CN114592765A - Platform cover plate control method and device - Google Patents

Platform cover plate control method and device Download PDF

Info

Publication number
CN114592765A
CN114592765A CN202210288921.7A CN202210288921A CN114592765A CN 114592765 A CN114592765 A CN 114592765A CN 202210288921 A CN202210288921 A CN 202210288921A CN 114592765 A CN114592765 A CN 114592765A
Authority
CN
China
Prior art keywords
driving motor
cover plate
platform cover
pulse number
preset
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202210288921.7A
Other languages
Chinese (zh)
Other versions
CN114592765B (en
Inventor
王喜军
余铁辉
傅涛
齐国东
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ficont Industry Beijing Co Ltd
Original Assignee
Ficont Industry Beijing Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ficont Industry Beijing Co Ltd filed Critical Ficont Industry Beijing Co Ltd
Priority to CN202210288921.7A priority Critical patent/CN114592765B/en
Priority to PCT/CN2022/085307 priority patent/WO2023178733A1/en
Publication of CN114592765A publication Critical patent/CN114592765A/en
Application granted granted Critical
Publication of CN114592765B publication Critical patent/CN114592765B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/60—Power-operated mechanisms for wings using electrical actuators
    • E05F15/603—Power-operated mechanisms for wings using electrical actuators using rotary electromotors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D80/00—Details, components or accessories not provided for in groups F03D1/00 - F03D17/00
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2999/00—Subject-matter not otherwise provided for in this subclass
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction

Landscapes

  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Power-Operated Mechanisms For Wings (AREA)

Abstract

The invention provides a method and a device for controlling a platform cover plate, wherein the method is applied to an automatic cover plate, the automatic cover plate comprises the platform cover plate, a control device and a driving motor, the platform cover plate is connected with the driving motor, the driving motor is connected with the control device, and the control device is used for executing the method and comprises the following steps: determining a zero position, wherein the zero position corresponds to a fully closed state of the platform cover plate; responding to a preset pulse number of the driving motor in a first preset operation mode from a zero position, and controlling the driving motor to drive the platform cover plate to be opened; and responding to the preset pulse number of the driving motor which is operated from the position where the platform cover plate is opened according to a second preset operation mode, and controlling the driving motor to drive the platform cover plate to be completely closed. By the platform cover plate control method, the situation that the platform cover plate cannot be completely opened or closed due to the fact that a mechanical switch is used as a limit position is avoided in the opening or closing process of the platform cover plate.

