CN113866547A - Base point confirmation method and device, electric cylinder and storage medium - Google Patents
Base point confirmation method and device, electric cylinder and storage medium Download PDFInfo
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- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
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- G—PHYSICS
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- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
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- G01R19/165—Indicating that current or voltage is either above or below a predetermined value or within or outside a predetermined range of values
- G01R19/16566—Circuits and arrangements for comparing voltage or current with one or several thresholds and for indicating the result not covered by subgroups G01R19/16504, G01R19/16528, G01R19/16533
- G01R19/16571—Circuits and arrangements for comparing voltage or current with one or several thresholds and for indicating the result not covered by subgroups G01R19/16504, G01R19/16528, G01R19/16533 comparing AC or DC current with one threshold, e.g. load current, over-current, surge current or fault current
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Abstract
The application provides a base point confirmation method and device, an electric cylinder and a storage medium, and relates to the technical field of electric cylinder control. The method is applied to a controller of an electric cylinder control system, the electric cylinder control system further comprises a motor, a push rod, a rotating speed sensor and a current sensor, the controller is electrically connected with the motor, and the motor is also connected with the push rod; the rotating speed sensor and the current sensor are respectively electrically connected with the motor and the controller; firstly, receiving a base point confirmation instruction, and then controlling a motor to operate according to the base point confirmation instruction so as to drive a push rod to move; and finally, when the rotating speed value is equal to 0 and the current value is greater than a threshold value, determining the position of the push rod as the position of the base point. The base point confirmation method and device, the electric cylinder and the storage medium have the advantages of being low in cost and strong in stability.
Description
Technical Field
The application relates to the technical field of electric cylinder control, in particular to a base point confirmation method and device, an electric cylinder and a storage medium.
Background
The electric cylinder is a key device in the field of automatic control, and in order to enable the operation precision of the electric cylinder to be higher, a base point calibration needs to be carried out on a push rod of the capacitor cylinder before the electric cylinder works normally.
At present, the base point calibration method is generally realized by triggering a sensor such as a limit switch, and when the sensor is triggered, the base point of the stroke of the electric cylinder can be set.
However, the sensor is arranged, so that the cost of the device is increased, and the problem that the system cannot normally operate due to the fault of the sensor can also occur.
In summary, in the prior art, when the base point calibration is performed, the sensor cost is increased, and a problem of sensor failure may occur.
Disclosure of Invention
The application aims to provide a base point confirmation method and device, an electric cylinder and a storage medium, so as to solve the problems that the cost of a sensor is increased and the sensor is likely to have faults when base point calibration is carried out in the prior art.
In order to achieve the above purpose, the embodiments of the present application employ the following technical solutions:
in a first aspect, an embodiment of the present application provides a base point confirmation method, which is applied to a controller of an electric cylinder control system, where the electric cylinder control system further includes a motor, a push rod, a rotation speed sensor, and a current sensor, the controller is electrically connected to the motor, and the motor is further connected to the push rod; the rotating speed sensor and the current sensor are respectively electrically connected with the motor and the controller; the method comprises the following steps:
receiving a base point confirmation instruction;
controlling the motor to operate according to the base point confirmation instruction so as to drive the push rod to move;
receiving a rotating speed value and a current value transmitted by the rotating speed sensor and the current sensor in real time;
and when the rotating speed value is equal to 0 and the current value is greater than the threshold value, determining that the position of the push rod is the base point position.
Optionally, the step of controlling the operation of the motor according to the base point confirmation command comprises:
and controlling the motor to run at a constant speed according to the base point confirmation instruction.
Optionally, when the rotation speed value is equal to 0 and the current value is greater than the threshold value, the step of determining that the position of the push rod is the base point position includes:
when the rotating speed value is equal to 0 and the current value is greater than 2I, determining that the position of the push rod is the position of a base point; wherein, I represents the current value collected by the current sensor when the push rod does not reach the base point position.
Optionally, before the step of controlling the motor to operate according to the base point confirmation command to drive the push rod to move, the method further includes:
acquiring an operation rotating speed value of the motor in a normal working mode;
the step of controlling the motor to operate according to the base point confirmation instruction to drive the push rod to move comprises the following steps:
determining a current rotating speed value according to the operating rotating speed value, and controlling the motor to operate according to the current rotating speed value so as to drive the push rod to move; wherein the current rotation speed value is in a preset proportion to the operation rotation speed value.
