CN114977669A - DC brushless barrier gate servo controller - Google Patents
DC brushless barrier gate servo controller Download PDFInfo
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- CN114977669A CN114977669A CN202210609484.4A CN202210609484A CN114977669A CN 114977669 A CN114977669 A CN 114977669A CN 202210609484 A CN202210609484 A CN 202210609484A CN 114977669 A CN114977669 A CN 114977669A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/30—Structural association with control circuits or drive circuits
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F13/00—Arrangements for obstructing or restricting traffic, e.g. gates, barricades ; Preventing passage of vehicles of selected category or dimensions
- E01F13/04—Arrangements for obstructing or restricting traffic, e.g. gates, barricades ; Preventing passage of vehicles of selected category or dimensions movable to allow or prevent passage
- E01F13/06—Arrangements for obstructing or restricting traffic, e.g. gates, barricades ; Preventing passage of vehicles of selected category or dimensions movable to allow or prevent passage by swinging into open position about a vertical or horizontal axis parallel to the road direction, i.e. swinging gates
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/30—Structural association with control circuits or drive circuits
- H02K11/35—Devices for recording or transmitting machine parameters, e.g. memory chips or radio transmitters for diagnosis
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
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- Microelectronics & Electronic Packaging (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention provides a direct-current brushless barrier gate servo controller, which is characterized in that a control signal sending module used for being connected with a servo motor and sending a control signal to the servo motor and a detection signal receiving module used for receiving a detection signal returned by the servo motor are arranged, the control signal sending module is also connected with a control signal processing unit arranged between an upper computer and the direct-current brushless barrier gate servo controller, the control signal processing unit is used for receiving a control signal pulse from the upper computer and processing the control signal pulse according to a rotation calibration parameter, and the control signal sending module receives the control signal processed by the control signal processing unit and sends the control signal to the servo motor so that the servo motor drives a gate rod of a barrier gate to rotate according to the processed control signal, so that the servo control of the barrier gate is safer and more reliable.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a direct-current brushless barrier gate servo controller.
Background
Compared with a common motor, the servo motor has different control mechanisms and provides a feedback mechanism by arranging the sensor, so that the servo motor can control the rotating speed, the rotating angle and the position of the servo motor, and the servo motor is often applied to occasions needing precise control. Among various types of servo motors, a brushless dc motor is preferred for its excellent stability, and is widely used in the control of a channel gate. Then, due to the complicated use environment of the aisle gate, during the period that the servo motor stops working, for example, when the gate rod is lifted to the top to wait for the car to pass through, or before the controller sends a next opening command after the car passes through the back gate rod and returns to the original position, the aisle gate is easily affected by some human factors or other factors to cause the position of the aisle gate to deviate from the position where the aisle gate was located during the last stop, and such deviation can cause an error during the next control period of the aisle gate, thereby causing a potential safety problem. In addition, during the movement of the gate rod of the aisle gate controlled by the servo motor, the gate rod is also easily affected by a reverse or forward external force to be blocked, accelerated or even stopped or reversely moved in the lifting or descending process, which may cause the aisle gate to have a program error so that the gate rod cannot be reset or lifted to a sufficient height, and even cause the servo motor and the transmission structure of the aisle gate to be damaged in a severe case.
Disclosure of Invention
In view of this, the present invention provides a dc brushless barrier gate servo controller to solve the technical problems in the background art of the present invention.
DC brushless banister servo controller including be used for with servo motor be connected to servo motor sends control signal's control signal sending module and receipt the detection signal receiving module of the detection signal that servo motor returned, control signal sending module still with set up in the host computer with control signal processing unit between the DC brushless banister servo controller is connected, control signal processing unit is used for receiving the control signal pulse that comes from the host computer and right according to rotating calibration parameter the control signal pulse is handled, control signal sending module receives control signal after control signal processing unit handles sends for servo motor so that servo motor follows the brake lever of control signal drive banister after handling rotates.
Further, in the dc brushless barrier servo controller, the control signal processing unit is connected to a rotation angle calibration unit to obtain the rotation calibration parameter from the rotation angle calibration unit.
