Between and actual voltage U B And a predetermined voltage U N If the actual value of the duty ratio is consistent with the actual value of the duty ratio, the actual value P is determined according to a formula II A·B Predetermined shift position is D m1 When the predetermined voltage is U N Duty ratio of time is predetermined value P m1·N Predetermined shift position is D m2 When the predetermined voltage is U N Duty ratio of time is predetermined value P m2·N ，
P A·B ＝(D A -D m1 )÷(D m2 -D m1 )×(P m2·N –P m1·N )+P m1·N And a formula two.
Preferably, in step S200, if the actual gear position D is reached A Between two adjacent predetermined gears D m1 、D m2 (D m1 ＜D m2 ) Between and actual voltage U B Between two close predetermined voltages U n1 、U n2 (U n1 ＜U n2 ) In between, the actual value P of the duty ratio is determined according to the formula III A·B Predetermined shift position is D m1 When the predetermined voltage is U n1 Duty ratio of time is predetermined value P m1·n1 Predetermined gear is D m2 When the predetermined voltage is U n2 Duty ratio of time is predetermined value P m2·n2 ，
P A·B ＝(D A -D m1 )÷(D m2 -D m1 )×(P m2·n2 –P m1·n1 )+P m1·n1 And a formula III.
Preferably, in step S100, the same predetermined gear D is used M Next two adjacent predetermined voltages U N The difference value between the two is delta U, and the delta U is more than or equal to 0.1V and less than or equal to 0.8V.
Preferably, the electric tool comprises a driving wheel and a sensing part, the driving wheel is connected to a motor shaft of the motor in a driving mode and used for driving the executing part to move back and forth, and the sensing part detects the rotating angle of the driving wheel to enable the control module to know the distance of the executing part moving back and forth.
Preferably, the electric tool further comprises an output wheel which rotates synchronously with the transmission wheel, the output wheel is provided with wheel teeth, the executing part comprises a push rod, and the push rod is provided with convex teeth meshed with the wheel teeth.
Preferably, the driving wheel is provided with transmission teeth, and the sensing part comprises an emitting end and a receiving end which are respectively arranged on two axial sides of the driving wheel and correspond to the transmission teeth.
Preferably, the drive wheel is provided with a plurality of through holes which are uniformly distributed along the circumferential direction at intervals, and the induction part comprises an emitting end and a receiving end which are arranged on two axial sides of the drive wheel and correspond to the through holes.
After the technical scheme is adopted, the invention has the following advantages:
1. according to the motor duty ratio control method provided by the invention, the duty ratio preset values of the motor under different gears and at different voltages are firstly detected and obtained, and in the actual working process of the electric tool, the control module determines the actual duty ratio value according to the measured actual gear and actual voltage in combination with the duty ratio preset value, so that dynamic power compensation can be performed on the motor under the condition that the output voltage of the battery pack is reduced, the motor can drive the executing part of the electric tool to stably move, and the stability of the executing part in working is effectively improved.
2. According to the measured actual gear and the actual voltage, the actual value of the duty ratio is reasonably determined through a corresponding formula, the reasonability of the determination of the duty ratio is improved, the power supply requirement of the motor is better met, and the working effect of the electric tool is improved.
3. The axial both sides of drive wheel and with the setting of driving tooth or through-hole correspondence on the drive wheel are located to the transmitting terminal and the receiving terminal of response piece, and the rotation angle of drive wheel is realized detecting through the number of response driving tooth or through-hole to the response piece, and then knows the distance that the push rod removed, and the structure of detecting push rod back-and-forth movement distance is rationally set up, better satisfying the detection requirement.
Drawings
FIG. 1 is a perspective view of an exemplary glue gun;
FIG. 2 is an exploded view of the embodiment glue gun;
FIG. 3 is a schematic diagram showing a part of the structure of the glue gun according to the embodiment;
fig. 4 is a schematic diagram showing a part of the structure of the second glue gun according to the embodiment.
In the figure, 100-machine shell, 200-rubber tube rack, 300-motor, 410-driving wheel, 411-driving gear, 420-output wheel, 421-gear tooth, 412-through hole, 510-push rod, 511-convex tooth, 520-push block, 600-induction part, 610-transmitting end and 620-receiving end.