Optionally, when the rotation speed value is equal to 0 and the current value is greater than the threshold value, the step of determining that the position of the push rod is the base point position includes:
and when the rotating speed value is equal to 0 and the time length of the current value greater than the threshold reaches the threshold, determining the position of the push rod as the base point position.
Optionally, the step of controlling the motor to operate according to the base point confirmation command to drive the push rod to move includes:
and controlling the rotating speed to operate at a rotating speed of less than 60RPM so as to drive the push rod to move.
In a second aspect, an embodiment of the present application further provides a base point confirmation device, which is applied to a controller of an electric cylinder control system, where the electric cylinder control system further includes a motor, a push rod, a rotation speed sensor, and a current sensor, the controller is electrically connected to the motor, and the motor is further connected to the push rod; the rotating speed sensor and the current sensor are respectively electrically connected with the motor and the controller; the device comprises:
a signal receiving unit for receiving a base point confirmation instruction;
the operation control unit is used for controlling the motor to operate according to the base point confirmation instruction so as to drive the push rod to move;
the signal receiving unit is also used for receiving the rotating speed value and the current value transmitted by the rotating speed sensor and the current sensor in real time;
and the base point determining unit is used for determining the position of the push rod as the position of the base point when the rotating speed value is equal to 0 and the current value is greater than the threshold value.
Optionally, the operation control unit is further configured to control the motor to operate at a constant speed according to the base point confirmation instruction.
Optionally, the base point determining unit is further configured to determine that the position of the push rod is the base point position when the rotation speed value is equal to 0 and the current value is greater than 2I; wherein, I represents the current value collected by the current sensor when the push rod does not reach the base point position.
In a third aspect, an embodiment of the present application further provides an electric cylinder, including: a memory for storing one or more programs;
a processor; the one or more programs, when executed by the processor, implement the radix point verification method described above.
In a fourth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the base point verification method described above.
Compared with the prior art, the method has the following beneficial effects:
the application provides a base point confirmation method and device, an electric cylinder and a storage medium, the method is applied to a controller of an electric cylinder control system, the electric cylinder control system further comprises a motor, a push rod, a rotating speed sensor and a current sensor, the controller is electrically connected with the motor, and the motor is also connected with the push rod; the rotating speed sensor and the current sensor are respectively electrically connected with the motor and the controller; firstly, receiving a base point confirmation instruction, and then controlling a motor to operate according to the base point confirmation instruction so as to drive a push rod to move; and finally, when the rotating speed value is equal to 0 and the current value is greater than a threshold value, determining the position of the push rod as the position of the base point. Because this application adopts the motor mode of short-time locked rotor to confirm the basic point of push rod, and then need not to adopt the sensor, the cost is reduced has reduced the probability of system's trouble simultaneously.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and it will be apparent to those skilled in the art that other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic structural diagram of an electric cylinder control system provided in an embodiment of the present application.
Fig. 2 is a block diagram of a controller according to an embodiment of the present disclosure.
Fig. 3 is a schematic flowchart of a base point verification method according to an embodiment of the present application.
Fig. 4 is a schematic block diagram of a base point verification device according to an embodiment of the present application.
In the figure:
100-an electric cylinder control system; 110-electrodes; 120-a controller; 130-a push rod; 140-an upper computer; 121-a processor; 122-a memory; 123-a communication interface; 200-base point confirmation means; 210-a signal receiving unit; 220-an operation control unit; 230-a judging unit; 240-base point determination unit.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the description of the present application, it is also to be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
As mentioned in the background art, the electric cylinder is a key device in the field of automation control, and engineering machines such as loaders and excavators all use the electric cylinder as a power device. When calibrating the base point of the electric cylinder, the base point is generally positioned by a sensor such as a position sensor, a limit sensor, or a displacement sensor, and the base point of the stroke of the electric cylinder can be set when the sensor is triggered.
