CN112757230A - Electric hammer and control method thereof - Google Patents
Electric hammer and control method thereof Download PDFInfo
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- CN112757230A CN112757230A CN202011327467.9A CN202011327467A CN112757230A CN 112757230 A CN112757230 A CN 112757230A CN 202011327467 A CN202011327467 A CN 202011327467A CN 112757230 A CN112757230 A CN 112757230A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25D—PERCUSSIVE TOOLS
- B25D11/00—Portable percussive tools with electromotor or other motor drive
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25D—PERCUSSIVE TOOLS
- B25D17/00—Details of, or accessories for, portable power-driven percussive tools
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P1/00—Arrangements for starting electric motors or dynamo-electric converters
- H02P1/16—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Motor And Converter Starters (AREA)
- Percussive Tools And Related Accessories (AREA)
Abstract
The invention provides a control method of an electric hammer, which comprises the following steps: judging whether the electric hammer is in a starting state or not; if so, acquiring the starting current of the electric hammer and the phase change step number of the motor; judging whether the starting current is larger than a low-temperature starting current threshold or not and whether the phase change step number of the motor is smaller than a phase change step number threshold or not; if yes, the electric hammer is controlled to enter a low-temperature starting current limiting mode, and the electric hammer is started by the current limited by the low-temperature starting current limiting mode. The invention also provides an electric hammer. In the control method, the electric hammer is started by using the current limited by the low-temperature current-limiting mode, so that the aim of reducing the starting current of the electric hammer is fulfilled, the situation that the controller of the electric hammer enters overcurrent protection to cause the starting failure of the electric hammer due to overlarge starting current of the electric hammer is prevented, and the problem of the low-temperature starting failure of the electric hammer is effectively solved.
Description
Technical Field
The invention relates to the technical field of electromechanical equipment, in particular to an electric hammer and a control method thereof.
Background
The electric hammer is an electric construction tool with wide application, and is named as an electric hammer because a piston driven by a motor and provided with a crankshaft connecting rod is added on the basis of an electric drill, air is compressed in a cylinder in a reciprocating mode, air pressure in the cylinder is changed periodically, and the changed air pressure drives a hammer in the cylinder to strike the top of a drill bit in a reciprocating mode, namely the hammer strikes the drill bit.
Electric hammers, which are a type of electric drill, are widely used for rapidly drilling holes in materials such as concrete, floor slabs, brick walls, stone and the like, which have high brittleness, because a drill bit of the electric hammer rotates and simultaneously generates rapid reciprocating motion along the direction of the drill bit.
However, the use environment of the electric hammer is easily affected by the ambient temperature. Under normal environmental temperature, when the electric hammer is started, corresponding current is output according to the measuring range of the speed regulation switch, and the electric hammer can be started normally. When ambient temperature was crossed lowly, originally being used for lubricated butter in the electric hammer to meet the condensation solid, and the rotation process when the butter that solidifies can start to the electric hammer produces the resistance, consequently starts the electric current grow when leading to the electric hammer start, and makes the controller get into overcurrent protection, further then can lead to the electric hammer start failure.
Disclosure of Invention
The embodiment of the invention provides an electric hammer and a control method thereof, and aims to solve the problems that the starting current of the electric hammer is increased and a controller enters overcurrent protection to cause the failure of the starting of the electric hammer due to the solidification of butter under the condition of low temperature.
The embodiment of the invention is realized by providing a control method of an electric hammer, which comprises the following steps:
judging whether the electric hammer is in a starting state or not;
if yes, acquiring the starting current of the electric hammer;
judging whether the starting current is larger than a low-temperature starting current threshold value or not;
and if so, controlling the electric hammer to enter a low-temperature starting current limiting mode and starting the electric hammer by using the current limited by the low-temperature starting current limiting mode.
In addition, an embodiment of the present invention further provides an electric hammer, including:
the first judging unit is used for judging whether the electric hammer is in a starting state or not;
the first acquisition unit is used for acquiring the starting current of the electric hammer if the current is positive;
the second judging unit is used for judging whether the starting current is larger than a low-temperature starting current threshold value or not;
and the first control unit is used for controlling the electric hammer to enter a low-temperature starting current limiting mode and starting the electric hammer by the current limited by the low-temperature starting current limiting mode if the current is positive.
The invention has the advantages that the electric hammer is controlled to enter the low-temperature starting current-limiting mode, and the electric hammer is started by using the current limited by the low-temperature current-limiting mode, so that the aim of reducing the starting current of the electric hammer is fulfilled, the phenomenon that the starting current of the electric hammer is too large due to the solidification of butter under the low-temperature environment of the electric hammer, so that the controller of the electric hammer enters overcurrent protection to cause the starting failure of the electric hammer, and the problem of the low-temperature starting failure of the electric hammer is effectively solved.
Drawings
Fig. 1 is a schematic flow chart of a method for controlling an electric hammer according to an embodiment of the present invention;
fig. 2 is a schematic flowchart of a method for controlling an electric hammer according to a second embodiment of the present invention;
fig. 3 is a schematic flowchart of a method for controlling an electric hammer according to a third embodiment of the present invention;
fig. 4 is a schematic flowchart of a control method of an electric hammer according to a fourth embodiment of the present invention;
fig. 5 is a schematic flowchart of a method for controlling an electric hammer according to a fifth embodiment of the present invention;
fig. 6 is a schematic block diagram of an electric hammer according to a sixth embodiment of the present invention;
fig. 7 is a schematic block diagram of an electric hammer according to a seventh embodiment of the present invention;
fig. 8 is a schematic block diagram of an electric hammer according to an eighth embodiment of the present invention;
fig. 9 is a schematic block diagram of an electric hammer according to a ninth embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example one
Referring to fig. 1, a flow chart of a method for controlling an electric hammer according to an embodiment of the present invention is shown, where the method includes the following steps:
in step S01, it is determined whether the electric hammer is in the activated state.