Description

Platform cover plate control method and device
Technical Field
The invention relates to the technical field of automation, in particular to a method and a device for controlling a platform cover plate.
Background
The wind generating set is a device which converts kinetic energy of wind into mechanical kinetic energy and then converts the mechanical energy into electric kinetic energy. The principle of the wind power generation set is that wind power is utilized to drive blades of a windmill to rotate, and then the rotating speed is increased through a speed increaser, so that a generator is promoted to generate electricity. The fan tower cylinder is used for supporting the blades and absorbing the vibration of the unit. The platform cover plate is a safe access door on each layer in the fan tower cylinder and is used for safe passing of operating personnel in the fan tower cylinder and interlayer isolation protection.
As is known in the art, the platform cover employs a mechanical switch (e.g., a rocker-type travel switch) as a limit. Because the trigger position of the travel switch is manually adjusted by a person. Because there is the error in manual regulation trigger position, the condition that travel switch is triggered too early or not triggered can appear in the open or the closed in-process of platform apron, and then causes the condition that the platform apron can't open completely or can't close completely and takes place.
Disclosure of Invention
The invention provides a platform cover plate control method and device, which are used for solving the defect that the platform cover plate cannot be completely opened or closed due to the fact that the trigger position of a travel switch is adjusted manually in the prior art, and realizing accurate control of the complete opening or the complete closing of the platform cover plate.
The invention provides a platform cover plate control method, which is applied to an automatic cover plate, wherein the automatic cover plate at least comprises a platform cover plate, a control device and a driving motor, the platform cover plate is connected with the driving motor, the driving motor is connected with the control device, the control device is used for executing the method, and the method specifically comprises the following steps: determining a zero position, wherein the zero position corresponds to a fully closed state of the platform cover plate; responding to the preset pulse number of the driving motor in the first preset operation mode from the zero position start operation, and controlling the driving motor to drive the platform cover plate to be opened; and responding to the preset pulse number of the driving motor which is operated from the position where the platform cover plate is opened according to a second preset operation mode, and controlling the driving motor to drive the platform cover plate to be completely closed.
According to the method for controlling the platform cover plate provided by the invention, the preset pulse number comprises a first preset pulse number, the position of the platform cover plate after being opened comprises the position of the platform cover plate after being completely opened, and the driving motor is controlled to drive the platform cover plate to be opened in response to the preset pulse number of the driving motor which is operated from the zero position according to a first preset operation mode, the method comprises the following steps: responding to the first preset pulse number of the driving motor which is operated from the zero position according to a first preset operation mode, and controlling the driving motor to drive the platform cover plate to be completely opened; the step of controlling the driving motor to drive the platform cover plate to be completely closed in response to the driving motor running a preset number of pulses from the position where the platform cover plate is located after being opened in a second preset running mode comprises the following steps: and responding to the first preset pulse number of the driving motor which is operated from the position where the platform cover plate is completely opened according to a second preset operation mode, and controlling the driving motor to drive the platform cover plate to be completely closed.
According to the present invention, in the process of opening and closing the platform cover, the method further comprises: determining the instant running speed and the actual running current of the driving motor in real time; adjusting a duty cycle of the pulse width modulation to sequentially cause the instantaneous operating speed to approach a corresponding speed threshold and the actual operating current to be no greater than a corresponding current threshold.
According to the present invention, in the process of opening and closing the platform cover, the method further comprises:
determining the instant running speed or the actual running current of the driving motor in real time;
and adjusting the duty ratio of the pulse width modulation so that the instant running speed approaches the corresponding speed threshold value correspondingly, or the actual running current is not greater than the corresponding current threshold value correspondingly.
According to the platform cover plate control method provided by the invention, the instant running speed of the driving motor is determined in the following way: monitoring the instant pulse number of the driving motor in real time; determining an instantaneous operating speed of the drive motor based on the instantaneous pulse number.
According to the control method of the platform cover plate provided by the invention, the actual operation current of the driving motor is determined in the following way: monitoring the instant pulse number of the driving motor in real time; determining an actual operating current of the drive motor based on the instantaneous pulse number.
According to the platform cover plate control method provided by the invention, the actual running current of the driving motor is acquired by adopting a current sampling and amplifying circuit, and the current sampling and amplifying circuit is connected in series to a platform cover plate control main loop.
According to the present invention, in the process of opening the platform cover, the method further comprises: monitoring the instant pulse number of the driving motor in real time, and accumulating the instant pulse number; judging whether the accumulated instant pulse number reaches the first preset pulse number or not, if so, controlling any one of three phases in the driving motor to be electrified, and inputting preset current for keeping constant torque for the driving motor so as to prevent the driving motor from rotating; otherwise, the driving motor is continuously controlled to operate.
According to the method for controlling the platform cover plate provided by the invention, in the closing process of the platform cover plate, the method further comprises the following steps: monitoring the instant pulse number of the driving motor in real time, and accumulating the instant pulse number; judging whether the accumulated instant pulse number reaches the first preset pulse number or not, and if so, controlling the driving motor to stop working; otherwise, the driving motor is continuously controlled to operate.
According to the platform cover control method provided by the invention, in the process of opening or closing the platform cover, the driving motor is continuously controlled to operate, and the method comprises the following steps: and in the protection time, if the instant pulse number of the driving motor is not changed, reducing the corresponding input current of the driving motor so as to enable the input current not to be larger than the corresponding current threshold value.
According to the platform cover control method provided by the invention, in the process of opening or closing the platform cover, the driving motor is continuously controlled to operate, and the method comprises the following steps: in a protection time, if the instantaneous pulse number of the driving motor does not change in a first time period and changes in a second time period, reducing the input current corresponding to the driving motor in the first time period, and increasing the input current of the driving motor in the first time period to the input current corresponding to the second time period in the second time period, wherein the input current corresponding to the second time period is not greater than a corresponding current threshold after the first time period in the protection time.
The present invention also provides a control apparatus, comprising: a zero setting module for determining a zero position, wherein the zero position corresponds to a fully closed state of the platform cover plate; the opening module is used for responding to the preset pulse number of the driving motor in a first preset operation mode in the zero starting operation mode, and controlling the driving motor to drive the platform cover plate to be opened; and the closing module is used for responding to the preset pulse number of the driving motor which is operated from the position where the platform cover plate is opened according to a second preset operation mode, and controlling the driving motor to drive the platform cover plate to be completely closed.
According to the platform cover plate control method and device provided by the invention, the position of the platform cover plate can be accurately positioned on the premise of determining the zero position by acquiring the running direction and the running pulse number of the driving motor, and the limit processing on the platform cover plate is realized, so that the situation that the platform cover plate cannot be completely opened or closed due to the fact that a mechanical switch is used as a limit in the opening or closing process of the platform cover plate is avoided.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart of a platen cover control method according to the present invention;
FIG. 2 is a second schematic flow chart illustrating a method for controlling a platen cover according to the present invention;
FIG. 3 is a flowchart illustrating a method for controlling a platen cover during opening of the platen cover according to the present invention;
FIG. 4 is a second flowchart illustrating a method for controlling the platen cover during opening of the platen cover according to the present invention;
FIG. 5 is a schematic structural diagram of a control device provided by the present invention;
fig. 6 is a schematic structural diagram of an electronic device provided in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. 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 invention.
In the present invention, the platform cover plate may be a platform cover plate of a wind turbine generator system, wherein the wind turbine generator system may be a device for wind power generation. The wind generating set may include a wind turbine tower, blades, and an automatic cover plate. Wherein, the fan tower section of thick bamboo can be used for supporting the blade, absorbs the unit vibration simultaneously. The automatic cover plate can be arranged inside the fan tower cylinder. Wherein, the inside still can be provided with multilayer fan platform of fan tower section of thick bamboo, every layer of fan platform all has the passageway of dodging that supplies operating personnel or crawl ware to pass through, and wherein, dodge the passageway and realize closing or opening through the platform apron (namely realize closing or opening of dodging the passageway by closing or opening of platform apron).
As is known in the art, the platform cover employs a mechanical switch (e.g., a rocker-type travel switch) as a limit. In the process of opening or closing the platform cover plate, the condition that the travel switch is triggered too early or is not triggered occurs, so that the platform cover plate cannot be completely opened or closed.
According to the platform cover plate control method, the position of the platform cover plate can be accurately positioned on the premise of determining the zero position by acquiring the running direction and the running pulse number of the driving motor, and the limit processing of the platform cover plate is realized, so that the condition that the platform cover plate cannot be completely opened or closed due to the fact that a mechanical switch is used as a limit in the opening or closing process of the platform cover plate is avoided.
The present invention will be described with reference to the following examples.
Fig. 1 is a schematic flow chart of a method for controlling a platen cover according to the present invention.
In an exemplary embodiment of the present invention, the method for controlling the platform cover plate may be applied to an automatic cover plate, wherein the automatic cover plate may include at least the platform cover plate, a control device, and a driving motor, and in an example, the control device may be electrically connected to the driving motor, and the driving motor may be connected to the platform cover plate. In the application process, based on the electric connection relation between the control device and the driving motor, the control device can acquire the running direction and the pulse number of the driving motor in real time and drive the platform cover plate to be opened and closed by controlling the driving motor. In one example, the driving motor may drive the platform cover to open and close through a driving device, wherein the driving device may be a link or a hinge. As shown in fig. 1, the platen cover control method may include steps 110 to 130, which will be described separately below.
In step 110, a zero position is determined, wherein the zero position corresponds to a fully closed state of the platform cover.