However, the additional arrangement of the sensor not only increases the cost, but also may cause damage to the sensor during operation, which may result in the failure of the whole system. Therefore, the whole electric cylinder system has the problems of high cost, increased complexity and lower reliability.
In view of the above, the present application provides a method for identifying a base point, which is implemented by using the characteristics that when a motor is locked in rotation for a short time, the rotation speed is reduced to 0, and the current is increased.
Please refer to fig. 1, the base point identification method provided by the present application is applied to a controller 120 of an electric cylinder control system 100, the electric cylinder control system 100 further includes a motor, a push rod 130, a rotation speed sensor and a current sensor, the controller 120 is electrically connected to the motor, and the motor is further connected to the push rod 130; the rotation speed sensor and the current sensor are respectively electrically connected with the motor and the controller 120. The rotating speed sensor is used for measuring the rotating speed of the motor in real time, and the current sensor is used for measuring the current of the motor in real time. As an implementation manner, a rotor of the motor is connected to a threaded rod, and the push rod 130 is connected to the threaded rod, when the motor works, the rotor rotates, and the threaded rod also starts to rotate, so as to drive the push rod 130 to move forward or backward.
Meanwhile, referring to fig. 2, the controller 120 provided in the present application may include a memory 122, a processor 121, and a communication interface 123, where the memory 122, the processor 121, and the communication interface 123 are electrically connected to each other directly or indirectly to implement data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines.
The memory 122 may be used to store software programs and modules, such as program instructions or modules corresponding to the positioning apparatus provided in the embodiment of the present application, and the processor 121 executes the software programs and modules stored in the memory 122 to execute various functional applications and data processing, thereby executing the steps of the positioning method provided in the embodiment of the present application. The communication interface 123 may be used for communicating signaling or data with other node devices.
The Memory 122 may be, but is not limited to, a Random Access Memory (RAM) 122, a Read Only Memory (ROM) 122, a Programmable Read Only Memory (PROM) 122, an Erasable Read Only Memory (EPROM) 122, an Electrically Erasable Programmable Read Only Memory (EEPROM) 122, and the like.
The processor 121 may be an integrated circuit chip having signal processing capabilities. The Processor 121 may be a general-purpose Processor 121, including a Central Processing Unit 121 (CPU), a Network Processor 121 (NP), and the like; but may also be a Digital Signal processor 121 (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware components.
It will be appreciated that the configuration shown in fig. 1 is merely illustrative and that the controller 120 may include more or fewer components than shown in fig. 1 or may have a different configuration than shown in fig. 1. The components shown in fig. 1 may be implemented in hardware, software, or a combination thereof.
The following is an exemplary description of the base point verification method provided in the present application:
as an alternative implementation, please refer to fig. 3, the base point verification method provided in the present application includes:
s102, a base point confirmation command is received.
And S104, controlling the motor to operate according to the base point confirmation instruction so as to drive the push rod to move.
And S106, receiving the rotating speed value and the current value transmitted by the rotating speed sensor and the current sensor in real time.
And S108, judging whether the rotating speed value is equal to 0 and the current value is larger than the threshold value, if so, executing S110, and if not, returning to execute S108.
And S110, determining the position of the push rod as the position of the base point.
The electric cylinder control system 100 further includes an upper computer 140, the upper computer 140 is electrically connected to the controller 120, and the upper computer 140 can receive relevant instructions sent by a user in a manual control or remote control manner, generate corresponding working instructions, and send the corresponding working instructions to the controller 120. For example, the user may send a command to start work remotely, and after receiving the command, the upper computer 140 generates a base point confirmation command before executing the work command or after stopping the work every time, so as to confirm the push rod 130.
After the controller 120 receives the base point confirmation instruction sent by the upper computer 140, the motor is controlled to realize the base point confirmation, that is, the motor is controlled to operate, and then the push rod 130 is driven to move towards the direction of the base point. The base point described in the present application may refer to the extreme point where the push rod 130 can move to the leftmost or rightmost position, that is, the longest point where the push rod 130 can extend. Of course, the base point may also be a point customized by the user, for example, a point where half of the longest value of the push rod 130 can be extended is located, for example, a corresponding holding device is provided at the point, and when the push rod 130 moves to the point, the locked-rotor condition can be generated.