The starting state of the electric hammer in this embodiment refers to a state between the start of rotation of the motor of the electric hammer and the normal operation. Whether the electric hammer is in the starting state can be judged by judging whether the motor of the electric hammer rotates.
Specifically, the phase change step number of the motor is monitored in real time, and when the phase change step number of the motor is larger than zero, the motor rotates, and the electric hammer is in a starting state. In addition, the starting button feedback can be added, the starting switch triggers a starting signal when being started, and the controller judges the current state of the electric hammer according to the starting signal. It is also possible to determine whether the hammer is in the activated state based on other parameters, such as output current. It should be noted that the above method for determining whether the electric hammer is in the activated state is not taken as a limitation of the protection scope of the present solution.
In step S02, if yes, the starting current of the electric hammer is acquired.
In step S03, it is determined whether the starting current is greater than the low-temperature starting current threshold.
And step S04, if yes, controlling the electric hammer to enter a low-temperature starting current limiting mode and starting the electric hammer by the current limited by the low-temperature starting current limiting mode.
Under normal environmental temperature, when the electric hammer is started, corresponding current is output according to the measuring range of the speed regulation switch, and the electric hammer is started normally. When the environment temperature is too low, the current output by the switch range is too large when the electric hammer is started, and the controller detects a large load, so that the controller enters overcurrent protection, and the electric hammer fails to start.
The low-temperature starting current threshold refers to the current output by the range of the speed regulating switch when the motor is started in a low-temperature environment, and can also be called the critical current when the electric hammer controller enters overcurrent protection. And, it is worth noting that the value of the low-temperature starting current threshold is smaller than the value of the overcurrent protection value which enables the controller to enter overcurrent protection, so as to ensure that when the electric hammer is started in a low-temperature environment, the electric hammer directly enters a low-temperature starting current limiting mode when the starting current is larger than the low-temperature starting current threshold. The specific value of the low-temperature starting current threshold may be set according to different motor model parameters and specific experiments, and is not particularly limited herein.
And if the current electric hammer is judged to be in the starting state, acquiring the starting current of the electric hammer, and judging whether the current electric hammer needs to enter the low-temperature starting current limiting according to the starting current. Specifically, when the starting current is greater than the preset low-temperature starting current threshold, it indicates that the current starting current of the electric hammer is relatively large, that is, the motor of the electric hammer is currently in a low-speed starting stage in a low-temperature environment. In order to prevent the output current of the electric hammer from being overlarge, so that the controller enters overcurrent protection and fails in starting, the electric hammer is controlled to enter a low-temperature starting current limiting mode and is started by the current limited by the low-temperature starting current limiting mode.
The current limited by the low-temperature starting current limiting mode refers to a set current limiting target value of the electric hammer in the low-temperature starting current limiting mode. And according to the set current limiting target value and the current value (the currently acquired starting current of the electric hammer), obtaining a PWM (pulse width modulation) duty ratio through a PID (proportion integration differentiation) current limiting algorithm, and controlling the current of the electric hammer to be stabilized at the set current limiting target value according to the calculated PWM duty ratio so as to change the current limiting target value as the starting current of the electric hammer to start the electric hammer.
The PID current limit algorithm is as follows:
Δc(k)＝KP[e(k)-e(k-1)]+Kie(k)+Kd[e(k)-2e(k-1)+e(k-2)]；
Pout(k)＝(Pout(k-1)+Δc(k))*A：
where Δ c (k) is understood in the physical sense as being used for the regulation of Pout(k) The current difference of (a); e (k) is the difference between the current limit target value and the current; e (k-1) is the difference value between the current limiting target value and the starting current value in the last operation; e (k-2) is the difference value between the current limiting target value and the starting current value in the previous operation; kP， Ki，KdThe coefficient can be set artificially; pout (k) is the currently output PWM duty cycle; pout(k-1) is the PWM duty ratio of the last output; a is a scaling factor, in this embodiment, a is 1, and in other embodiments, a may also be other, which is not limited herein.
In the above algorithm, Δ c (k) can be understood as being obtained by differentiating the output of the localized PID algorithm, and then integrating Δ c (k) to obtain Pout(k) Therefore, the excessive adjustment of the PID algorithm to the output PWM duty ratio can be reduced, and the motor can run normally and stably.
In addition, when the electric hammer does not meet the condition that the starting current is larger than the preset low-temperature starting current threshold and the motor phase change step number is smaller than the preset phase change step number threshold, the electric hammer is not in the low-temperature starting state at present, the electric hammer does not enter the low-temperature starting current limiting mode, and the electric hammer enters the working mode in the normal mode.