Detailed Description
The invention is further described with reference to the following figures and specific examples. It is to be understood that the following terms "upper," "lower," "left," "right," "longitudinal," "lateral," "inner," "outer," "vertical," "horizontal," "top," "bottom," and the like are used merely to indicate an orientation or positional relationship relative to one another as illustrated in the drawings, merely to facilitate describing and simplifying the invention, and are not intended to indicate or imply that the device/component so referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore are not to be considered limiting of the invention.
Example one
The embodiment of the invention provides a motor duty ratio control method for an electric tool, the electric tool is provided with an executing part capable of moving back and forth and a battery pack for supplying power, the method comprises the following steps,
s100, detecting and obtaining that the electric tool is in different preset gears D M The lower motor is at different predetermined voltages U N The time executive component moves forward by the same distance and the duty ratio preset value P M·N ；
S200, after the electric tool is started, a control module of the electric tool measures an actual gear D A And the actual voltage U B In conjunction with the predetermined value P of the duty cycle measured in step S100 M·N Determining the actual value of the duty cycle P A·B 。
In step S100, the duty ratio preset values obtained by detection are shown in table one.
Watch 1
In order to improve the measuring effect, the same predetermined gear D M Next two adjacent predetermined voltages U N The voltage difference between them is preferably set to a constant value DeltaU, 0.1 V.ltoreq.DeltaU.ltoreq.0.8V. The smaller Δ U, the higher the measurement accuracy. In the present embodiment, Δ U is preferably set to 0.5V, i.e., U 2 Is compared with U 1 Small by 0.5V, U 3 Is compared with U 2 0.5V smaller, and so on.
In step S200, if the actual gear D A And a predetermined gear D M Consistent and actual voltage U B And a predetermined voltage U N If they are consistent, the actual value P of duty ratio is A·B The duty ratio preset value P under the same gear and voltage state M·N And (5) the consistency is achieved. For example, when the actual gear position D A Is D 3 Actual voltage U B Is U 2 Then the actual value P of the duty ratio A·B Is namely P 3·2 。
In step S200, if the actual gear D is set A And a predetermined gear D M Consistent and actual voltage U B Between two close predetermined voltages U n1 、U n2 (U n1 ＜U n2 ) Then the actual value P of the duty ratio is determined according to the formula I A·B Predetermined gear D M Lower predetermined voltage is U n1 Duty ratio of time is predetermined value P M·n1 Predetermined gear D M Lower predetermined voltage is U n2 Duty ratio of time is predetermined value P M·n2 ，
P A·B ＝(U B -U n1 )÷(U n2 -U n1 )×(P M·n2 -P M·n1 )+P M·n1 And a formula I.
For example, if the actual gear position D A Is D 3 Actual voltage U B Between U and U 2 And U 3 In between, then the actual value of the duty ratio P A · B That is (U) B -U 2 )÷(U 3 -U 2 )×(P 3·3 –P 3·2 )+P 3·2 。
In step S200, if the actual gear D is set A Between two adjacent predetermined gears D m1 、D m2 (D m1 ＜D m2 ) Between and actual voltage U B And a predetermined voltage U N If the actual value of the duty ratio is consistent with the actual value of the duty ratio, the actual value P is determined according to a formula II A·B Predetermined shift position is D m1 When the predetermined voltage is U N Duty ratio of time is predetermined value P m1·N Predetermined shift position is D m2 When the predetermined voltage is U N Duty ratio of time is predetermined value P m2·N ，
P A·B ＝(D A -D m1 )÷(D m2 -D m1 )×(P m2·N –P m1·N )+P m1·N And a formula II.