Meanwhile, in the process of the motor movement, the rotation speed sensor can acquire the rotation speed value of the motor operation in real time, and the current sensor can acquire the current value of the motor operation in real time and feed the current value and the rotation speed value back to the controller 120.
It should be noted that, in practical applications, the sequence between S104 and S106 is not in order.
The application utilizes the motor locked-rotor condition to determine whether the push rod 130 has reached the base point, and then realizes the base point confirmation, and when the push rod 130 reaches the base point and the motor locked-rotor condition appears, the rotating speed of the motor can be reduced to 0, and the current of the motor can be continuously increased.
In the present application, when it is determined that the rotation speed value is equal to 0 and the current value is greater than the threshold value, it can be determined that the push rod 130 has reached the base point position. In other words, the controller 120 determines that the push rod 130 has reached the base point when it is determined that the rotation speed value and the current value satisfy the conditions at the same time, and indicates that the base point has not been reached if one of the conditions is not satisfied or only one of the conditions is satisfied. For example, when the rotation speed value is not equal to 0 and the current value is greater than the threshold value, it may be that the operating current of the motor fluctuates and the base point has not been reached yet. Alternatively, when the rotation speed value is not equal to 0 and the current value is smaller than the threshold value, it also indicates that the drag link has not reached the base point, and the controller 120 re-executes the determination process of S108 until the push rod 130 reaches the base point position.
It should be understood that, when the determination process of S108 is executed, the determination may be performed in a periodic manner, for example, twice per second, and the determination is continuously cycled until the rotation speed value and the current value both meet the requirement, at which time the cycle is exited.
It is understood that when the rotation speed value is equal to 0 and the current value is greater than the threshold value, the position of the push rod 130 is determined as the base point position. At this time, the controller 120 may mark the current position of the push rod 130 as "0", and may mark the current position as another fixed position value, which is not limited herein.
Through the implementation mode, on the basis of removing the sensor, for example, the positioning of the base point of the push rod 130 is realized in a locked-rotor current and rotating speed mode, so that on one hand, the cost of the sensor is saved, on the other hand, the condition that the electric cylinder control system 100 cannot work due to the fact that the sensor breaks down in the working process is avoided, the complexity of the system is reduced, and meanwhile, the reliability of the system is improved.
In an alternative implementation manner, in order to ensure that the motor is not damaged when the locked rotor condition occurs, the controller 120 needs to control the motor to operate at a constant speed when controlling the motor to operate, so as to avoid that the speed of the push rod 130 is too high when the locked rotor condition occurs. For example, the motor works at a constant speed of 30 revolutions per minute, when locked-rotor occurs, the rotating speed of the motor needs to be changed from 30 revolutions per minute to 0, the variation is small, and the condition that the motor is damaged can be avoided. If the motor works at a non-uniform speed, for example, the motor works at a rotation speed of 30-100 rpm, when a locked-rotor condition occurs, the rotation speed of the motor may be changed to 0 at 100 rpm, which may cause damage to the motor.
As an alternative implementation manner, in order to avoid the motor from malfunctioning during the operation and require a low rotation speed for the motor to operate, the controller 120 may further obtain an operation rotation speed value of the motor in the normal operation mode, determine a current rotation speed value according to the operation rotation speed value, and control the motor to operate according to the current rotation speed value to drive the push rod 130 to move; wherein, the current rotating speed value is in a preset proportion with the running rotating speed value. When the operation rotation speed value of the motor in the normal operation mode is determined, the average value of the rotation speeds within a certain period may be determined, when the motor is in the normal operation mode, the rotation speed of the electrode 110 is high, and when the base point is determined, the electrode needs to be operated at a very slow speed, so that the current rotation speed value of the motor may be proportionally determined according to the operation rotation speed value of the motor in the normal operation mode, for example, the operation rotation speed value of the motor is 2000 rpm, the current rotation speed value may be set to 1/50 of the operation rotation speed value, and the current rotation speed value may be set to 40 rpm.
In an alternative implementation, in order to operate the motor in the low speed mode, the controller 120 controls the motor to operate at a speed less than 60RPM, so as to slowly move the push rod 130 toward the base point.