In this embodiment, it is first determined whether the electric hammer is in the start state, and if the electric hammer is in the start state, the current start current of the electric hammer is obtained, and it is further determined whether the current start current is smaller than a preset low-temperature start current threshold. When the electric hammer meets the conditions, the current environment is a low-temperature environment, and the motor of the electric hammer is in a low-speed starting stage. And controlling the electric hammer to enter a low-temperature starting current limiting mode and starting the electric hammer by using the current limited by the low-temperature starting current limiting mode. The current after the low-temperature current-limiting mode is adopted to limit starts the electric hammer, the starting current is reduced, the situation that the starting current of the electric hammer is too large is prevented, and the controller enters overcurrent protection, so that the problem that the low-temperature starting of the electric hammer fails is effectively solved. And the electric hammer is smoother when entering a low-temperature starting current-limiting mode in a starting state, larger moment fluctuation can not be generated, unstable operation and even out of control of the electric hammer can be avoided, and the control and experience of a user on the electric hammer are ensured.
Example two
Further, please refer to fig. 2, which is a flowchart illustrating a method for controlling an electric hammer according to a second embodiment of the present invention, wherein the second embodiment is different from the first embodiment in that the electric hammer includes a switch for controlling a starting current, a magnitude of the starting current is positively correlated to a switching range data of the switch, and after step S04 in the first embodiment, the method further includes:
and step S05, acquiring the current output duty ratio of the electric hammer in the low-temperature starting current-limiting mode.
And step S06, receiving the switch range data converted by the push switch, and reducing the current of the electric hammer according to the switch range data.
And step S07, calculating the conversion output duty ratio according to the reduced current.
Step S08, it is determined whether the conversion output duty ratio is smaller than the current output duty ratio.
And step S09, if yes, controlling the electric hammer to exit the low-temperature starting current limiting mode.
Specifically, after the electric hammer is successfully started in the low-temperature starting current-limiting mode, the output duty ratio of the electric hammer currently in the low-temperature starting current-limiting mode also changes along with the starting current, and the output duty ratio is the current output duty ratio. When the electric hammer is in the mode, in order to ensure the control of a user on the electric hammer, the electric hammer also comprises the switch for controlling the starting current, and when the user judges that the current electric hammer can work under the current of the normal working mode, the user can control the starting current by pressing the switch, and meanwhile, the change of the output duty ratio can be controlled. The switch range data is in positive correlation with the starting current, and it can be understood that the larger the amplitude of the press switch is, the larger the switch range data is, the larger the starting current is, and the output duty ratio of the motor is also influenced.
In this embodiment, when the electric hammer is in the low-temperature current-limiting mode, whether the electric hammer is controlled by a user is judged by comparing the current output duty ratio of the electric hammer in the low-temperature starting current-limiting mode with the conversion output duty ratio obtained by pressing the switch by the user, and the starting current is reduced until the electric hammer exits from the low-temperature starting current-limiting mode. And the electric hammer is smoother when exiting from the low-temperature starting current-limiting mode, larger torque fluctuation can not be generated, unstable operation and even out of control of the electric hammer can be avoided, and the control and experience of a user on the electric hammer are guaranteed.
EXAMPLE III
Referring to fig. 3, a flowchart of a method for controlling an electric hammer according to a third embodiment of the present invention is shown, where the third embodiment is different from the first embodiment in that after step S04, the method further includes:
and step S010, detecting the running time of the electric hammer in a low-temperature starting current limiting mode.
Step S011, judging whether the operation time length is longer than the preset time length.
And step S012, if yes, controlling the electric hammer to exit the low-temperature starting current-limiting mode.
It can be understood that when the electric hammer is started at a low temperature, the current of the electric hammer is limited, and when the electric hammer is started at a low temperature, a user may not know when or forget to control the electric hammer to exit the current limiting mode, so that the electric hammer is still in a low current condition, and subsequent normal operation is affected. Therefore, in this embodiment, the running time of the electric hammer entering the low-temperature starting current-limiting mode is obtained in real time, when the running time is longer than the preset time, it is indicated that the electric hammer is started completely in the low-temperature environment, the electric hammer can enter the normal running mode, at this time, the electric hammer is controlled to automatically exit the low-temperature starting current-limiting mode, and the intelligence of the electric hammer and the experience of a user are improved.
The preset time duration can be the time duration which is measured through relevant experiments and is used for completing the starting of the electric hammer in the low-temperature environment, the preset time duration is accurate, and the electric hammer is accurately switched to the normal mode after being completely started in the low-temperature starting current-limiting mode.
Example four
Further, please refer to fig. 4, which is a flowchart illustrating a method for controlling an electric hammer according to a fourth embodiment of the present invention, where the fourth embodiment is different from the first embodiment in that the electric hammer includes a switch for controlling a starting current, a magnitude of the starting current is positively correlated to a switching range data of the switch, and after step S40 in the first embodiment, the method further includes:
and S013, acquiring switching stroke data of the electric hammer before the electric hammer enters the low-temperature starting current limiting mode to obtain a set duty ratio.
The change of the switching range is fed back by the change of the voltage, the controller of the electric hammer samples the voltage change (the sampled value is 0-4096) according to the switching range data, and then the voltage change is multiplied by a preset proportionality coefficient to obtain the set duty ratio.
And step S014, acquiring the current output duty ratio currently output by the electric hammer through a PID current limiting algorithm.
The output duty ratio of the current output of the electric hammer can be obtained by adopting the PID current-limiting algorithm in the first embodiment.
In step S015, the set duty ratio, the output duty ratio, and the duty threshold are compared.
And step S016, when the set duty ratio is smaller than the output duty ratio or the output duty ratio is larger than the duty ratio threshold, controlling the electric hammer to exit the low-temperature starting current limiting mode and enter the normal starting mode.