Further, in the aforementioned dc brushless barrier servo controller, one end of the gate rod close to the rotating shaft is provided with a corner identifier, where the corner identifier includes a maximum limit angle identifier, a minimum limit angle identifier, and a plurality of intervening corner identifiers located between the maximum limit angle identifier and the minimum limit angle identifier, the rotation angle calibration unit detects the corner identifier in real time through the rotation angle detector to obtain a rotation angle of the gate rod driven by the servo motor, where the servo motor includes a hall sensor, an electromagnetic winding, and an input shaft, where the detection signal is a rotation number of the output shaft detected by the hall sensor, and the dc brushless barrier servo controller further includes a detection signal matching module, which is configured to obtain the rotation number of the output shaft detected by the hall sensor through the detection signal receiving module and then connect the detection signal matching module with the control signal sending module The control signals sent to the electromagnetic winding are matched, the direct-current brushless barrier gate servo controller further comprises a rotation angle recording module, and when the matching result of the detection signal matching module is normal, the rotation angle recording module records the rotation angle of the gate rod corresponding to the rotation times of the output shaft as the initial angle corresponding to the next control signal; when the matching result of the detection signal matching module is abnormal, the control signal sending module sends a calibration control signal to control the brake lever to rotate to a corresponding angle when the upper computer does not send a control signal to the control signal processing unit, if the rotation angle calibration unit passes through the rotation angle detector detects that the rotation angle of the brake lever changes, the rotation angle recording module records that the rotation angle calibration unit sends the brake lever rotation angle as the initial angle corresponding to the next control signal.
Further, in the aforementioned dc brushless barrier servo controller, the rotation angle calibration unit is in communication connection with the dc brushless barrier servo controller to obtain the number of times of rotation of the output shaft detected by the hall sensor and the control signal sent by the control signal sending module to the electromagnetic winding.
Further, in the aforementioned dc brushless barrier servo controller, the rotation angle calibration unit is in communication connection with the control signal processing unit to obtain the processed control signal sent to the control signal sending module by the control signal processing unit, and the rotation frequency of the output shaft detected by the hall sensor is obtained from the dc brushless barrier servo controller through the control signal processing unit.
Further, in the dc brushless barrier servo controller, the rotation angle calibration unit calculates the rotation calibration parameter according to the rotation angle of the gate rod driven by the servo motor and the rotation frequency of the output shaft detected by the hall sensor, and sends the rotation calibration parameter to the control signal processing unit, so that the control signal processing unit processes the control signal pulse sent by the upper computer.
Further, the dc brushless barrier gate servo controller includes a rotation angle calibration module, and the control signal processing unit is connected to the rotation angle calibration module to obtain the rotation calibration parameters from the rotation angle calibration module.
Further, in the aforementioned dc brushless barrier servo controller, a corner identifier is disposed at one end of the brake lever close to the rotating shaft, where the corner identifier includes a maximum limit angle identifier, a minimum limit angle identifier, and a plurality of intervening corner identifiers located between the maximum limit angle identifier and the minimum limit angle identifier, the rotation angle calibration module detects the corner identifier in real time through the rotation angle detector to obtain a rotation angle of the brake lever driven by the servo motor, the servo motor includes a hall sensor, an electromagnetic winding, and an input shaft, the detection signal is a rotation frequency of the output shaft detected by the hall sensor, and the dc brushless barrier servo controller further includes a detection signal matching module, configured to obtain the rotation frequency of the output shaft detected by the hall sensor through the detection signal receiving module and then communicate with the control signal sending module The control signals sent to the electromagnetic windings are matched.
Further, in the above dc brushless barrier servo controller, when the upper computer does not send a control signal to the control signal processing unit, if the rotation angle calibration module detects that the rotation angle of the gate rod changes through the rotation angle detector, the rotation angle recording module records the rotation angle of the gate rod sent by the rotation angle calibration module as an initial angle corresponding to a next control signal.
Further, in the dc brushless barrier servo controller, the rotation angle calibration module calculates the rotation calibration parameter according to the rotation angle of the gate rod driven by the servo motor and the rotation frequency of the output shaft detected by the hall sensor, and sends the rotation calibration parameter to the control signal processing unit, so that the control signal processing unit processes the control signal pulse sent by the upper computer.