In addition, when the determination of whether the base point is reached is performed, the threshold value of the present application may be set to 2I, that is, when the rotation speed value is equal to 0 and the current value is greater than 2I, the position of the push rod 130 is determined as the base point position; wherein, I represents the current value collected by the current sensor when the push rod 130 does not reach the base point position.
Of course, the setting of the threshold may also vary according to actual situations, for example, the threshold may also be set to 3I, 4I or 5I, and the like, which is not limited herein. By setting the relationship between the threshold and I to be a multiple greater than 1, the threshold for judging whether the locked rotor is always greater than the current value when the electrode 110 does not reach the base point, and the accuracy of determining the base point can be further ensured.
In an alternative implementation manner, when determining the base point position, in order to improve the accuracy, the locked rotor time may be added to determine the base point position. On this basis, the step of S108 includes:
and judging whether the rotating speed value is equal to 0 and the time length of the current value greater than the threshold reaches the threshold, if so, determining that the position of the push rod is the base point position, and if not, determining that the push rod does not reach the base point position.
Optionally, the threshold value described in this application may be set to 500ms, that is, when the motor is locked, and the locked-rotor time reaches 500ms, it may be determined that the push rod reaches the base point. And, set up the locked-rotor time to 500ms, can realize the accurate definite to the basic point position on the one hand, on the other hand because the time is not long, consequently can not appear the electrode long-time locked-rotor, lead to the condition that the motor breaks down, protected the motor effectively.
Based on the foregoing implementation manner, an embodiment of the present application further provides a base point confirmation device 200, which is applied to the controller 120 of the electric cylinder control system 100, where the electric cylinder control system 100 further includes a motor, a push rod 130, a rotation speed sensor, and a current sensor, the controller 120 is electrically connected to the motor, and the motor is further connected to the push rod 130; the rotating speed sensor and the current sensor are respectively electrically connected with the motor and the controller 120; referring to fig. 4, the apparatus includes:
a signal receiving unit 210, configured to receive a base point confirmation instruction.
It is understood that the above S102 may be performed by the signal receiving unit 210.
The operation control unit 220 is used for controlling the motor to operate according to the base point confirmation instruction so as to drive the push rod 130 to move.
It is understood that the above S104 may be performed by the operation control unit 220.
The signal receiving unit 210 is further configured to receive a rotation speed value and a current value transmitted by the rotation speed sensor and the current sensor in real time.
It is understood that the above S106 may be performed by the signal receiving unit 210.
And a determining unit 230 for determining whether the rotation speed value is equal to 0 and the current value is greater than the threshold value.
It is understood that the above S108 may be performed by the judging unit 230.
The base point determining unit 240 determines that the push rod 130 is located at the base point position when the rotation speed value is equal to 0 and the current value is greater than the threshold value.
It is understood that the above S110 may be performed by the base point determining unit 240.
In addition, the operation control unit 220 is further configured to control the motor to operate at a constant speed according to the base point confirmation command.
The base point determining unit 240 is further configured to determine the position of the push rod 130 as the base point position when the rotation speed value is equal to 0 and the current value is greater than 2I; wherein, I represents the current value collected by the current sensor when the push rod 130 does not reach the base point position.
As another implementation manner, the embodiment of the present application further provides an electric cylinder, which includes a memory 122 and a processor 121, where the memory 122 is configured to store one or more programs; the processor 121 is configured to implement the above-described radix point confirmation method when one or more programs are executed by the processor 121.
In summary, the present application provides a method and an apparatus for determining a base point, an electric cylinder and a storage medium, where the method is applied to a controller of an electric cylinder control system, the electric cylinder control system further includes a motor, a push rod, a rotation speed sensor and a current sensor, the controller is electrically connected to the motor, and the motor is further connected to the push rod; the rotating speed sensor and the current sensor are respectively electrically connected with the motor and the controller; firstly, receiving a base point confirmation instruction, and then controlling a motor to operate according to the base point confirmation instruction so as to drive a push rod to move; and finally, when the rotating speed value is equal to 0 and the current value is greater than a threshold value, determining the position of the push rod as the position of the base point. Because this application adopts the motor mode of short-time locked rotor to confirm the basic point of push rod, and then need not to adopt the sensor, the cost is reduced has reduced the probability of system's trouble simultaneously.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The apparatus embodiments described above are merely illustrative and, for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s).