The duty ratio threshold value is a duty ratio value preset according to actual tests, when the output of the electric hammer motor is controlled to change the duty ratio threshold value, the electric hammer motor does not generate large rotation speed fluctuation and current fluctuation after exiting the low-temperature starting current limiting mode, and for example, the duty ratio threshold value is 80%.
After the electric hammer is started for a certain time, the motor gradually heats, the lubricating oil plays a role, and the load of the motor is reduced. Therefore, when the set duty ratio is smaller than the current output duty ratio, the current load of the motor is smaller, the output current is lower in the normal working state, and the overcurrent protection of the controller cannot be caused. When the output duty ratio of the electric hammer motor is larger than the preset duty ratio threshold value, the electric hammer does not generate large rotation speed fluctuation and current fluctuation after exiting the low-temperature starting current-limiting mode, and potential safety hazards are avoided.
In summary, after the electric hammer enters the low-temperature start current limiting mode, the set duty ratio, the output duty ratio and the duty ratio threshold are compared to determine the relationship among the three. When the set duty ratio is smaller than the output duty ratio or the output duty ratio is larger than the duty ratio threshold value, controlling the electric hammer to exit the low-temperature starting current limiting mode and enter a normal starting mode, and enabling the electric hammer to normally work; when the set duty ratio is larger than or equal to the output duty ratio or the output duty ratio is smaller than or equal to the duty ratio threshold value, the electric hammer is controlled to keep a low-temperature starting current limiting mode, the electric hammer is ensured to be started successfully, and the phenomenon that the output current of the electric hammer is limited excessively to influence the performance of the electric hammer is avoided.
EXAMPLE five
Further, please refer to fig. 5, which is a flowchart illustrating a method for controlling an electric hammer according to a fifth embodiment of the present invention, wherein the difference between the fifth embodiment and the first embodiment is that step S01 in the first embodiment includes:
and step S011, acquiring the motor phase change step number of the electric hammer.
And step S012, judging whether the motor phase change step number is less than the phase change step number threshold value.
And step S013, if yes, judging that the electric hammer is in a starting state.
Specifically, the threshold value of the number of commutation steps of the motor is a numerical value used for distinguishing whether the electric hammer is in a starting stage, the number of commutation steps of the motor is accumulated from the starting of the motor, and the number of commutation steps is in direct proportion to the rotating speed of the motor. It can be understood that when the motor starts, the rotating speed is gradually increased until the rotating speed is a certain rotating speed and is not changed, at this time, the electric hammer is completely started, and the reversing steps are accumulated to a certain value, namely the reversing step threshold value of the motor. The rotational speed can thus be determined by the number of commutation steps of the motor, while it is further determined by the rotational speed whether the hammer is in the starting phase.
When the real-time reversing step number of the motor is larger than the reversing step number threshold value, the motor is indicated to be high in rotating speed and completely started, and at the moment, the electric hammer does not need to be controlled to enter a low-temperature starting current limiting mode; when the real-time reversing step number of the motor is smaller than the reversing step number threshold value, the rotating speed of the motor is slow, the electric hammer is not completely started and still in a starting stage, and if the starting current is larger than the low-temperature starting current threshold value at the same time, the electric hammer needs to be controlled to enter a low-temperature starting current limiting mode.
In one embodiment, the motor speed may be sensed by a hall sensor to determine whether the hammer is in the initial start-up phase. The Hall sensor is a sensor which is commonly used and has higher precision, and the installation and measurement mode is also simpler and more convenient. Measuring the motor speed by the hall sensor is a mature technology and is not described herein.
Further, in another alternative embodiment, after the step of controlling the electric hammer to enter the low-temperature starting current limiting mode and starting with the starting current limited by the low-temperature starting current limiting mode, the electric hammer further comprises the steps of: and controlling the prompter to send a prompt signal for indicating that the electric hammer enters a low-temperature starting current-limiting mode.
Specifically, the prompting device sends out a prompting signal, so that a user can be effectively reminded that the electric hammer currently enters a low-temperature starting current limiting mode, and the condition that the user makes unreasonable operation to influence the starting of the electric hammer in a low-temperature environment when the user does not know that the electric hammer enters the low-temperature starting current limiting mode is avoided. Specifically, the prompting device may be a sound-light device, a display device, or other devices having a certain prompting function, and the prompting signal may be a sound-light signal, a displayed image, a character, or other signals having a certain prompting function, which is not specifically limited herein, and may be specifically selected in an actual embodiment.
EXAMPLE six
Fig. 6 is a schematic view of a virtual module of an electric hammer according to a sixth embodiment of the present invention, and only the relevant portions of the electric hammer according to the sixth embodiment of the present invention are shown for convenience of illustration. This electric hammer includes:
a first judging unit 10 for judging whether the electric hammer is in a starting state;
the starting state of the electric hammer in this embodiment refers to a state between the start of rotation of the motor of the electric hammer and the normal operation. Whether the electric hammer is in the starting state can be judged by judging whether the motor of the electric hammer rotates.
Specifically, the phase change step number of the motor is monitored in real time, and when the phase change step number of the motor is larger than zero, the motor rotates, and the electric hammer is in a starting state. In addition, the starting button feedback can be added, the starting switch triggers a starting signal when being started, and the controller judges the current state of the electric hammer according to the starting signal. It is also possible to determine whether the hammer is in the activated state based on other parameters, such as output current. It should be noted that the above method for determining whether the electric hammer is in the activated state is not taken as a limitation of the protection scope of the present solution.