In an exemplary embodiment of the present invention, after the automatic cover plate is powered on, the control device may control the driving motor to rotate according to a preset operation manner (corresponding to an operation direction for driving the platform cover plate to close), so as to drive the platform cover plate to be completely closed, achieve that the platform cover plate contacts with the platform, and determine that the state is a zero position or a zero position state.
Because there is the clearance between the gear of driving motor, therefore, when the platform apron is in the complete closed condition, there may also be pulse number output of driving motor. In one example, when the number of pulses sent by the driving motor to the control device (for example, the control device may include, but is not limited to, a PLC controller, a single chip, a CPU, an MCU, etc.) is less than 200p/min and lasts for 2 seconds, the platform cover may be considered to be in a fully closed state at this time.
Because the models of the driving motors are different, the clearance degrees of the gears in the driving motors are correspondingly different. It will be appreciated that the number of pulses and the duration of time that the drive motor sends to the control device for a fully closed position of the platform cover may be varied accordingly. In this embodiment, the pulse number and the duration of the pulse sent to the control device by the driving motor corresponding to the fully closed state of the platform cover plate are not specifically limited, and may be adjusted according to actual conditions.
In step 120, the driving motor is controlled to drive the platform cover plate to open in response to the driving motor running for a preset number of pulses from the zero position according to the first preset running mode.
In an embodiment, for example, when the control device monitors that the driving motor operates from the zero position according to the forward rotation mode for a preset number of pulses, the control device may control the driving motor to drive the platform cover plate to open. It can be understood that the preset pulse number can be adjusted according to actual conditions, and can be the pulse number required to operate when the platform cover plate is opened from a zero position to a full position, or the pulse number required to operate when the platform cover plate is opened from the zero position to a preset angle.
In one embodiment, the control means may monitor the output pulses of the drive motor by the number of pulses delivered thereto by the drive motor. In one example, the driving motor may be a brushless dc motor, which may directly feed back the number of pulses to the control device. In yet another example, the driving motor may be another type of motor, and since the other type of motor cannot directly feed back the number of pulses to the control device, it needs to be used in conjunction with the pulse signal generator to feed back the number of pulses to the control device. The pulse signal generator can be a Hall element, a photoelectric switch or a proximity switch, etc.
In step 130, the driving motor is controlled to drive the platform cover to be completely closed in response to the driving motor running a preset number of pulses from the position where the platform cover is located after being opened according to the second preset running mode.
It should be noted that the operation directions of the first preset operation mode and the second preset operation mode are opposite. The first preset operation mode and the second preset operation mode are opposite in operation direction, so that after the driving motor drives the platform cover plate to walk through the preset pulse number according to the first preset operation mode, the driving motor drives the platform cover plate to walk through the same preset pulse number according to the second preset operation mode, and the platform cover plate can return to the initial position.
In an embodiment, for example, when the control device monitors that the driving motor operates for a preset number of pulses from a position where the driving motor is located after the platform cover is opened in the reverse rotation manner, the control device may control the driving motor to drive the platform cover to be completely closed. The control device can record the preset pulse number of the running driving motor and can use the position of the platform cover plate after being opened as the closing limit. Furthermore, the control device can control the driving motor to run for presetting the pulse number so as to enable the platform cover plate to return to the completely closed state of the platform cover plate. In this embodiment, on the basis of step 110, the control device can accurately position the position of the platform cover plate by acquiring the running direction and the running pulse number of the driving motor, and does not need a mechanical switch as a limit switch, so that the part cost is reduced, the limiting accuracy is improved, and the complete opening or complete closing function of the platform cover plate can be accurately realized.
According to the platform cover plate control method provided by the invention, the position of the platform cover plate can be accurately positioned on the premise of determining the zero position by acquiring the running direction and the running pulse number of the driving motor, and the limit processing on the platform cover plate is realized, so that the situation that the platform cover plate cannot be completely opened or closed due to the fact that a mechanical switch is used as a limit in the opening or closing process of the platform cover plate is avoided.
To further describe the control method of the platform cover plate provided by the present invention, the following embodiments will be described.
Fig. 2 is a second schematic flow chart of the platen cover control method according to the present invention.
In an exemplary embodiment of the present invention, the preset number of pulses may include a first preset number of pulses, and the position where the platform cover is opened may include a position where the platform cover is fully opened. As shown in fig. 2, the method for controlling a platen cover may include steps 210 to 230, where step 210 is the same as or similar to step 110, and please refer to the foregoing description for specific embodiments and advantageous effects thereof, which are not repeated in this embodiment, and step 220 and step 230 will be described below respectively.
In step 220, the driving motor is controlled to drive the platform cover plate to be completely opened in response to the driving motor running for a first preset number of pulses from the zero position according to a first preset running mode.
In step 230, the driving motor is controlled to drive the platform cover to be completely closed in response to the driving motor operating a first preset number of pulses from the position where the platform cover is completely opened according to a second preset operation mode.
In an embodiment, for example, when the control device monitors that the driving motor operates from the zero position by the forward rotation mode for a first preset number of pulses, the control device may control the driving motor to drive the platform cover plate to be completely opened. It will be appreciated that the first predetermined number of pulses is the number of pulses that the drive motor will run when the deck lid is switched between zero (fully closed) and fully open.
Further, for example, when the platform cover plate is located at a position where the platform cover plate is completely opened by controlling the driving motor to rotate reversely, the control device monitors that the driving motor operates for a first preset number of pulses from the position where the platform cover plate is completely opened in a reverse rotation mode, and the control device can control the driving motor to drive the platform cover plate to be completely closed. The control device can record the first preset pulse number of the running driving motor and can use the position of the opened platform cover plate as the closing limit. Furthermore, the control device can control the driving motor to operate for the first preset pulse number, so that the platform cover plate returns to the completely closed state of the platform cover plate.
In this embodiment, on the basis of step 210, by acquiring the operation direction and the number of running pulses of the driving motor, the position of the platform cover plate can be accurately located without using a mechanical switch as a limit switch, so that the part cost is reduced, the limit accuracy is improved, and the complete opening or complete closing function of the platform cover plate can be accurately realized.
The present invention will be described with reference to the following embodiments in order to determine the driving motor to operate from the zero position for a preset number of pulses in a first preset operating mode.
In an exemplary embodiment of the present invention, taking as an example that controlling the driving motor to rotate forward corresponds to causing the platform cover to be opened, the driving motor to operate from the zero position by the preset number of pulses in the first preset operation manner (in the present embodiment, the forward rotation is taken as an example) may be determined in the following manner: and responding to a signal sent by the corresponding sensor received by the control device to judge the running direction of the lifting equipment and whether the lifting equipment is about to pass through the platform, if the lifting equipment is determined to be about to pass through the platform, controlling the driving motor to rotate (for example, rotate forwards) according to a first preset running mode, and running at a zero position for a preset pulse number to drive the platform cover plate to be opened.
In one embodiment, the control device may determine the operation direction of the lifting device according to signals received from sensors installed on the platform ladder and located at two sides of the platform cover (above and below the platform cover), so as to determine whether the platform cover needs to be opened. Wherein, the chinese utility model patent of publication number CN206562233U discloses a be applied to the platform apron automatic switch control system of fan exempting from to climb the ware, the detailed realization process that controlling means judges jacking equipment's traffic direction based on the signal that the sensor sent has been described, no longer gives details here.
In one example, the direction of travel of the lift device and the imminent passage through the platform may be determined by signals sent by the sensors to the control device. When the fact that the lifting device is about to pass through the platform is monitored, the driving motor can be controlled to rotate (for example, rotate forwards) according to a first preset operation mode, and the driving motor is operated by a zero position for a preset pulse number, so that the platform cover plate is driven to be opened. In another example, when it is monitored that the lifting device is about to pass through the platform, the driving motor can be controlled to rotate forwards and run for a first preset pulse number from a zero position, and the platform cover plate can be driven to be completely opened by the driving motor.
The present invention will be described with reference to the following embodiments, which are used to determine that the driving motor operates for a preset number of pulses from the position where the platform cover is opened according to the second preset operation mode.
In an exemplary embodiment of the present invention, for example, when controlling the driving motor to rotate reversely corresponds to making the platform cover closed, the driving motor is operated by a preset number of pulses according to a second preset operation mode (in the present embodiment, reverse rotation is taken as an example) from the position where the platform cover is located after being opened, may be determined in the following manner: and responding to a signal sent by the corresponding sensor received by the control device to judge the running direction of the lifting equipment and whether the lifting equipment is far away from the current platform, if the lifting equipment is determined to be far away from the platform, controlling the driving motor to rotate (for example, rotate reversely) according to a second preset running mode, and running for a preset pulse number from the position where the platform cover plate is opened to drive the platform cover plate to be completely closed.
In one embodiment, the control device may determine the operation direction of the lifting device and whether to be away from the current platform according to signals received from sensors installed on the platform ladder and located at two sides of the platform cover (above and below the platform cover), so as to determine whether to close the platform cover. And if the lifting equipment is determined to be far away from the platform, controlling the driving motor to operate according to a second preset operation mode (such as reverse rotation), and starting to operate according to the position where the platform cover plate is opened for a preset pulse number so as to drive the platform cover plate to be completely closed. Wherein, the chinese utility model patent of publication number CN206562233U discloses a be applied to the platform apron automatic switch control system of fan exempting from to climb the ware, the detailed realization process that controlling means judges jacking equipment's traffic direction based on the signal that the sensor sent has been described, no longer gives details here.
Through this embodiment, after determining that jacking equipment has kept away from the platform, can control the platform apron and revolve to the angle of having opened to under the prerequisite that need not mechanical switch and make spacingly, realize closing completely of platform apron.
To further describe the flatbed control method of the present invention, the following description will be made in conjunction with the flatbed control method during the opening of the flatbed.