The invention provides a direct current brushless barrier gate servo controller, which is characterized in that a control signal sending module used for being connected with a servo motor and sending a control signal to the servo motor and a detection signal receiving module used for receiving a detection signal returned by the servo motor are arranged, the control signal sending module is also connected with a control signal processing unit arranged between an upper computer and the direct current brushless barrier gate servo controller, the control signal processing unit is used for receiving a control signal pulse from the upper computer and processing the control signal pulse according to a rotation calibration parameter, and the control signal sending module receives the control signal processed by the control signal processing unit and sends the control signal to the servo motor so that the servo motor drives a gate rod of a barrier gate to rotate according to the processed control signal, so that the servo control of the barrier gate is safer and more reliable.
Drawings
FIG. 1 is a schematic block diagram of a lane gate control system according to one embodiment of the present invention;
FIG. 2 is a block diagram of a DC brushless barrier servo controller according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a rotational angle detector provided in accordance with an embodiment of the present invention;
fig. 4 is a schematic block diagram of a dc brushless barrier servo controller according to another embodiment of the present invention.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced otherwise than as specifically described herein, and thus the scope of the present invention is not limited by the specific embodiments disclosed below.
In the description of the present invention, the terms "plurality" or "a plurality" refer to two or more, and unless otherwise specifically limited, the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are merely for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. The terms "connected," "mounted," "secured," and the like are to be construed broadly and include, for example, fixed connections, removable connections, or integral connections; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description herein, reference to the term "one embodiment," "some embodiments," "specific examples," or the like, means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
A dc brushless barrier servo controller according to some embodiments of the present invention is described with reference to fig. 1 to 4.
As shown in fig. 1, the present invention provides a dc brushless barrier servo controller to solve the technical problems in the background art of the present invention.
Fig. 1 shows a schematic block diagram of a channel gate control system according to the present invention, and as shown in fig. 1, the channel gate control system includes an upper computer, a rotation angle detector, a servo control main board, and a servo motor, where the servo motor is a dc brushless servo motor. The host computer is used for generating control servo motor's control signal, the turned angle detector is used for detecting the turned angle of the brake lever of passageway floodgate machine, the servo control mainboard be used for the basis the control signal control that the host computer sent servo motor, be provided with turned angle calibration unit, control signal processing unit and direct current brushless banister servo controller on the servo control mainboard.
As shown in fig. 2, the present invention provides a flow brushless barrier gate servo controller, which includes a control signal sending module connected to a servo motor and used for sending a control signal to the servo motor, and a detection signal receiving module used for receiving a detection signal returned by the servo motor, where the control signal sending module is further connected to a control signal processing unit disposed between an upper computer and the dc brushless barrier gate servo controller, the control signal processing unit is used for receiving a control signal pulse from the upper computer and processing the control signal pulse according to a rotation calibration parameter, and the control signal sending module receives the control signal processed by the control signal processing unit and sends the control signal to the servo motor so that the servo motor drives a gate rod of a barrier gate to rotate according to the processed control signal. By adopting the technical scheme of the embodiment, when the gate rod of the channel gate machine is acted by an external force in a moving or static state, the rotation angle calibration unit generates corresponding calibration parameters according to the rotation angle of the gate rod, and after the square wave control signal generated by the upper computer is sent to the control signal processing unit of the servo control main board, the control signal processing unit processes the method control signal according to the calibration parameters, so that the servo motor drives the gate rod to move according to the processed control signal, and the driving force of the servo motor is matched with the rotation speed of the gate rod acted by the external force so as to reduce the counter acting force of the gate rod and the external force.
As shown in fig. 1, in the dc brushless barrier servo controller, the control signal processing unit is connected to a rotation angle calibration unit to obtain the rotation calibration parameters from the rotation angle calibration unit.
As shown in fig. 3, in the aforementioned dc brushless barrier servo controller, a corner identifier is disposed at an end of the brake lever close to the rotating shaft, the corner identifier includes a maximum limit angle identifier, a minimum limit angle identifier, and a plurality of intervening corner identifiers located between the maximum limit angle identifier and the minimum limit angle identifier, and the rotation angle calibration unit detects the corner identifier in real time through the rotation angle detector to obtain an angle rotated by the brake lever under the driving of the servo motor. Illustratively, the rotation angle detector includes an image pickup device and a baffle, the image pickup device and the baffle are both fixedly disposed on a side of the baffle where an end of the gate rod close to the rotation axis is disposed, the baffle is provided with a gap, and when the gate rod rotates to any angle between a maximum limit angle (for example, the gate rod rotates 90 degrees and is perpendicular to the ground) and a minimum limit angle (the gate rod rotates 0 degrees and is in a horizontal state), the image pickup device can shoot the rotation angle identifier corresponding to the angle on the gate rod through the gap on the baffle. For the sake of understanding, only a small number of corner identifiers are shown in the figure, and in practical applications, in order to improve the detection accuracy of the rotation angle detector for the rotation angle of the brake lever, the number of corner identifiers may be corresponding, and will not be further described herein.