It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved.
It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, the functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: u disk, removable hard disk, read only memory, random access memory, magnetic or optical disk, etc. for storing program codes. Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A base point confirmation method is characterized by being applied to a controller of an electric cylinder control system, wherein the electric cylinder control system further comprises a motor, a push rod, a rotating speed sensor and a current sensor, the controller is electrically connected with the motor, and the motor is also connected with the push rod; the rotating speed sensor and the current sensor are respectively electrically connected with the motor and the controller; the method comprises the following steps:
receiving a base point confirmation instruction;
controlling the motor to operate according to the base point confirmation instruction so as to drive the push rod to move;
receiving a rotating speed value and a current value transmitted by the rotating speed sensor and the current sensor in real time;
and when the rotating speed value is equal to 0 and the current value is greater than the threshold value, determining that the position of the push rod is the base point position.
2. The basepoint verification method of claim 1, wherein the step of controlling operation of the motor in accordance with the basepoint verification command comprises:
and controlling the motor to run at a constant speed according to the base point confirmation instruction.
3. The method for confirming a base point according to claim 1, wherein the step of determining that the push rod is located at the base point position when the rotation speed value is equal to 0 and the current value is greater than the threshold value comprises:
when the rotating speed value is equal to 0 and the current value is greater than 2I, determining that the position of the push rod is the position of a base point; wherein, I represents the current value collected by the current sensor when the push rod does not reach the base point position.
4. The base point verification method according to claim 1, wherein before the step of controlling the motor to operate according to the base point verification command to move the push rod, the method further comprises:
acquiring an operation rotating speed value of the motor in a normal working mode;
the step of controlling the motor to operate according to the base point confirmation instruction to drive the push rod to move comprises the following steps:
determining a current rotating speed value according to the operating rotating speed value, and controlling the motor to operate according to the current rotating speed value so as to drive the push rod to move; wherein the current rotation speed value is in a preset proportion to the operation rotation speed value.
5. The method for confirming a base point according to claim 1, wherein the step of determining that the push rod is located at the base point position when the rotation speed value is equal to 0 and the current value is greater than the threshold value comprises:
and when the rotating speed value is equal to 0 and the time length of the current value greater than the threshold reaches the threshold, determining the position of the push rod as the base point position.
6. The base point verification method according to claim 1, wherein the step of controlling the motor to operate according to the base point verification command to move the push rod comprises:
and controlling the rotating speed to operate at a rotating speed of less than 60RPM so as to drive the push rod to move.
7. A base point confirmation device is characterized by being applied to a controller of an electric cylinder control system, wherein the electric cylinder control system further comprises a motor, a push rod, a rotating speed sensor and a current sensor, the controller is electrically connected with the motor, and the motor is also connected with the push rod; the rotating speed sensor and the current sensor are respectively electrically connected with the motor and the controller; the device comprises:
a signal receiving unit for receiving a base point confirmation instruction;
the operation control unit is used for controlling the motor to operate according to the base point confirmation instruction so as to drive the push rod to move;
the signal receiving unit is also used for receiving the rotating speed value and the current value transmitted by the rotating speed sensor and the current sensor in real time;
and the base point determining unit is used for determining the position of the push rod as the position of the base point when the rotating speed value is equal to 0 and the current value is greater than the threshold value.
8. The base point verification apparatus of claim 7, wherein the operation control unit is further configured to control the motor to operate at a constant speed according to the base point verification command.
9. An electric cylinder, characterized by comprising:
a memory for storing one or more programs;
a processor;
the one or more programs, when executed by the processor, implement the method of any of claims 1-6.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-6.
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| CN202111174099.3A CN113866547A (en) | 2021-10-09 | 2021-10-09 | Base point confirmation method and device, electric cylinder and storage medium |
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| CN202111174099.3A CN113866547A (en) | 2021-10-09 | 2021-10-09 | Base point confirmation method and device, electric cylinder and storage medium |
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