Fig. 3 is a schematic flow chart of a method for controlling a platen cover during opening of the platen cover according to the present invention.
In an exemplary embodiment of the present invention, the deck lid control method may include steps 310 to 320 during the deck lid opening process, which will be described separately below.
In step 310, the instant operating speed and the actual operating current of the driving motor are determined in real time during the opening duration of the platform cover.
In one embodiment, the length of time the deck lid is opened may correspond to the time it takes for the deck lid to fully open. The time consumed by the platform cover to be completely opened can ensure that the platform cover is already opened when a user or a crawler arrives at the platform. In this embodiment, the time consumed by the platform cover plate being completely opened may be adjusted according to actual conditions, for example, may be determined according to the platform distance passed by the lifting device, the length of the platform cover plate, and the operation speed of the crawler. In one embodiment, the time consumed for the platform cover to be fully opened may be determined by the following equation (1):
Figure BDA0003559367570000111
where T represents the time consumed for the deck lid to be fully opened, L1 represents the deck distance that the lift device passes, L2 represents the length of the deck lid, and V represents the operating speed of the crawler. In this embodiment, the time taken for the platform cover to be completely opened may not be particularly limited. In one example, the time consumed to fully open the deck lid or the deck lid open duration may be 10 seconds.
In one embodiment, the instantaneous operating speed of the drive motor may be determined in the following manner:
monitoring the instant pulse number of the driving motor in real time through a control device; an instantaneous operating speed of the drive motor is determined based on the instantaneous pulse number.
In the opening duration of the platform cover plate, the instant pulse number of the driving motor can be monitored in real time through the control device. The control device can realize the monitoring of the instant pulse number of the driving motor through the pulse number transmitted to the control device by the driving motor. In one example, the drive motor may be a brushless dc motor, which may directly feed back the number of instantaneous pulses to the control means. In yet another example, the driving motor may be another type of motor, and since the other type of motor cannot directly feed back the instant pulse number to the control device, it needs to be used in conjunction with the pulse signal generator to feed back the instant pulse number to the control device. The pulse signal generator can be a Hall element, a photoelectric switch or a proximity switch, etc.
Further, the instant running speed of the corresponding driving motor may be determined according to the instant pulse number output by the driving motor, wherein the instant running speed of the driving motor determined according to the instant pulse number output by the driving motor may be determined by using the following formula (2):
n＝(M/N)×60 (2)
wherein n represents the instantaneous operating speed of the drive motor; m represents the number of instantaneous pulses output by the drive motor per unit time (per second); n represents the number of pulses output per revolution of the drive motor. The number of pulses N output by each rotation of the driving motor is different according to the model of the driving motor, and in this embodiment, the value of N is not specifically limited.
It should be noted that the unit corresponding to the instantaneous operating speed n of the driving motor calculated based on the above formula may be r/min (i.e., the number of revolutions per minute of the driving motor).
In yet another embodiment, the actual operating current of the drive motor may be determined in the following manner:
monitoring the instant pulse number of the driving motor in real time through a control device; the actual operating current of the drive motor is determined based on the instantaneous number of pulses.
In the application process, the actual operating current of the corresponding driving motor can be determined according to the instant pulse number output by the driving motor, wherein the actual operating current of the driving motor determined according to the instant pulse number output by the driving motor can be determined by adopting the following formula (3):
Figure BDA0003559367570000131
wherein, I represents the actual running current of the driving motor, and U represents the power supply voltage of the driving motor; a represents the duty cycle of PWM (also known as pulse width modulation); cERepresents a motor back electromotive force constant with respect to the driving motor; n represents the instantaneous operating speed of the drive motor; phi denotes the magnetic field strength.
In addition, X isEn phi denotes a motor back electromotive force with respect to the driving motor, wherein the instant operation speed n of the driving motor can be calculated by formula (2). It can be understood that, since the instant running speed n of the driving motor is determined according to the instant pulse number output by the driving motor, the actual running current I of the driving motor is determined according to the instant running speed n of the driving motor, that is, the actual running current I of the driving motor can be determined according to the instant pulse number output by the driving motor. For actual operation of the drive motorThe current collection result is more accurate, and the actual operation current of the driving motor can be directly collected based on the current sampling amplification circuit.
In another embodiment, the automatic cover plate may further include a platform cover plate control main loop, the platform cover plate control main loop is connected in series with a current sampling amplifying circuit, and the actual operating current of the driving motor may be determined in the following manner:
and acquiring the actual running current of the driving motor based on the current sampling amplifying circuit.
In the application process, the current sampling amplifying circuit can be connected in series in the platform cover plate control main loop, the actual operation current of the driving motor is directly collected through the current sampling amplifying circuit, and the collected actual operation current is input to the control device.
It should be noted that, in the embodiment of the present invention, the specific manner of obtaining the instantaneous operating speed and the actual operating current of the driving motor includes, but is not limited to, the above description, and in the embodiment protected by the present invention, the specific manner of obtaining the instantaneous operating speed and the actual operating current of the driving motor is not limited.
In step 320, the duty cycle of the pulse width modulation (also called PWM) is adjusted such that the instantaneous operating speed approaches the first speed threshold and the actual operating current is not greater than the first current threshold.
In one embodiment, the instantaneous operating speed may be compared to a first speed threshold and the instantaneous operating speed of the drive motor may be brought closer to the first speed threshold by adjusting the duty cycle of the pulse width modulation. In the application process, on the premise that the instant operation speed is close to the first speed threshold value, the actual operation current can be compared with the current threshold value, and the duty ratio of the pulse width modulation is adjusted again, so that the actual operation current of the driving motor is not larger than the first current threshold value.
It should be noted that, both the first speed threshold and the first current threshold may be adjusted according to actual situations, and are not specifically limited in this embodiment, where the first speed threshold may be a maximum operating speed of the driving motor, and the current threshold may be a maximum operating current of the driving motor. In this embodiment, in the time length is opened to the platform apron, through the duty cycle of adjustment pulse width modulation, make instant operating speed be close to first speed threshold in proper order to and the actual operating current is not more than first current threshold, can ensure under the prerequisite of opening in time at the platform apron, platform apron even running and driving motor can not produce too big electric current, and then guarantee that driving motor does not receive the damage, ensure that it has good working property.
It should be noted that, on the premise that the operation requirement on the platform cover plate in the operation process is not high, the following example can be adopted to ensure the good operation of the platform cover plate.
In one example, the duty cycle of the pulse width modulation may be adjusted based on the instantaneous operating speed and the first speed threshold to cause the instantaneous operating speed to approach the first speed threshold. Smooth operation of the platform cover plate can be ensured by the embodiment.
In yet another example, the duty cycle of the pulse width modulation may also be adjusted based on the actual operating current and the first current threshold such that the actual operating current is not greater than the first current threshold. Can ensure through this embodiment at the in-process of platform apron operation that driving motor can not produce too big electric current, and then guarantee that driving motor does not receive the damage.
It should be noted that the determination method of the instant operation speed and the actual operation current may still be determined by the foregoing method, and details are not described in this embodiment.
Based on the same concept, it is also necessary to control the operation current of the driving motor during the closing of the platform cover.
The present invention will be described with reference to the following embodiments.
In an exemplary embodiment of the present invention, the deck lid control method may include the steps of, during the deck lid closing process:
confirming the instant running speed and the actual running current of the driving motor in real time; and adjusting the duty ratio of the pulse width modulation according to the instant running speed and the second speed threshold value as well as the actual running current and the second current threshold value, so that the instant running speed approaches the second speed threshold value and the actual running current is not greater than the second current threshold value in sequence.
It should be noted that the determination manner of the instant operation speed and the actual operation current may still be determined by the foregoing manner, and details are not described in this embodiment.
In this embodiment, in the process of closing the platform cover plate, the duty ratio of pulse width modulation is adjusted to sequentially enable the instant running speed to be close to the second speed threshold value and the actual running current to be not greater than the second current threshold value, so that it can be ensured that in the process of closing the platform cover plate, the platform cover plate runs stably and the driving motor does not generate too large current, and further the driving motor is not damaged, and good working performance is ensured.
The first speed threshold and the second speed threshold, and the first current threshold and the second current threshold may be set according to actual requirements, for example, the first speed threshold and the second speed threshold may be set to the same value, and the first current threshold and the second current threshold may be set to the same value.
To further describe the control method of the platform cover plate provided by the present invention, the following embodiments will be described.
Fig. 4 is a second flowchart illustrating a method for controlling the platen cover during the opening process of the platen cover according to the present invention.
In an exemplary embodiment of the present invention, as shown in fig. 4, during the opening process of the deck lid, the deck lid control method may include steps 410 and 420, which will be described separately below.
In step 410, the control device monitors the number of instant pulses of the driving motor in real time and accumulates the number of instant pulses.
In step 420, in response to that the accumulated instant pulse number reaches the first preset pulse number, controlling any one of the three phases of the driving motor to be powered on, and inputting a preset current for keeping a constant torque to the driving motor, so that the driving motor does not rotate.
In one embodiment, the instant pulse number of the driving motor can be monitored in real time by the control device and accumulated. When the accumulated instant pulse number reaches the first preset pulse number, the platform cover plate reaches the full-open limit position, at the moment, the driving motor needs to stop rotating, and a constant torque needs to be output to keep the balance of the platform cover plate so as to ensure that the platform cover plate cannot rotate, and the platform cover plate can be well maintained in the full-open state. In one example, the driving motor can be ensured to stop rotating by controlling the power on of any one of three phases of the driving motor. Furthermore, preset current for keeping constant torque can be input into the driving motor, so that the driving motor outputs constant torque to keep balance of the platform cover plate. Wherein the preset current may correspond to a constant torque. In one example, the preset current may be determined by the following equation (4):
Te＝Ct*Ia*φ (4)