With reference to fig. 1, the servo motor includes a hall sensor, an electromagnetic winding, and an input shaft, the detection signal is the number of rotation times of the output shaft detected by the hall sensor, as shown in fig. 2, the dc brushless barrier gate servo controller further includes a detection signal matching module, configured to match the number of rotation times of the output shaft detected by the hall sensor, which is obtained by the detection signal receiving module, with the control signal sent to the electromagnetic winding by the control signal sending module, and the dc brushless barrier gate servo controller further includes a rotation angle recording module, where when a matching result of the detection signal matching module is normal, the rotation angle recording module records the rotation angle of the gate rod corresponding to the number of rotation times of the output shaft as an initial angle corresponding to a next control signal; and when the matching result of the detection signal matching module is abnormal, the control signal sending module sends a calibration control signal to control the brake lever to rotate to a corresponding angle. In this embodiment, the number of square wave signals in the control signal sent to the electromagnetic winding by the control signal sending module has a corresponding relationship with the number of rotation turns of the output shaft controlled by the control signal sending module, by matching the number of rotations of the output shaft detected by the hall sensor with the number of square waves in the control signal, thereby determining whether the number of rotation turns of the output shaft is in accordance with the expectation, when the number of rotation turns of the output shaft corresponds to the number of square wave signals of the control signal, the detection signal matching module judges that the matching result is normal, when the number of the rotation turns of the output shaft does not correspond to the number of the square wave signals of the control signal, and calculating a rotation turn error value, and sending a calibration control signal through the control signal sending module to control the servo motor to rotate the output shaft to compensate the error. When the upper computer does not send a control signal to the control signal processing unit, if the rotation angle calibration unit detects that the rotation angle of the brake bar changes through the rotation angle detector, the rotation angle recording module records that the rotation angle calibration unit sends the rotation angle of the brake bar as the initial angle corresponding to the next control signal. When the gate rod of the gate machine is in a static state, for example, the gate rod rises to the highest point or stops at the lowest point, the gate rod is acted by external force to rotate, and the rotation is not triggered by a control signal sent by an upper computer, so that the rotation angle of the gate marker recorded by the rotation angle recording module is not consistent with an actual value, and the rotation angle calibration unit detects an angle change value of the gate rod through the rotation angle detector and sends the angle change value to the rotation angle recording module, so that the rotation angle recording module records the rotation angle of the gate rod as an initial angle corresponding to a next control signal.
As shown in fig. 1, in the aforementioned dc brushless barrier servo controller, the rotation angle calibration unit is in communication connection with the dc brushless barrier servo controller to obtain the number of rotations of the output shaft detected by the hall sensor and the control signal sent by the control signal sending module to the electromagnetic winding. In this embodiment, the rotation angle calibration unit is electrically connected to the dc brushless barrier servo controller, and directly obtains the number of rotations of the output shaft detected by the hall sensor and the control signal sent by the control signal sending module to the electromagnetic winding through the dc brushless barrier servo controller, so that the calibration parameter can be calculated according to these data, and the implementation scheme is simple. Specifically, when the target angle of the rotation of the brake lever corresponding to the number of rotations of the output shaft detected by the hall sensor is greater than the actual angle detected by the rotation angle detector, the control signal processing unit reduces one or more of the parameters such as the frequency, the signal amplitude or the pulse width of the control signal pulse input by the upper computer according to the calibration parameter calculated by the difference between the target angle and the actual angle so as to reduce the rotation speed of the brake lever driven by the servo motor and reduce the reverse acting force of the brake lever and the external force. When the target angle of the brake lever rotation corresponding to the number of rotation turns of the output shaft detected by the hall sensor is smaller than the actual angle detected by the rotation angle detector, the control signal processing unit improves one or more of parameters such as frequency, signal amplitude or pulse width of a control signal pulse input by the upper computer according to a calibration parameter obtained by calculating the difference between the target angle and the actual angle so as to improve the rotation speed of the brake lever driven by the servo motor and reduce the reverse acting force of the brake lever and an external force.
Further, in other embodiments of the present invention, the rotation angle calibration unit is in communication connection with the control signal processing unit to obtain the processed control signal sent by the control signal processing unit to the control signal sending module, and the rotation frequency of the output shaft detected by the hall sensor is obtained from the dc brushless barrier servo controller through the control signal processing unit. In this embodiment, the rotation angle calibration unit and the dc brushless barrier servo controller do not directly establish a communication connection, and the control signal processing unit obtains the number of rotations of the output shaft detected by the hall sensor from the dc brushless barrier servo controller.
Further, in the dc brushless barrier servo controller, the rotation angle calibration unit calculates the rotation calibration parameter according to the rotation angle of the gate rod driven by the servo motor and the rotation frequency of the output shaft detected by the hall sensor, and sends the rotation calibration parameter to the control signal processing unit, so that the control signal processing unit processes the control signal pulse sent by the upper computer. In the process that the brake lever is driven by the servo motor to rotate, the brake lever is influenced by external force factors or due to reasons such as transmission accuracy of a transmission mechanism between an output shaft of the servo motor and the brake lever, the corresponding relation between the rotation angle of the brake lever and the rotation number of turns of the output shaft of the servo motor generates deviation, the rotation angle calibration unit determines whether the deviation exists between the output shaft and the brake lever through acquiring the rotation number of turns of the output shaft and the rotation angle of the brake lever detected by the Hall sensor, and when the deviation exists, corresponding calibration parameters are calculated and sent to the control signal processing unit so as to process control signal pulses sent by an upper computer to generate new control signals.
Specifically, when the target angle of the rotation of the brake lever corresponding to the number of rotations of the output shaft detected by the hall sensor is greater than the actual angle detected by the rotation angle detector, the control signal processing unit reduces one or more of the parameters such as the frequency, the signal amplitude or the pulse width of the control signal pulse input by the upper computer according to the calibration parameter calculated by the difference between the target angle and the actual angle so as to reduce the rotation speed of the brake lever driven by the servo motor and reduce the reverse acting force of the brake lever and the external force. When the target angle of the brake lever rotation corresponding to the number of rotation turns of the output shaft detected by the hall sensor is smaller than the actual angle detected by the rotation angle detector, the control signal processing unit improves one or more of parameters such as frequency, signal amplitude or pulse width of a control signal pulse input by the upper computer according to a calibration parameter obtained by calculating the difference between the target angle and the actual angle so as to improve the rotation speed of the brake lever driven by the servo motor and reduce the reverse acting force of the brake lever and an external force.
As shown in fig. 4, the dc brushless barrier servo controller further includes a rotation angle calibration module, and the control signal processing unit is connected to the rotation angle calibration module to obtain the rotation calibration parameters from the rotation angle calibration module.
As shown in fig. 3, in the aforementioned dc brushless barrier servo controller, a corner identifier is disposed at one end of the brake lever close to the rotating shaft, the corner identifier includes a maximum limit angle identifier, a minimum limit angle identifier and a plurality of intervening corner identifiers located between the maximum limit angle identifier and the minimum limit angle identifier, the rotation angle calibration module detects the corner identifier in real time through the rotation angle detector to obtain an angle rotated by the brake lever under the driving of the servo motor, the servo motor includes a hall sensor, an electromagnetic winding and an input shaft, the detection signal is the number of rotations of the output shaft detected by the hall sensor, and the dc brushless barrier servo controller further includes a detection signal matching module, configured to obtain the number of rotations of the output shaft detected by the hall sensor through the detection signal receiving module and then send the detection signal to the control signal sending module The control signals sent by the blocks to the electromagnetic windings are matched.
Further, in the above dc brushless barrier servo controller, when the upper computer does not send a control signal to the control signal processing unit, if the rotation angle calibration module detects that the rotation angle of the gate rod changes through the rotation angle detector, the rotation angle recording module records the rotation angle of the gate rod sent by the rotation angle calibration module as the initial angle corresponding to the next control signal. When the gate rod of the gate machine is in a static state, for example, the gate rod rises to the highest point or stops at the lowest point, the gate rod is acted by external force to rotate, and the rotation is not triggered by a control signal sent by an upper computer, so that the rotation angle of the gate marker recorded by the rotation angle recording module is not consistent with an actual value, and the rotation angle calibration module detects an angle change value of the gate rod through the rotation angle detector and sends the angle change value to the rotation angle recording module, so that the rotation angle recording module records the rotation angle of the gate rod as an initial angle corresponding to a next control signal.
Further, in the dc brushless barrier servo controller, the rotation angle calibration module calculates the rotation calibration parameter according to the rotation angle of the gate rod driven by the servo motor and the rotation frequency of the output shaft detected by the hall sensor, and sends the rotation calibration parameter to the control signal processing unit, so that the control signal processing unit processes the control signal pulse sent by the upper computer. Specifically, when the target angle of the rotation of the brake lever corresponding to the number of rotations of the output shaft detected by the hall sensor is greater than the actual angle detected by the rotation angle detector, the control signal processing unit reduces one or more of the parameters such as the frequency, the signal amplitude or the pulse width of the control signal pulse input by the upper computer according to the calibration parameter calculated by the difference between the target angle and the actual angle so as to reduce the rotation speed of the brake lever driven by the servo motor and reduce the reverse acting force of the brake lever and the external force. When the target angle of the brake lever rotation corresponding to the number of rotation turns of the output shaft detected by the hall sensor is smaller than the actual angle detected by the rotation angle detector, the control signal processing unit improves one or more of parameters such as frequency, signal amplitude or pulse width of a control signal pulse input by the upper computer according to a calibration parameter obtained by calculating the difference between the target angle and the actual angle so as to improve the rotation speed of the brake lever driven by the servo motor and reduce the reverse acting force of the brake lever and an external force.
The invention provides a direct current brushless barrier gate servo controller, which is characterized in that a control signal sending module used for being connected with a servo motor and sending a control signal to the servo motor and a detection signal receiving module used for receiving a detection signal returned by the servo motor are arranged, the control signal sending module is also connected with a control signal processing unit arranged between an upper computer and the direct current brushless barrier gate servo controller, the control signal processing unit is used for receiving a control signal pulse from the upper computer and processing the control signal pulse according to a rotation calibration parameter, and the control signal sending module receives the control signal processed by the control signal processing unit and sends the control signal to the servo motor so that the servo motor drives a gate rod of a barrier gate to rotate according to the processed control signal, so that the servo control of the barrier gate is safer and more reliable.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
In accordance with embodiments of the present invention, as set forth above, these embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention and various embodiments with various modifications as are suited to the particular use contemplated. The invention is limited only by the claims and their full scope and equivalents.
Claims (10)
1. The utility model provides a brushless banister servo controller of direct current, its characterized in that, including be used for with servo motor be connected to servo motor sends control signal's control signal sending module and receipt the detection signal receiving module of the detection signal that servo motor returned, control signal sending module still with set up in the host computer with control signal processing unit between the brushless banister servo controller of direct current is connected, control signal processing unit is used for receiving and comes from the control signal pulse of host computer and right according to rotating calibration parameter the control signal pulse is handled, control signal sending module receives control signal after control signal processing unit handles sends for servo motor so that servo motor according to the brake lever of the control signal drive banister after handling rotates.
2. The dc brushless barrier gate servo controller according to claim 1, wherein the control signal processing unit is connected to a rotation angle calibration unit to obtain the rotation calibration parameter from the rotation angle calibration unit.
3. The dc brushless barrier gate servo controller according to claim 2, wherein the gate bar is provided with a corner identifier near one end of the rotating shaft, the corner identifier includes a maximum limit angle identifier, a minimum limit angle identifier and a plurality of intervening corner identifiers between the maximum limit angle identifier and the minimum limit angle identifier, the rotation angle calibration unit detects the corner identifier in real time by the rotation angle detector to obtain an angle rotated by the gate bar under the driving of the servo motor, the servo motor includes a hall sensor, an electromagnetic winding and an input shaft, the detection signal is a rotation number of the output shaft detected by the hall sensor, and the dc brushless barrier gate servo controller further includes a detection signal matching module for obtaining the rotation number of the output shaft detected by the hall sensor and the rotation number of the output shaft detected by the hall sensor by the detection signal receiving module The control signal sending module sends a control signal to the electromagnetic winding to be matched, the direct current brushless barrier gate servo controller further comprises a rotation angle recording module, and when the matching result of the detection signal matching module is normal, the rotation angle recording module records the rotation angle of the gate rod corresponding to the rotation frequency of the output shaft as the initial angle corresponding to the next control signal; when the matching result of the detection signal matching module is abnormal, the control signal sending module sends a calibration control signal to control the brake lever to rotate to a corresponding angle when the upper computer does not send a control signal to the control signal processing unit, if the rotation angle calibration unit passes through the rotation angle detector detects that the rotation angle of the brake lever changes, the rotation angle recording module records that the rotation angle calibration unit sends the brake lever rotation angle as the initial angle corresponding to the next control signal.