A first obtaining unit 20, configured to obtain a starting current of the electric hammer if the current is positive;
a second judging unit 30 for judging whether the starting current is larger than the low-temperature starting current threshold; and
and the first control unit 40 is used for controlling the electric hammer to enter a low-temperature starting current limiting mode and starting the electric hammer by the current limited by the low-temperature starting current limiting mode if the current is positive.
Under normal environmental temperature, when the electric hammer is started, corresponding current is output according to the measuring range of the speed regulation switch, and the electric hammer is started normally. When the environment temperature is too low, the current output by the switch range is too large when the electric hammer is started, and the controller detects a large load, so that the controller enters overcurrent protection, and the electric hammer fails to start.
The low-temperature starting current threshold refers to the current output by the range of the speed regulating switch when the motor is started in a low-temperature environment, and can also be called the critical current when the electric hammer controller enters overcurrent protection. And, it is worth noting that the value of the low-temperature starting current threshold is smaller than the value of the overcurrent protection value which enables the controller to enter overcurrent protection, so as to ensure that when the electric hammer is started in a low-temperature environment, the electric hammer directly enters a low-temperature starting current limiting mode when the starting current is larger than the low-temperature starting current threshold. The specific value of the low-temperature starting current threshold may be set according to different motor model parameters and specific experiments, and is not particularly limited herein.
And if the current electric hammer is judged to be in the starting state, acquiring the starting current of the electric hammer, and judging whether the current electric hammer needs to enter the low-temperature starting current limiting according to the starting current. Specifically, when the starting current is greater than the preset low-temperature starting current threshold, it indicates that the current starting current of the electric hammer is relatively large, that is, the motor of the electric hammer is currently in a low-speed starting stage in a low-temperature environment. In order to prevent the output current of the electric hammer from being overlarge, so that the controller enters overcurrent protection and fails in starting, the electric hammer is controlled to enter a low-temperature starting current limiting mode and is started by the current limited by the low-temperature starting current limiting mode.
The first control unit includes: the setting module is used for setting a current limiting target value of the electric hammer in a low-temperature starting current limiting mode; the calculation module is used for obtaining the PWM duty ratio through a PID current limiting algorithm according to the current limiting target value and the current value; and the control module is used for controlling the current of the electric hammer to be stabilized at the current-limiting target value according to the PWM duty ratio and starting the electric hammer according to the current-limiting target value.
The current limited by the low-temperature starting current limiting mode refers to a set current limiting target value of the electric hammer in the low-temperature starting current limiting mode. And according to the set current limiting target value and the current value (the currently acquired starting current of the electric hammer), obtaining a PWM (pulse width modulation) duty ratio through a PID (proportion integration differentiation) current limiting algorithm, and controlling the current of the electric hammer to be stabilized at the set current limiting target value according to the calculated PWM duty ratio so as to change the current limiting target value as the starting current of the electric hammer to start the electric hammer.
The PID current limit algorithm is as follows:
Δc(k)＝KP[e(k)-e(k-1)]+Kie(k)+Kd[e(k)-2e(k-1)+e(k-2)]；
Pout(k)＝(Pout(k-1)+Δc(k))*A：
where Δ c (k) is understood to mean the regulation of Pout(k) The current difference of (a); e (k) is the difference between the current limit target value and the current; e (k-1) is the difference value between the current limiting target value and the starting current value in the last operation; e (k-2) is the difference value between the current limiting target value and the starting current value in the previous operation; kP，Ki，KdThe coefficient can be set artificially; pout(k) Is the current output PWM duty cycle; pout(k-1) is the PWM duty ratio of the last output; a is a scaling factor, in this embodiment, a is 1, and in other embodiments, a may also be other, which is not limited herein.
In the above algorithm, Δ c (k) can be understood as being obtained by differentiating the output of the localized PID algorithm, and then integrating Δ c (k) to obtain Pout(k) Therefore, the overshoot of the output PWM duty ratio by the PID algorithm can be reduced, and the motor can run normally and stably.
In addition, when the electric hammer does not meet the condition that the starting current is larger than the preset low-temperature starting current threshold and the motor phase change step number is smaller than the preset phase change step number threshold, the electric hammer is not in the low-temperature starting state at present, the electric hammer does not enter the low-temperature starting current limiting mode, and the electric hammer enters the working mode in the normal mode.
The first judgment unit includes: the acquisition module is used for acquiring the phase change step number of the motor of the electric hammer; the judging module is used for judging whether the phase change step number of the motor is smaller than a phase change step number threshold value or not; and the judging module is used for judging that the electric hammer is in a starting state when the phase change step number of the motor is smaller than the phase change step number threshold value.
Specifically, the threshold value of the number of commutation steps of the motor is a numerical value used for distinguishing whether the electric hammer is in a starting stage, the number of commutation steps of the motor is accumulated from the starting of the motor, and the number of commutation steps is in direct proportion to the rotating speed of the motor. It can be understood that when the motor starts, the rotating speed is gradually increased until the rotating speed is a certain rotating speed and is not changed, at this time, the electric hammer is completely started, and the reversing steps are accumulated to a certain value, namely the reversing step threshold value of the motor. The rotational speed can thus be determined by the number of commutation steps of the motor, while it is further determined by the rotational speed whether the hammer is in the starting phase.