wherein, TeRepresents a constant torque of the drive motor; ctRepresents a torque constant; i isaA preset current for keeping constant torque is input into the driving motor; phi denotes the magnetic field strength.
It should be noted that the instant pulse count accumulated in step 420 is the instant pulse count generated by the driving motor during the opening process of the platform cover. When the driving motor is about to start, the instantaneous pulse number is increased from 0. Because the first preset pulse number corresponds to the pulse number when the platform cover plate is completely opened, in the opening process of the platform cover plate, when the accumulated instant pulse number reaches the first preset pulse number, the platform cover plate reaches the limit position of complete opening.
Furthermore, because the operation directions of the driving motors of the platform cover plate in the opening or closing process are opposite, in the closing process of the platform cover plate, if the pulse number output by the driving motors is the same as the pulse number output in the complete opening process of the platform cover plate, the platform cover plate can be shown to return to the initial position, namely, the platform cover plate is in the complete closing state.
The present invention will be described with reference to the following embodiments.
In an exemplary embodiment of the present invention, the deck lid control method may include the steps of, during the deck lid closing process:
monitoring the instant pulse number of the driving motor in real time through a control device, and accumulating the instant pulse number; and controlling the driving motor to stop working in response to the accumulated instant pulse number reaching the first preset pulse number.
In one embodiment, the instant pulse number of the driving motor can be monitored in real time and accumulated during the closing process of the platform cover plate. Further, if the accumulated instant pulse number reaches the first preset pulse number, it indicates that the platform cover plate has reached the completely closed limit position. At this time, the driving motor needs to be stopped.
It should be noted that, in this embodiment, the accumulated instantaneous pulse number refers to the instantaneous pulse number generated by the driving motor during the closing process of the platform cover plate. When the driving motor is about to start, the instantaneous pulse number increases from 0. Because the pulse number output by the driving motor is the same as the pulse number output in the opening process of the platform cover plate in the closing process of the platform cover plate, when the accumulated instant pulse number reaches the first preset pulse number, the platform cover plate reaches the completely closed limit position. Continuing with the above-mentioned embodiment as an example, during the process of opening the platform cover, the platform cover controlling method may further include: and controlling the driving motor to operate through the control device according to the instant pulse number of the driving motor in response to the fact that the accumulated instant pulse number does not reach the first preset pulse number.
In the process of opening the platform cover plate, if the accumulated instant pulse number does not reach the first preset pulse number, the platform cover plate does not reach the fully opened limit position, and the platform cover plate possibly encounters an obstacle. At this time, the driving motor needs to be controlled to operate through the control device according to the instant pulse number of the driving motor, so that the driving motor is prevented from being damaged due to overlarge operating current of the driving motor.
In one embodiment, during the opening process of the platform cover plate, the control of the operation of the driving motor by the control device according to the instant pulse number of the driving motor can be realized by the following steps: and in the protection time, if the instant pulse number of the driving motor is not changed, reducing the input current of the driving motor through the control device so as to enable the input current not to be larger than the first current threshold.
In an example, in the process of opening the platform cover plate, if the instant pulse number of the driving motor does not change within the protection time, it indicates that the driving motor cannot operate due to a large obstruction, and at this time, the operating current of the driving motor needs to be reduced, so that the input current of the driving motor is not too large and the driving motor is not damaged. In the application process, the input current of the driving motor can be reduced through the control device, so that the input current is not larger than the first current threshold, and the input current of the driving motor is prevented from being too large to damage the driving motor.
In another embodiment, during the opening process of the platform cover plate, the control of the driving motor by the control device according to the instant pulse number of the driving motor can be realized by the following steps: in the protection time, if the instant pulse number of the driving motor does not change in the first time period and changes in the second time period, the first input current of the driving motor is reduced through the control device in the first time period, and the first input current of the driving motor is increased to the second input current through the control device in the second time period, wherein the second input current is not larger than the first current threshold after the first time period in the protection time.
During the opening process of the platform cover plate, if the instant pulse number of the driving motor does not change in the first time period and changes in the second time period within the protection time, the driving motor encounters an obstacle in the first time period and disappears in the subsequent second time period. At this time, it is necessary to ensure that the input current of the driving motor is not too large and the driving motor is lost in the first time period, and to increase the input current of the driving motor in the second time period, so that the driving motor can drive the platform cover plate to normally operate. It is to be understood that the first time period is a starting time period within the guard time and the second time period is other times after the first time period within the guard time. In an example, the first input current of the driving motor may be reduced by the control device during a first period, and the first input current of the driving motor may be increased to the second input current by the control device during a second period, so as to ensure that the input current of the driving motor is not too large to lose the driving motor during the first period, and the input current of the driving motor may be increased during the second period, so that the driving motor may drive the platform cover to normally operate. It should be noted that the protection time may be determined according to actual situations, and the protection time is not specifically limited in this embodiment.
Continuing with the above-mentioned embodiment as an example, during the closing process of the platform cover, the platform cover controlling method may further include: and controlling the driving motor to operate through a control device according to the instant pulse number of the driving motor in response to the accumulated instant pulse number not reaching the first preset pulse number.
In one embodiment, during the closing process of the platform cover, if the accumulated instant pulse number does not reach the first preset pulse number, it indicates that the platform cover does not reach the fully closed limit position, and the platform cover may encounter an obstacle. At this time, the driving motor needs to be controlled to operate through the control device according to the instant pulse number of the driving motor, so that the driving motor is prevented from being damaged due to overlarge operating current of the driving motor. In this embodiment, in a specific time period (for example, during the closing process of the platform cover plate), by monitoring the number of the instant pulses of the driving motor in real time, the relationship between the accumulated number of the instant pulses and the first preset number of pulses can be compared in real time, and the operation condition of the driving motor is adjusted according to the comparison relationship, so as to ensure that when the platform cover plate cannot move continuously due to any other external force factors, the system is not damaged due to jamming.
In one embodiment, during the closing process of the platform cover plate, the control of the driving motor by the control device according to the instant pulse number of the driving motor can be realized by the following steps: and in the protection time, if the instant pulse number of the driving motor is not changed, reducing the input current of the driving motor through the control device so as to enable the input current not to be larger than the second current threshold.
In an example, in the process of closing the platform cover plate, if the instant pulse number of the driving motor does not change within the protection time, it indicates that the driving motor is out of operation due to a large obstruction, and at this time, the operation current of the driving motor needs to be reduced, so that the input current of the driving motor is not too large and the driving motor is not damaged. In one example, the input current of the driving motor may be reduced by the control device so that the input current is not greater than the second current threshold, thereby ensuring that the input current of the driving motor is not too large to damage the driving motor.
In another embodiment, during the closing process of the platform cover plate, the control of the operation of the driving motor by the control device according to the instant pulse number of the driving motor can be realized by the following steps: and in the protection time, if the instant pulse number of the driving motor does not change in the first time period and changes in the second time period, reducing the third input current of the driving motor through the control device in the first time period, and increasing the third input current of the driving motor to the fourth input current through the control device in the second time period, wherein the fourth input current is not greater than the second current threshold after the first time period in the protection time.
In one example, if the number of instantaneous pulses of the driving motor during the protection period does not change during a first period of time and changes during a second period of time during the closing of the platform cover, it is indicated that the driving motor has encountered an obstruction during the first period of time and the obstruction disappears during the subsequent second period of time. At this time, it is necessary to ensure that the input current of the driving motor is not too large and the driving motor is lost in the first time period, and the input current of the driving motor is increased in the second time period, so that the driving motor can drive the platform cover plate to normally operate. It is to be understood that the first time period is a starting time period within the guard time and the second time period is other times after the first time period within the guard time. In the application process, the third input current of the driving motor can be reduced through the control device in the first time period, and the third input current of the driving motor is increased to the fourth input current through the control device in the second time period, so that the input current of the driving motor is ensured not to be too large in the first time period to lose the driving motor, and the input current of the driving motor is increased in the second time period to enable the driving motor to drive the platform cover plate to normally operate. It should be noted that the protection time may be determined according to actual situations, and the protection time is not specifically limited in this embodiment.
According to the above description, the platform cover control method provided by the invention can accurately position the position of the platform cover by acquiring the operation direction and the operation pulse number of the driving motor, and realize the limit processing of the platform cover, so that the situation that the platform cover cannot be completely opened or closed due to the fact that a mechanical switch is adopted as the limit in the opening or closing process of the platform cover can be avoided. Furthermore, the relationship between the accumulated instant pulse number and the first preset pulse number can be compared in real time by monitoring the instant pulse number of the driving motor in real time in a specific time period (for example, in the opening or closing process of the platform cover plate), and the operation condition of the driving motor is adjusted according to the comparison relationship, so that when the platform cover plate cannot move continuously due to any other external force factors, the system cannot be damaged due to clamping stagnation.
Based on the same conception, the invention also provides a control device.
The following describes the control device provided by the present invention, and the control device described below and the above-described platen cover control method can be referred to correspondingly.
Fig. 5 is a schematic structural diagram of a control device provided by the present invention.
In an exemplary embodiment of the present invention, as shown in fig. 5, the control device may include a zero setting module 510, an opening module 520, and a closing module 530, each of which will be described separately below.
The zeroing module 510 may be configured to determine a zero position, wherein the zero position corresponds to a fully closed state of the platform cover.