4. The DC brushless barrier gate servo controller according to claim 3, wherein the rotation angle calibration unit is in communication with the control unit to obtain the number of rotations of the output shaft detected by the Hall sensor and the control signal sent by the control signal sending module to the electromagnetic winding.
5. The dc brushless barrier gate servo controller according to claim 3, wherein the rotation angle calibration unit is communicatively connected to the control signal processing unit to obtain the processed control signal sent by the control signal processing unit to the control signal sending module, and obtain the rotation number of the output shaft detected by the hall sensor from the control unit through the control signal processing unit.
6. The dc brushless barrier gate servo controller according to claim 4 or 5, wherein the rotation angle calibration unit calculates the rotation calibration parameter according to the rotation angle of the gate rod driven by the servo motor and the rotation frequency of the output shaft detected by the hall sensor, and sends the rotation calibration parameter to the control signal processing unit, so that the control signal processing unit processes the control signal pulse sent by the upper computer.
7. The dc brushless barrier gate servo controller according to claim 1, comprising a rotation angle calibration module, wherein the control signal processing unit is connected to the rotation angle calibration module to obtain the rotation calibration parameters from the rotation angle calibration module.
8. The dc brushless barrier gate servo controller according to claim 7, wherein the gate rod is provided with a corner identifier near one end of the rotating shaft, the corner identifier includes a maximum limit angle identifier, a minimum limit angle identifier and a plurality of intervening corner identifiers between the maximum limit angle identifier and the minimum limit angle identifier, the rotation angle calibration module detects the corner identifier in real time through the rotation angle detector to obtain an angle rotated by the gate rod under the driving of the servo motor, the servo motor includes a hall sensor, an electromagnetic winding and an input shaft, the detection signal is a rotation number of the output shaft detected by the hall sensor, and the dc brushless barrier gate servo controller further includes a detection signal matching module for obtaining the rotation number of the output shaft detected by the hall sensor and the rotation number of the output shaft detected by the hall sensor through the detection signal receiving module And the control signal sending module sends the control signal to the electromagnetic winding to be matched.
9. The dc brushless barrier gate servo controller according to claim 8, wherein when the upper computer does not send a control signal to the control signal processing unit, if the rotation angle calibration module detects a change in the rotation angle of the gate rod through the rotation angle detector, the rotation angle recording module records the rotation angle of the gate rod sent by the rotation angle calibration module as an initial angle corresponding to a next control signal.
10. The dc brushless barrier gate servo controller according to claim 8, wherein the rotation angle calibration module calculates the rotation calibration parameter according to a rotation angle of the gate rod driven by the servo motor and a rotation number of the output shaft detected by the hall sensor, and sends the rotation calibration parameter to the control signal processing unit, so that the control signal processing unit processes the control signal pulse sent by the upper computer.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210609484.4A CN114977669A (en) | 2022-05-31 | 2022-05-31 | DC brushless barrier gate servo controller |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210609484.4A CN114977669A (en) | 2022-05-31 | 2022-05-31 | DC brushless barrier gate servo controller |
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| Publication Number | Publication Date |
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| CN114977669A true CN114977669A (en) | 2022-08-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210609484.4A Withdrawn CN114977669A (en) | 2022-05-31 | 2022-05-31 | DC brushless barrier gate servo controller |
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| Country | Link |
|---|---|
| CN (1) | CN114977669A (en) |
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2022
- 2022-05-31 CN CN202210609484.4A patent/CN114977669A/en not_active Withdrawn
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Application publication date: 20220830 |