When the real-time reversing step number of the motor is larger than the reversing step number threshold value, the motor is indicated to be high in rotating speed and completely started, and at the moment, the electric hammer does not need to be controlled to enter a low-temperature starting current limiting mode; when the real-time reversing step number of the motor is smaller than the reversing step number threshold value, the rotating speed of the motor is slow, the electric hammer is not completely started and still in a starting stage, and if the starting current is larger than the low-temperature starting current threshold value at the same time, the electric hammer needs to be controlled to enter a low-temperature starting current limiting mode.
In one embodiment, the motor speed may be sensed by a hall sensor to determine whether the hammer is in the initial start-up phase. The Hall sensor is a sensor which is commonly used and has higher precision, and the installation and measurement mode is also simpler and more convenient. Measuring the motor speed by the hall sensor is a mature technology and is not described herein.
In this embodiment, it is first determined whether the electric hammer is in the start state, and if the electric hammer is in the start state, the current start current of the electric hammer is obtained, and it is further determined whether the current start current is smaller than a preset low-temperature start current threshold. When the electric hammer meets the conditions, the current environment is a low-temperature environment, and the motor of the electric hammer is in a low-speed starting stage. And controlling the electric hammer to enter a low-temperature starting current limiting mode and starting the electric hammer by using the current limited by the low-temperature starting current limiting mode. The current after the low-temperature current-limiting mode is adopted to limit starts the electric hammer, the starting current is reduced, the situation that the starting current of the electric hammer is too large is prevented, and the controller enters overcurrent protection, so that the problem that the low-temperature starting of the electric hammer fails is effectively solved. And the electric hammer is smoother when entering a low-temperature starting current-limiting mode in a starting state, larger moment fluctuation can not be generated, unstable operation and even out of control of the electric hammer can be avoided, and the control and experience of a user on the electric hammer are ensured.
EXAMPLE seven
Referring to fig. 7, a virtual module intention of an electric hammer according to a seventh embodiment of the present invention is different from the sixth embodiment in that the electric hammer includes a switch for controlling a starting current, a magnitude of the starting current is positively correlated to a switching range data of the switch, and the electric hammer further includes:
the second acquiring unit 50 is used for acquiring the current output duty ratio of the electric hammer in the low-temperature current limiting mode;
a receiving unit 60 for receiving the switching range data converted by the push switch and reducing the current of the electric hammer according to the switching range data;
a calculating unit 70, configured to calculate a conversion output duty ratio according to the reduced current;
a third judging unit 80, configured to judge whether the conversion output duty ratio is smaller than the current output duty ratio;
and the second control unit 90 is used for controlling the electric hammer to exit the low-temperature starting current limiting mode when the conversion output duty ratio is smaller than the current output duty ratio.
Specifically, after the electric hammer is successfully started in the low-temperature starting current-limiting mode, the output duty ratio of the electric hammer currently in the low-temperature starting current-limiting mode also changes along with the starting current, and the output duty ratio is the current output duty ratio. When the electric hammer is in the mode, in order to ensure the control of a user on the electric hammer, the electric hammer also comprises the switch for controlling the starting current, and when the user judges that the current electric hammer can work under the current of the normal working mode, the user can control the starting current by pressing the switch, and meanwhile, the change of the output duty ratio can be controlled. The switch range data is in positive correlation with the starting current, and it can be understood that the larger the amplitude of the press switch is, the larger the switch range data is, the larger the starting current is, and the output duty ratio of the motor is also influenced.
In this embodiment, when the electric hammer is in the low-temperature current-limiting mode, whether the electric hammer is controlled by a user is judged by comparing the current output duty ratio of the electric hammer in the low-temperature starting current-limiting mode with the conversion output duty ratio obtained by pressing the switch by the user, and the starting current is reduced until the electric hammer exits from the low-temperature starting current-limiting mode. And the electric hammer is smoother when exiting from the low-temperature starting current-limiting mode, larger torque fluctuation can not be generated, unstable operation and even out of control of the electric hammer can be avoided, and the control and experience of a user on the electric hammer are guaranteed.
Example eight
Please refer to fig. 8, which is a virtual module of the electric hammer according to an eighth embodiment of the present invention, wherein the eighth embodiment is different from the sixth embodiment in that the electric hammer further includes:
the detection unit 100 is used for detecting the running time of the electric hammer in a low-temperature starting current limiting mode;
a fourth judging unit 110, configured to judge whether the operation duration is greater than a preset duration;
and a third control unit 120, configured to control the electric hammer to exit the low-temperature start current limiting mode when the operation duration is longer than the preset duration.
It can be understood that when the electric hammer is started at a low temperature, the current of the electric hammer is limited, and when the electric hammer is started at a low temperature, a user may not know when or forget to control the electric hammer to exit the current limiting mode, so that the electric hammer is still in a low current condition, and subsequent normal operation is affected. Therefore, in this embodiment, the running time of the electric hammer entering the low-temperature starting current-limiting mode is obtained in real time, when the running time is longer than the preset time, it is indicated that the electric hammer is started completely in the low-temperature environment, the electric hammer can enter the normal running mode, at this time, the electric hammer is controlled to automatically exit the low-temperature starting current-limiting mode, and the intelligence of the electric hammer and the experience of a user are improved.
The preset time duration can be the time duration which is measured through relevant experiments and is used for completing the starting of the electric hammer in the low-temperature environment, the preset time duration is accurate, and the electric hammer is accurately switched to the normal mode after being completely started in the low-temperature starting current-limiting mode.