For example, if the actual gear position D A Between D 2 、D 3 BetweenAnd the actual voltage U B And a predetermined voltage U 3 If they are consistent, the actual value P of duty ratio is A·B That is (D) A -D 2 )÷(D 3 -D 2 )×(P 3·3 –P 2·3 )+P 2 · 3 。
In step S200, if the actual gear D is set A Between two adjacent predetermined gears D m1 、D m2 (D m1 ＜D m2 ) Between and actual voltage U B Between two similar predetermined voltages U n1 、U n2 (U n1 ＜U n2 ) In between, the actual value P of the duty ratio is determined according to the formula III A·B Predetermined gear is D m1 When the predetermined voltage is U n1 Duty ratio of time is predetermined value P m1·n1 Predetermined gear D m2 Is on and the predetermined voltage is U n2 Duty ratio of time is predetermined value P m1·n1 ，
P A·B ＝(D A -D m1 )÷(D m2 -D m1 )×(P m2·n2 –P m1·n1 )+P m1·n1 And a formula III. For example, if the actual gear position D A Between D and 2 、D 3 between and the actual voltage U B Between U and U 2 And U 3 In between, then the actual value of the duty ratio P A·B I.e. (D) A -D 2 )÷(D 3 -D 2 )×(P 3·3 –P 2·2 )+P 2·2 。
In this embodiment, an electric tool glue gun is described as an example, and the glue gun is powered by a battery pack. As shown in fig. 1 to 3, the glue gun includes a casing 100 and a hose frame 200 disposed at the front end of the casing 100, a motor 300, a driving wheel 410, an output wheel 420 and a sensing member 600 are disposed in the casing 100, the driving wheel 410 is connected to a motor shaft of the motor 300 through a speed reduction mechanism, and a plurality of driving teeth 411 are disposed on the circumference of the driving wheel 410. The output wheel 420 and the driving wheel 410 are sleeved on the same rotating shaft to realize synchronous rotation, and a plurality of wheel teeth 421 are arranged on the circumference of the output wheel 420. The actuating member comprises a push rod 510 and a push block 520 arranged at the front end of the push rod 510, a plurality of convex teeth 511 meshed with the gear teeth 421 are arranged on the push rod 510, and the push rod 520 can be erected on the machine shell 100 and the plastic pipe rack 200 in a back-and-forth movement mode. The motor 300 drives the transmission wheel 410 to rotate through a speed reducing mechanism, the transmission wheel 410 drives the output wheel 420 to synchronously rotate through a rotating shaft, and the push rod 510 is driven to move back and forth through the meshing between the convex teeth 511 and the gear teeth 421 when the output wheel 420 rotates.
In order to detect the moving distance of the push rod 510 and the push block 520, the sensor 600 includes an emitting end 610 and a receiving end 620, and the emitting end 610 and the receiving end 620 are respectively disposed on two axial sides of the driving wheel 410 and are disposed corresponding to the driving teeth 411. In this embodiment, the sensing member 600 is preferably a photoelectric switch. When push rod 510 moves back and forth, driving wheel 410 rotates, and when driving wheel 410 rotates until a certain driving tooth 411 is aligned with transmitting end 610 and receiving end 620, receiving end 620 cannot receive the signal sent by transmitting end 610 due to the blocking effect of driving tooth 411. The rotation angle of the driving wheel 410 can be obtained by counting the number of times that the receiving end 620 receives signals, and then the moving distance of the push rod 510 is obtained by calculation, so that the push rod can move forward by the same distance in each detection, and the accuracy of detection data is improved.
During the working process of the electric tool, the output voltage of the battery pack may be reduced, so that the voltage of the motor is reduced, and the control module can dynamically adjust the actual duty ratio value according to the changed voltage.
It will be appreciated that the same predetermined gear D M Two lower adjacent predetermined voltages U N The voltage difference Δ U therebetween may also be set to 0.1V, 0.2V, 0.3V, 0.4V, 0.6V, 0.7V, 0.8V.
It is understood that the power tool may be other power tools powered by a battery pack, and is not limited to the glue gun described above.
Example two
Referring to fig. 4, in the present embodiment, the driving wheel 410 is provided with a plurality of through holes 412 uniformly distributed at intervals along the circumferential direction, and the emitting end 610 and the receiving end 620 of the sensing element 600 are respectively disposed at two axial sides of the driving wheel 410 and correspond to the through holes 412. The transmission wheel 410 rotates until the transmitting end 610, the through hole 412 and the receiving end 620 are located on a straight line, and the receiving end 620 can receive the signal sent by the transmitting end 610. If the through hole 412 is not aligned with the transmitting end 610 and the receiving end 620, the receiving end 620 cannot receive the signal transmitted by the transmitting end 610 due to the blocking effect of the driving wheel 410. The rotation angle of the driving wheel 410 can be obtained by counting the number of times that the receiving end 620 receives signals, and then the moving distance of the push rod 510 is obtained by calculation, so that the push rod can move forward by the same distance in each detection, and the accuracy of detection data is improved.
The other structures of the second embodiment are the same as those of the first embodiment, and are not described in detail here.
It can be understood that the specific number of the through holes 412 can be reasonably set according to the radial size of the driving wheel 410 and the detection precision requirement, and the detection requirement is met.