The opening module 520 may be configured to control the driving motor to drive the platform cover to open in response to the driving motor operating at the zero position for a preset number of pulses in the first preset operating mode.
The closing module 530 may be configured to control the driving motor to drive the platform cover to be completely closed in response to the driving motor operating according to a second preset operation mode with a preset pulse number from a position where the platform cover is located after being opened.
In an exemplary embodiment of the present invention, the predetermined number of pulses includes a first predetermined number of pulses, and the position where the platform cover is opened includes a position where the platform cover is fully opened. The opening module 520 may control the driving motor to drive the platform cover to open in response to the driving motor operating from the zero position for a preset number of pulses in a first preset operating mode in the following manner: and controlling the driving motor to drive the platform cover plate to be completely opened in response to the driving motor running for a first preset pulse number from a zero position according to a first preset running mode.
The closing module 530 may control the driving motor to drive the platform cover to be completely closed in response to the driving motor operating a preset number of pulses from a position where the platform cover is located after being opened in a second preset operation mode in the following manner: and responding to a first preset pulse number operated by the driving motor from the position of the platform cover plate after the platform cover plate is completely opened according to a second preset operation mode, and controlling the driving motor to drive the platform cover plate to be completely closed.
In an exemplary embodiment of the invention, during the opening process of the platform cover, the opening module 520 may be further configured to: determining the instant running speed and the actual running current of the driving motor in real time within the opening duration of the platform cover plate; the duty cycle of the pulse width modulation is adjusted such that, in turn, the instantaneous operating speed approaches a first speed threshold and the actual operating current is not greater than the first current threshold.
In an exemplary embodiment of the invention, during the opening process of the platform cover, the opening module 520 may be further configured to: determining the instant running speed or the actual running current of the driving motor in real time; the duty cycle of the pulse width modulation is adjusted in response to the instantaneous operating speed approaching the first speed threshold, or the actual operating current being no greater than the first current threshold. In an exemplary embodiment of the invention, during the closing process of the platform cover, the closing module 530 may be further configured to: determining the instant running speed and the actual running current of the driving motor in real time; and adjusting the duty ratio of the pulse width modulation to enable the instant running speed to be close to the second speed threshold value and enable the actual running current not to be larger than the second current threshold value in sequence.
In an exemplary embodiment of the present invention, during the platform cover closing process, the closing module 530 may be further configured to: determining the instant running speed or the actual running current of the driving motor in real time; the duty cycle of the pulse width modulation is adjusted such that the instantaneous operating speed is correspondingly close to the second speed threshold, or the actual operating current is not greater than the second current threshold.
In an exemplary embodiment of the present invention, the opening module 520 and the closing module 530 may determine the instantaneous operating speed of the driving motor in the following manner: monitoring the instant pulse number of the driving motor in real time through a control device; an instantaneous operating speed of the drive motor is determined based on the instantaneous pulse number.
In an exemplary embodiment of the present invention, the opening module 520 and the closing module 530 may determine the actual operating current of the driving motor in the following manner: monitoring the instant pulse number of the driving motor in real time through a control device; the actual operating current of the drive motor is determined based on the instantaneous number of pulses.
In an exemplary embodiment of the present invention, the automatic cover may further include a platform cover control main loop, the platform cover control main loop is connected in series with a current sampling amplifying circuit, and the opening module 520 and the closing module 530 may further determine the actual operating current of the driving motor by using the following method: and acquiring the actual running current of the driving motor based on the current sampling amplifying circuit.
In an exemplary embodiment of the invention, during the opening process of the platform cover, the opening module 520 may be further configured to: monitoring the instant pulse number of the driving motor in real time through a control device, and accumulating the instant pulse number; and controlling any one of three phases in the driving motor to be electrified in response to the accumulated instant pulse number reaching the first preset pulse number, and inputting preset current for keeping constant torque for the driving motor so as to prevent the driving motor from rotating.
In an exemplary embodiment of the invention, during the closing process of the platform cover, the closing module 530 may be further configured to: monitoring the instant pulse number of the driving motor in real time through a control device, and accumulating the instant pulse number; and controlling the driving motor to stop working in response to the accumulated instant pulse number reaching the first preset pulse number.
In an exemplary embodiment of the invention, during the opening process of the platform cover, the opening module 520 may be further configured to: and controlling the driving motor to operate through the control device according to the instant pulse number of the driving motor in response to the accumulated instant pulse number not reaching the first preset pulse number.
In an exemplary embodiment of the present invention, the opening module 520 may control the driving motor to operate through the control device according to the instant pulse number of the driving motor in the following manner: and in the protection time, if the instant pulse number of the driving motor is not changed, reducing the input current of the driving motor through the control device so as to enable the input current not to be larger than the first current threshold.
In an exemplary embodiment of the present invention, the opening module 520 may control the driving motor to operate through the control device according to the instant pulse number of the driving motor in the following manner: in the protection time, if the instant pulse number of the driving motor does not change in the first time period and changes in the second time period, the first input current of the driving motor is reduced through the control device in the first time period, and the first input current of the driving motor is increased to the second input current through the control device in the second time period, wherein the second input current is not larger than the first current threshold after the first time period in the protection time.
In an exemplary embodiment of the invention, during the closing process of the platform cover, the closing module 530 may be further configured to: and controlling the driving motor to operate through the control device according to the instant pulse number of the driving motor in response to the accumulated instant pulse number not reaching the first preset pulse number.
In an exemplary embodiment of the present invention, the shutdown module 530 may control the driving motor to operate through the control device according to the instant pulse number of the driving motor in the following manner: and in the protection time, if the instant pulse number of the driving motor is not changed, reducing the input current of the driving motor through the control device so as to enable the input current not to be larger than the second current threshold.
In an exemplary embodiment of the present invention, the shutdown module 530 may control the driving motor to operate through the control device according to the instant pulse number of the driving motor in the following manner: and in the protection time, if the instant pulse number of the driving motor does not change in the first time period and changes in the second time period, reducing the third input current of the driving motor through the control device in the first time period, and increasing the third input current of the driving motor to the fourth input current through the control device in the second time period, wherein the fourth input current is not greater than the second current threshold after the first time period in the protection time.
Fig. 6 illustrates a physical structure diagram of an electronic device, which may include, as shown in fig. 6: a processor (processor)610, a communication Interface (Communications Interface)620, a memory (memory)630 and a communication bus 640, wherein the processor 610, the communication Interface 620 and the memory 630 communicate with each other via the communication bus 640. The processor 610 may invoke logic instructions in the memory 630 to perform a platform deck control method, the method being applied to an auto deck, the auto deck comprising at least a platform deck, a control device and a drive motor, the platform deck being connected to the drive motor, the drive motor being connected to the control device, the control device being configured to perform the method, the method comprising: determining a zero position, wherein the zero position corresponds to a fully closed state of the platform cover plate; responding to a preset pulse number of the driving motor in a first preset operation mode from a zero position, and controlling the driving motor to drive the platform cover plate to be opened; and controlling the driving motor to drive the platform cover plate to be completely closed in response to the driving motor running for a preset pulse number from the position where the platform cover plate is located after being opened according to a second preset running mode.
In addition, the logic instructions in the memory 630 may be implemented in software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention or a part thereof which substantially contributes to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several 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 invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk, and various media capable of storing program codes.
In another aspect, the present invention further provides a computer program product, the computer program product comprising a computer program, the computer program being stored on a non-transitory computer-readable storage medium, and the computer program, when being executed by a processor, is capable of executing the method for controlling a platform cover provided by the above methods, the method being applied to an automatic cover, the automatic cover at least comprising a platform cover, a control device and a driving motor, the platform cover being connected to the driving motor, the driving motor being connected to the control device, and the control device being configured to execute the method, the method comprising: determining a zero position, wherein the zero position corresponds to a fully closed state of the platform cover plate; responding to a preset pulse number of the driving motor in a first preset operation mode from a zero position, and controlling the driving motor to drive the platform cover plate to be opened; and controlling the driving motor to drive the platform cover plate to be completely closed in response to the driving motor running for a preset pulse number from the position where the platform cover plate is located after being opened according to a second preset running mode.
In still another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored, the computer program being implemented by a processor to perform the method for controlling a platform cover provided by the above methods, the method being applied to an automatic cover, the automatic cover at least comprising a platform cover, a control device and a driving motor, the platform cover being connected to the driving motor, the driving motor being connected to the control device, the control device being configured to perform the method, the method comprising: determining a zero position, wherein the zero position corresponds to a fully closed state of the platform cover plate; responding to a preset pulse number of the driving motor in a first preset operation mode from a zero position, and controlling the driving motor to drive the platform cover plate to be opened; and controlling the driving motor to drive the platform cover plate to be completely closed in response to the driving motor running for a preset pulse number from the position where the platform cover plate is located after being opened according to a second preset running mode.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
It is further to be understood that while operations are depicted in the drawings in a particular order, this is not to be understood as requiring that such operations be performed in the particular order shown or in serial order, or that all illustrated operations be performed, to achieve desirable results. In certain environments, multitasking and parallel processing may be advantageous.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (12)