Example nine
Referring to fig. 9, a virtual module intention of an electric hammer according to a ninth embodiment of the present invention is different from a sixth embodiment in that the electric hammer includes a switch for controlling a starting current, a magnitude of the starting current is positively correlated to a switching range data of the switch, and the electric hammer further includes:
a third obtaining unit 130, configured to obtain switching stroke data of the electric hammer before entering the low-temperature start current limiting mode to obtain a set duty ratio;
the change of the switching range is fed back by the change of the voltage, the controller of the electric hammer samples the voltage change (the sampled value is 0-4096) according to the switching range data, and then the voltage change is multiplied by a preset proportionality coefficient to obtain the set duty ratio.
A fourth obtaining unit 140, configured to obtain an output duty ratio currently output by the electric hammer through a PID current-limiting algorithm;
the current output duty ratio of the electric hammer can be obtained by adopting the PID current-limiting algorithm in the sixth embodiment.
A fifth judging unit 150, configured to compare the set duty cycle, the output duty cycle, and the duty cycle threshold;
and the fourth control unit 160 is used for controlling the electric hammer to exit the low-temperature starting current limiting mode and enter the normal starting mode when the set duty ratio is smaller than the output duty ratio or the output duty ratio is larger than the duty ratio threshold value.
The duty ratio threshold value is a duty ratio value preset according to actual tests, when the output of the electric hammer motor is controlled to change the duty ratio threshold value, the electric hammer motor does not generate large rotation speed fluctuation and current fluctuation after exiting the low-temperature starting current limiting mode, and for example, the duty ratio threshold value is 80%.
After the electric hammer is started for a certain time, the motor gradually heats, the lubricating oil plays a role, and the load of the motor is reduced. Therefore, when the set duty ratio is smaller than the current output duty ratio, the current load of the motor is smaller, the output current is lower in the normal working state, and the overcurrent protection of the controller cannot be caused. When the output duty ratio of the electric hammer motor is larger than the preset duty ratio threshold value, the electric hammer does not generate large rotation speed fluctuation and current fluctuation after exiting the low-temperature starting current-limiting mode, and potential safety hazards are avoided.
In summary, after the electric hammer enters the low-temperature start current limiting mode, the set duty ratio, the output duty ratio and the duty ratio threshold are compared to determine the relationship among the three. When the set duty ratio is smaller than the output duty ratio or the output duty ratio is larger than the duty ratio threshold value, controlling the electric hammer to exit the low-temperature starting current limiting mode and enter a normal starting mode, and enabling the electric hammer to normally work; when the set duty ratio is larger than or equal to the output duty ratio or the output duty ratio is smaller than or equal to the duty ratio threshold value, the electric hammer is controlled to keep a low-temperature starting current limiting mode, and the electric hammer is ensured to be started successfully.
In this embodiment, after the electric hammer enters the low-temperature start current limiting mode, the preset duty ratio and the output duty ratio of the electric hammer are calculated, the preset duty ratio threshold is obtained, the relation among the preset duty ratio, the output duty ratio and the duty ratio threshold is compared, when the set duty ratio is smaller than the output duty ratio or the output duty ratio is larger than the duty ratio threshold, it is determined that the electric hammer can be started successfully, the electric hammer is controlled to exit the low-temperature start current limiting mode and enter the normal start mode, the electric hammer works normally, and the influence on the performance of the electric hammer caused by excessive limitation on the output current of the electric hammer is avoided.
Further, in another alternative embodiment, the electric hammer further includes a reminder, and the electric hammer further includes:
and the fifth control unit is used for controlling the prompter to send out a prompt signal for indicating that the electric hammer enters a low-temperature starting current-limiting mode.
Specifically, the prompting device sends out a prompting signal, so that a user can be effectively reminded that the electric hammer currently enters a low-temperature starting current limiting mode, and the condition that the user makes unreasonable operation to influence the starting of the electric hammer in a low-temperature environment when the user does not know that the electric hammer enters the low-temperature starting current limiting mode is avoided. Specifically, the prompting device may be a sound-light device, a display device, or other devices having a certain prompting function, and the prompting signal may be a sound-light signal, a displayed image, a character, or other signals having a certain prompting function, which is not specifically limited herein, and may be specifically selected in an actual embodiment.
The electric hammer provided by the invention has the same realization principle and technical effect as the control method of the electric hammer, and for the sake of brief description, corresponding contents in the control method of the electric hammer can be referred to where the electric hammer is not mentioned.
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 and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (12)
1. A method of controlling an electric hammer, the method comprising the steps of:
judging whether the electric hammer is in a starting state or not;
if yes, acquiring the starting current of the electric hammer;
judging whether the starting current is larger than a low-temperature starting current threshold value or not;
and if so, controlling the electric hammer to enter a low-temperature starting current limiting mode and starting the electric hammer by using the current limited by the low-temperature starting current limiting mode.
2. The method for controlling an electric hammer according to claim 1, wherein if yes, controlling the electric hammer to enter a low-temperature-start current-limiting mode, and starting the electric hammer with a current limited by the low-temperature-start current-limiting mode comprises:
setting a current limiting target value of the electric hammer in the low-temperature starting current limiting mode;
obtaining a PWM duty ratio through a PID current limiting algorithm according to the current limiting target value and the current value;
and controlling the current of the electric hammer to be stabilized at the current-limiting target value according to the PWM duty ratio, and starting the electric hammer according to the current-limiting target value.
3. The method for controlling an electric hammer according to claim 1, wherein the electric hammer includes a switch for controlling the starting current, the starting current is positively correlated with the switching range data of the switch, if yes, the method for controlling the electric hammer to enter the low-temperature starting current limiting mode and start with the current limited by the low-temperature starting current limiting mode includes:
acquiring the current output duty ratio of the electric hammer in the low-temperature starting current-limiting mode;
receiving switch range data converted by pressing the switch, and reducing the current of the electric hammer according to the switch range data;
calculating to obtain a conversion output duty ratio according to the reduced current;
judging whether the conversion output duty ratio is smaller than the current output duty ratio;
and if so, controlling the electric hammer to exit the low-temperature starting current limiting mode.
4. The method for controlling an electric hammer according to claim 1, wherein if yes, after the step of controlling the electric hammer to enter a low-temperature-start current-limiting mode and start with the current limited by the low-temperature-start current-limiting mode, the method further comprises:
detecting the running time of the electric hammer in the low-temperature starting current limiting mode;
judging whether the operation time length is greater than a preset time length or not;
and if so, controlling the electric hammer to exit the low-temperature starting current limiting mode.
5. The method for controlling an electric hammer according to claim 1, wherein the electric hammer includes a switch for controlling the starting current, the starting current is positively correlated with the switching range data of the switch, if yes, the electric hammer is controlled to enter the low-temperature starting current limiting mode, and after the step of starting with the current limited by the low-temperature starting current limiting mode, the method further includes:
acquiring the switching range data of the electric hammer before the electric hammer enters the low-temperature starting current-limiting mode to obtain a set duty ratio;
acquiring the output duty ratio currently output by the electric hammer through a PID current-limiting algorithm;
comparing the set duty cycle, the output duty cycle and a duty cycle threshold;
and when the set duty ratio is smaller than the output duty ratio or the output duty ratio is larger than the duty ratio threshold value, controlling the electric hammer to exit the low-temperature starting current limiting mode and enter a normal starting mode.
6. The method of controlling an electric hammer according to claim 1, wherein the determining whether the electric hammer is in the activated state includes:
acquiring the number of motor phase change steps of the electric hammer;
judging whether the phase change step number of the motor is smaller than a phase change step number threshold value or not;
if yes, the electric hammer is judged to be in the starting state.
7. An electric hammer, comprising:
the first judging unit is used for judging whether the electric hammer is in a starting state or not;
the first acquisition unit is used for acquiring the starting current of the electric hammer if the current is positive;
the second judging unit is used for judging whether the starting current is larger than a low-temperature starting current threshold value or not;
and the first control unit is used for controlling the electric hammer to enter a low-temperature starting current limiting mode and starting the electric hammer by the current limited by the low-temperature starting current limiting mode if the current is positive.
8. The electric hammer of claim 7, wherein the first control unit includes:
the setting module is used for setting a current limiting target value of the electric hammer in the low-temperature starting current limiting mode;
the calculation module is used for obtaining a PWM duty ratio through a PID current limiting algorithm according to the current limiting target value and the current value;
and the control module is used for controlling the current of the electric hammer to be stabilized at the current-limiting target value according to the PWM duty ratio and starting the electric hammer according to the current-limiting target value.
9. The hammer drill of claim 7, wherein the hammer drill includes a switch for controlling the activation current, the activation current having a magnitude that positively correlates with the switch range data of the switch, the hammer drill further comprising:
the second acquisition unit is used for acquiring the current output duty ratio of the electric hammer in the low-temperature current limiting mode;
the receiving unit is used for receiving the switch range data converted by pressing the switch and reducing the current of the electric hammer according to the switch range data;
the calculating unit is used for calculating to obtain the conversion output duty ratio according to the reduced current;
a third judging unit, configured to judge whether the conversion output duty ratio is smaller than the current output duty ratio;
and the second control unit is used for controlling the electric hammer to exit the low-temperature starting current limiting mode when the conversion output duty ratio is smaller than the current output duty ratio.
10. The electric hammer of claim 7, further comprising:
the detection unit is used for detecting the running time of the electric hammer in the low-temperature starting current limiting mode;
the fourth judging unit is used for judging whether the running time length is greater than the preset time length or not;
and the third control unit is used for controlling the electric hammer to exit the low-temperature starting current limiting mode when the running time length is longer than the preset time length.
11. The hammer drill of claim 7, wherein the hammer drill includes a switch for controlling the activation current, the activation current having a magnitude that positively correlates with the switch range data of the switch, the hammer drill further comprising:
the third acquisition unit is used for acquiring the switching range data of the electric hammer before the electric hammer enters the low-temperature starting current limiting mode so as to obtain a set duty ratio;
the fourth acquisition unit is used for acquiring the output duty ratio currently output by the electric hammer through a PID current-limiting algorithm;
a fifth judging unit, configured to compare the set duty cycle, the output duty cycle, and a duty cycle threshold;
and the fourth control unit is used for controlling the electric hammer to exit the low-temperature starting current limiting mode and enter a normal starting mode when the set duty ratio is smaller than the output duty ratio or the output duty ratio is larger than the duty ratio threshold value.
12. The electric hammer according to claim 7, wherein the first judging unit includes:
the acquisition module is used for acquiring the phase change step number of the motor of the electric hammer;
the judging module is used for judging whether the phase change step number of the motor is smaller than a phase change step number threshold value or not;
and the judging module is used for judging that the electric hammer is in a starting state when the phase change step number of the motor is smaller than the threshold value of the phase change step number.
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| CN114193402A (en) * | 2021-12-30 | 2022-03-18 | 无锡知荣电子有限公司 | Control method of electric impact tool |
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