Other embodiments of the present invention than the preferred embodiments described above, and those skilled in the art can make various changes and modifications according to the present invention without departing from the spirit of the present invention, should fall within the scope of the present invention defined in the claims.
Claims (9)
1. A motor duty ratio control method for an electric tool, the electric tool is provided with an executing piece capable of moving back and forth and a battery pack for supplying power, and is characterized by comprising the following steps,
s100, detecting and obtaining that the electric tool is in different preset gears D M The lower motor is at different predetermined voltages U N The duty ratio preset value P of the time executive member moves forward by the same distance M·N ；
S200, the control module of the electric tool after starting up is used for measuring the actual gear D A And the actual voltage U B In conjunction with the predetermined value P of the duty cycle measured in step S100 M·N Determining the actual value of the duty cycle P A·B ；
In the step S200, if the actual gear position D is reached A And a predetermined gear D M Consistent and actual voltage U B Between two close predetermined voltages U n1 、U n2 Between U n1 ＜U n2 Determining the actual value P of the duty ratio according to the formula I A·B Predetermined gear D M Lower predetermined voltage is U n1 Duty ratio of time is predetermined value P M·n1 Predetermined gear D M Lower predetermined voltage is U n2 Duty ratio of time is predetermined value P M·n2 ，
P A·B ＝(U B -U n1 )÷(U n2 -U n1 )×(P M·n2 -P M·n1 )+P M·n1 And a formula I.
2. The method as claimed in claim 1, wherein in step S200, if the actual gear D is selected A And a predetermined gear D M Consistent and actual voltage U B And a predetermined voltage U N If they are consistent, the actual value P of duty ratio is A·B The duty ratio preset value P under the same gear and voltage state M·N And (5) the consistency is achieved.
3. The method as claimed in claim 1, wherein in step S200, if the actual gear position D is reached A Between two adjacent predetermined gears D m1 、D m2 Between and actual voltage U B And a predetermined voltage U N Uniformity, D m1 ＜D m2 Determining the actual value P of the duty ratio according to the formula II A·B Predetermined shift position is D m1 When the predetermined voltage is U N Duty ratio of time is predetermined value P m1·N Predetermined gear is D m2 When the predetermined voltage is U N Duty ratio of time is predetermined value P m2·N ，
P A·B ＝(D A -D m1 )÷(D m2 -D m1 )×(P m2·N –P m1·N )+P m1·N And a formula II.
4. The method as claimed in claim 1, wherein in step S200, if the actual gear position D is reached A Between two adjacent predetermined gears D m1 、D m2 Between and the actual voltage U B Between two close predetermined voltages U n1 、U n2 D between m1 ＜D m2 ，U n1 ＜U n2 Determining the actual value P of the duty ratio according to the formula III A·B Predetermined shift position is D m1 When the predetermined voltage is U n1 Duty ratio of time is predetermined value P m1·n1 Predetermined shift position is D m2 When the predetermined voltage is U n2 Duty ratio of time is predetermined value P m2·n2 ，
P A·B ＝(D A -D m1 )÷(D m2 -D m1 )×(P m2·n2 –P m1·n1 )+P m1·n1 And a formula III.
5. The motor duty cycle control method according to claim 1, wherein in step S100, the same predetermined gear D is used M Next two adjacent predetermined voltages U N The difference value between the two is delta U, and the delta U is more than or equal to 0.1V and less than or equal to 0.8V.
6. The motor duty cycle control method of claim 1, wherein the power tool comprises a driving wheel and a sensing element, the driving wheel is connected to a motor shaft of the motor in a driving manner and is used for driving the actuating element to move forward and backward, and the sensing element detects a rotation angle of the driving wheel to enable the control module to know a distance of the actuating element moving forward and backward.
7. The method as claimed in claim 6, wherein the power tool further comprises an output wheel rotating synchronously with the driving wheel, the output wheel is provided with teeth, the actuating member comprises a push rod, and the push rod is provided with teeth engaged with the teeth.
8. The method according to claim 6, wherein the driving wheel has driving teeth, and the sensing member includes a transmitting end and a receiving end respectively disposed at two axial sides of the driving wheel and corresponding to the driving teeth.
9. The motor duty cycle control method of claim 6, wherein the driving wheel has a plurality of through holes uniformly spaced along a circumferential direction, and the sensing member includes a transmitting end and a receiving end disposed at both axial sides of the driving wheel and corresponding to the through holes.
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