1. A platform cover plate control method is characterized in that the method is applied to an automatic cover plate, the automatic cover plate at least comprises a platform cover plate, a control device and a driving motor, the platform cover plate is connected with the driving motor, the driving motor is connected with the control device, the control device is used for executing the method, and the method specifically comprises the following steps:
determining a zero position, wherein the zero position corresponds to a fully closed state of the platform deck;
responding to the preset pulse number of the driving motor in a first preset operation mode from the zero position, and controlling the driving motor to drive the platform cover plate to be opened;
and responding to the preset pulse number of the driving motor which is operated from the position where the platform cover plate is opened according to a second preset operation mode, and controlling the driving motor to drive the platform cover plate to be completely closed.
2. The method as claimed in claim 1, wherein the predetermined number of pulses includes a first predetermined number of pulses, the position of the platform cover after being opened includes the position of the platform cover after being fully opened, and the controlling the driving motor to drive the platform cover to be opened in response to the driving motor operating the predetermined number of pulses from the zero position in a first predetermined operating manner includes:
responding to the first preset pulse number of the driving motor which is operated by the zero position according to a first preset operation mode, and controlling the driving motor to drive the platform cover plate to be completely opened;
the step of controlling the driving motor to drive the platform cover plate to be completely closed in response to the driving motor running a preset number of pulses from the position where the platform cover plate is located after being opened in a second preset running mode comprises the following steps:
and responding to the first preset pulse number of the driving motor which is operated from the position where the platform cover plate is completely opened according to a second preset operation mode, and controlling the driving motor to drive the platform cover plate to be completely closed.
3. The deck lid control method as claimed in claim 2, wherein during the opening and closing of the deck lid, the method further comprises:
determining the instant running speed and the actual running current of the driving motor in real time;
and adjusting the duty ratio of the pulse width modulation to enable the instant running speed to approach the corresponding speed threshold value and enable the actual running current not to be larger than the corresponding current threshold value in sequence.
4. The deck lid control method as claimed in claim 2, wherein during the opening and closing of the deck lid, the method further comprises:
determining the instant running speed or the actual running current of the driving motor in real time;
adjusting a duty cycle of the pulse width modulation to correspondingly cause the instantaneous operating speed to approach a corresponding speed threshold, or the actual operating current to be not greater than a corresponding current threshold.
5. The deck plate control method as claimed in claim 3 or 4, wherein the instantaneous operating speed of the driving motor is determined in the following manner:
monitoring the instant pulse number of the driving motor in real time;
determining an instantaneous operating speed of the drive motor based on the instantaneous pulse number.
6. The deck lid control method according to claim 3 or 4, wherein the actual operating current of the driving motor is determined in the following manner:
monitoring the instant pulse number of the driving motor in real time;
determining an actual operating current of the drive motor based on the instantaneous pulse number.
7. The platen cover control method according to claim 3 or 4, wherein a current sampling and amplifying circuit is adopted to collect an actual operating current of the driving motor, and the current sampling and amplifying circuit is connected in series to a platen cover control main loop.
8. The deck lid control method as claimed in claim 2, wherein during the deck lid opening process, the method further comprises:
monitoring the instant pulse number of the driving motor in real time, and accumulating the instant pulse number;
judging whether the accumulated instant pulse number reaches the first preset pulse number or not, if so, controlling any one of three phases in the driving motor to be electrified, and inputting preset current for keeping constant torque for the driving motor so as to prevent the driving motor from rotating; otherwise, the driving motor is continuously controlled to operate.
9. The flatbed control method of claim 2, further comprising, during the flatbed closing process:
monitoring the instant pulse number of the driving motor in real time, and accumulating the instant pulse number;
judging whether the accumulated instant pulse number reaches the first preset pulse number or not, and if so, controlling the driving motor to stop working; otherwise, the driving motor is continuously controlled to operate.
10. The flatbed control method of claim 8 or 9, wherein the continuously controlling the driving motor to operate during the opening or closing of the flatbed comprises:
and in the protection time, if the instant pulse number of the driving motor is not changed, reducing the corresponding input current of the driving motor so as to enable the input current not to be larger than the corresponding current threshold value.
11. The flatbed control method of claim 8 or 9, wherein the continuously controlling the driving motor to operate during the opening or closing of the flatbed comprises:
in a protection time, if the instantaneous pulse number of the driving motor does not change in a first time period and changes in a second time period, reducing the input current corresponding to the driving motor in the first time period, and increasing the input current of the driving motor in the first time period to the input current corresponding to the second time period in the second time period, wherein the input current corresponding to the second time period is not greater than a corresponding current threshold after the first time period in the protection time.
12. A control device, characterized in that the control device comprises:
a zero setting module for determining a zero position, wherein the zero position corresponds to a fully closed state of the platform cover plate;
the opening module is used for responding to the preset pulse number of the driving motor in a first preset operation mode in the zero starting operation mode, and controlling the driving motor to drive the platform cover plate to be opened;
and the closing module is used for responding to the preset pulse number of the driving motor which is operated from the position where the platform cover plate is opened according to a second preset operation mode, and controlling the driving motor to drive the platform cover plate to be completely closed.
CN202210288921.7A 2022-03-22 2022-03-22 Platform cover plate control method and device Active CN114592765B (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202210288921.7A CN114592765B (en) 2022-03-22 2022-03-22 Platform cover plate control method and device
PCT/CN2022/085307 WO2023178733A1 (en) 2022-03-22 2022-04-06 Platform cover plate control method, apparatus, electronic device, and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210288921.7A CN114592765B (en) 2022-03-22 2022-03-22 Platform cover plate control method and device

Publications (2)

Publication Number Publication Date
CN114592765A true CN114592765A (en) 2022-06-07
CN114592765B CN114592765B (en) 2023-03-03

Family

ID=81819062

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210288921.7A Active CN114592765B (en) 2022-03-22 2022-03-22 Platform cover plate control method and device

Country Status (2)

Country Link
CN (1) CN114592765B (en)
WO (1) WO2023178733A1 (en)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1104710A (en) * 1993-12-30 1995-07-05 桑尼株式会社 Control system for driving an object
CN201170016Y (en) * 2008-02-22 2008-12-24 深圳市捷顺科技实业股份有限公司 Channel brake
JP2011106138A (en) * 2009-11-16 2011-06-02 Anden Door closing controller
CN108791245A (en) * 2018-07-03 2018-11-13 浙江科技学院 A kind of automobile side-door obstacle protection system and its control method
CN109895342A (en) * 2019-01-24 2019-06-18 海天塑机集团有限公司 A kind of control method and system of injection molding machine electrically operated gate enabling distance
JP2020070643A (en) * 2018-10-31 2020-05-07 株式会社ハイレックスコーポレーション Opening/closing body operating device
CN211229990U (en) * 2019-10-25 2020-08-11 厦门博电电子有限公司 Low-cost high performance door window anti-pinch system
CN113530400A (en) * 2021-08-18 2021-10-22 中际联合（北京）科技股份有限公司 Control method of platform cover plate, fan platform control system and wind generating set

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107269152B (en) * 2017-07-31 2019-01-01 国电联合动力技术有限公司 The automatic open-close platform cover board arrangement and system and control method of tower frame for wind generating set
CN107940669B (en) * 2017-11-03 2019-10-01 广东美的制冷设备有限公司 Opening-closing structure control method, air conditioner and the readable storage medium storing program for executing of air conditioner
JP6991665B2 (en) * 2018-01-26 2022-02-03 新明和工業株式会社 Work vehicle lid opening and closing device
CN112012612B (en) * 2020-09-11 2022-02-18 广东蓝水花智能电子有限公司 Anti-pinch safety control method, device and system for automatic door current detection

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1104710A (en) * 1993-12-30 1995-07-05 桑尼株式会社 Control system for driving an object
CN201170016Y (en) * 2008-02-22 2008-12-24 深圳市捷顺科技实业股份有限公司 Channel brake
JP2011106138A (en) * 2009-11-16 2011-06-02 Anden Door closing controller
CN108791245A (en) * 2018-07-03 2018-11-13 浙江科技学院 A kind of automobile side-door obstacle protection system and its control method
JP2020070643A (en) * 2018-10-31 2020-05-07 株式会社ハイレックスコーポレーション Opening/closing body operating device
CN109895342A (en) * 2019-01-24 2019-06-18 海天塑机集团有限公司 A kind of control method and system of injection molding machine electrically operated gate enabling distance
CN211229990U (en) * 2019-10-25 2020-08-11 厦门博电电子有限公司 Low-cost high performance door window anti-pinch system
CN113530400A (en) * 2021-08-18 2021-10-22 中际联合（北京）科技股份有限公司 Control method of platform cover plate, fan platform control system and wind generating set

Also Published As

Publication number Publication date
WO2023178733A1 (en) 2023-09-28
CN114592765B (en) 2023-03-03

Similar Documents

Publication Publication Date Title
EP2703642B1 (en) Wind Turbine Pitch Control System
EP2320557A2 (en) Method and apparatus for powering a pitch control system
KR20150127623A (en) Door closer
JP2009523955A5 (en)
CA2537999A1 (en) Method for operating a wind turbine during a disturbance in the grid
CN110823384B (en) Switched reluctance motor detection system and control method
JP3675632B2 (en) Power window device pinching detection method
EP3597910A1 (en) System and method for reducing loads during an idling or parked state of a wind turbine with a stuck rotor blade
CN108427335A (en) A kind of control device of intelligent appliance, method and intelligent appliance
CN114592765B (en) Platform cover plate control method and device
US20160069326A1 (en) System and method for reducing wind turbine oscillations caused by grid faults
US20080309282A1 (en) Restart control of an A.C. motor drive
DK201770756A1 (en) System and method of controlling an electronic component of a wind turbine using contingency communications
CN102108942B (en) Wind power generation system and control method thereof
JP6479961B2 (en) Valve control device and valve system
US11629701B2 (en) System and method for estimating motor temperature of a pitch system of a wind turbine
CN201336646Y (en) DC-motor stepless speed adjusting gear
JP2006211831A (en) Device for controlling motor drive
CN113530400B (en) Control method of platform cover plate, fan platform control system and wind generating set
CN110921468A (en) Gate knife distance obtaining method and device
CN102996337A (en) Over speed protection control method for wind power generator
CN105162375A (en) Parameter self-tuning method for screen door control system
CN211793088U (en) Electric pruning shears driven by brushless DC motor
CN112761873A (en) Control method for pre-backlash elimination of variable-pitch transmission chain and wind generating set
CN220764676U (en) Unmanned ship anti-winding device and unmanned ship

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant