CN116614044A - Electric tool and control method thereof - Google Patents
Electric tool and control method thereof Download PDFInfo
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- CN116614044A CN116614044A CN202210118391.1A CN202210118391A CN116614044A CN 116614044 A CN116614044 A CN 116614044A CN 202210118391 A CN202210118391 A CN 202210118391A CN 116614044 A CN116614044 A CN 116614044A
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/20—Controlling the acceleration or deceleration
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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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
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- 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
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
本发明实施例公开了一种电动工具及其控制方法。通过该电动工具可以解决现有的电动工具存在因电动工具或电池包的温度、内阻等发生变化而出现刹车电流不可控、电机超压等造成刹车失效的问题，使电动工具在工作过程中，获取电源的当前第一电参数和电机控制线路的当前第二电参数；并根据电源的当前第一电参数确定电源的当前第三电参数；且当获取到刹车信号时，根据电源的当前第三电参数和电机控制线路的当前第二电参数调节输出用于调节电机当前电压的控制信号至驱动单元，从而调节电机的转速以调节电动工具的刹车控制，避免出现线路电流不可控、超压以及刹车失灵等情况。
The embodiment of the invention discloses an electric tool and a control method thereof. The electric tool can solve the problems of the existing electric tools that the brake current is uncontrollable and the motor is overvoltage due to changes in the temperature and internal resistance of the electric tool or the battery pack. , to obtain the current first electrical parameter of the power supply and the current second electrical parameter of the motor control circuit; and determine the current third electrical parameter of the power supply according to the current first electrical parameter of the power supply; The third electrical parameter and the current second electrical parameter adjustment output of the motor control circuit are used to adjust the control signal of the current voltage of the motor to the drive unit, so as to adjust the speed of the motor to adjust the brake control of the electric tool, and avoid uncontrollable line current. Pressure and brake failure and so on.
Description
技术领域technical field
本发明实施例涉及电动工具控制技术领域，尤其涉及一种电动工具及其控制方法。The embodiments of the present invention relate to the technical field of electric tool control, in particular to an electric tool and a control method thereof.
背景技术Background technique
随着电动工具的发展，电动工具的智能化控制技术得到越来越广泛的应用。例如，利用控制器调节电机的电压、转速等以实现电动工具的快速启动、平稳刹车等特性。With the development of electric tools, the intelligent control technology of electric tools has been more and more widely used. For example, use the controller to adjust the voltage and speed of the motor to achieve the characteristics of quick start and smooth braking of the electric tool.
然而，现有的电动工具存在因电动工具或电池包的温度、内阻等发生变化而出现刹车电流不可控、电机超压等造成刹车失效的问题。However, the existing electric tools have problems such as uncontrollable braking current and overvoltage of the motor due to changes in the temperature and internal resistance of the electric tool or the battery pack, resulting in brake failure.
发明内容Contents of the invention
本发明提供一种电动工具及其控制方法，以实现对电动工具的刹车控制。The invention provides an electric tool and a control method thereof to realize braking control of the electric tool.
第一方面，本发明实施例提供了一种电动工具，该电动工具包括：In a first aspect, an embodiment of the present invention provides an electric tool, which includes:
电机；motor;
电源，与所述电机电连接，用于为所述电机提供供电电压；a power supply, electrically connected to the motor, for providing a power supply voltage for the motor;
驱动单元，与所述电机电连接，用于驱动控制所述电机；a drive unit, electrically connected to the motor, for driving and controlling the motor;
第一检测单元，与所述电源电连接，用于检测获得所述电源的当前第一电参数；A first detection unit, electrically connected to the power supply, for detecting and obtaining the current first electrical parameter of the power supply;
第二检测单元，与所述电机电连接，用于检测获得所述电机控制线路的当前第二电参数；The second detection unit is electrically connected to the motor, and is used to detect and obtain the current second electrical parameter of the motor control circuit;
控制器，至少与所述电机、所述第一检测单元和所述第二检测单元电连接；a controller electrically connected to at least the motor, the first detection unit and the second detection unit;
所述控制器被配置为：The controller is configured as:
获取所述电源的当前第一电参数和所述电机控制线路的当前第二电参数；Acquiring the current first electrical parameter of the power supply and the current second electrical parameter of the motor control circuit;
根据所述电源的当前第一电参数确定所述电源的当前第三电参数；determining a current third electrical parameter of the power source according to the current first electrical parameter of the power source;
当获取到刹车信号时，根据所述电源的当前第三电参数和所述电机控制线路的当前第二电参数调节输出用于调节电机当前电压的控制信号至所述驱动单元。When the braking signal is obtained, outputting a control signal for adjusting the current voltage of the motor to the drive unit is adjusted according to the current third electrical parameter of the power supply and the current second electrical parameter of the motor control circuit.
可选地，所述第一电参数至少包括所述电源的温度信息、内阻信息和并联数。Optionally, the first electrical parameter includes at least temperature information, internal resistance information, and number of parallel connections of the power supply.
可选地，所述电源的当前第三电参数至少包括所述电源的当前最大回馈电流。Optionally, the current third electrical parameter of the power supply at least includes a current maximum feedback current of the power supply.
可选地，所述根据所述电源的当前第一电参数确定所述电源的当前第三电参数，包括：Optionally, the determining the current third electrical parameter of the power supply according to the current first electrical parameter of the power supply includes:
根据所述电源的第一电参数与所述电源的最大回馈电流对照表，确定所述电源的当前第三电参数。The current third electrical parameter of the power supply is determined according to the comparison table of the first electrical parameter of the power supply and the maximum feedback current of the power supply.
可选地，所述第二电参数至少包括：所述电机控制线路的电流。Optionally, the second electrical parameter at least includes: a current of the motor control circuit.
可选地，所述控制信号为PWM占空比或PWM调制频率。Optionally, the control signal is a PWM duty cycle or a PWM modulation frequency.
第二方面，本发明实施例还提供了一种电动工具的控制方法，该电动工具的控制方法由电动工具执行，所述电动工具包括：电机；电源，与所述电机电连接，用于为所述电机提供供电电压；驱动单元，与所述电机电连接，用于驱动控制所述电机；第一检测单元，与所述电源电连接，用于检测获得所述电源的当前第一电参数；第二检测单元，与所述电机电连接，用于检测获得所述电机控制线路的当前第二电参数；控制器，至少与所述电机、所述第一检测单元和所述第二检测单元电连接；In the second aspect, the embodiment of the present invention also provides a control method of an electric tool, the control method of the electric tool is executed by the electric tool, and the electric tool includes: a motor; a power supply, electrically connected to the motor, for The motor provides a power supply voltage; the drive unit is electrically connected to the motor, and is used to drive and control the motor; the first detection unit is electrically connected to the power supply, and is used to detect and obtain the current first electrical parameter of the power supply ; The second detection unit is electrically connected with the motor, and is used to detect and obtain the current second electrical parameter of the motor control circuit; the controller is at least connected with the motor, the first detection unit and the second detection unit unit electrical connection;
所述控制方法包括：The control methods include:
获取所述电源的当前第一电参数和所述电机控制线路的当前第二电参数；Acquiring the current first electrical parameter of the power supply and the current second electrical parameter of the motor control circuit;
根据所述电源的当前第一电参数确定所述电源的当前第三电参数；determining a current third electrical parameter of the power source according to the current first electrical parameter of the power source;
当获取到刹车信号时，根据所述电源的当前第三电参数和所述电机控制线路的当前第二电参数调节输出用于调节电机当前电压的控制信号至所述驱动单元。When the braking signal is obtained, outputting a control signal for adjusting the current voltage of the motor to the drive unit is adjusted according to the current third electrical parameter of the power supply and the current second electrical parameter of the motor control circuit.
可选地，所述第一电参数至少包括所述电源的温度信息、内阻信息和并联数。Optionally, the first electrical parameter includes at least temperature information, internal resistance information, and number of parallel connections of the power supply.
可选地，所述电源的当前第三电参数至少包括所述电源的当前最大回馈电流。Optionally, the current third electrical parameter of the power supply at least includes a current maximum feedback current of the power supply.
可选地，所述根据所述电源的当前第一电参数确定所述电源的当前吸收能力，包括：Optionally, the determining the current absorption capacity of the power supply according to the current first electrical parameter of the power supply includes:
根据所述电源的第一电参数与所述电源的最大回馈电流对照表，确定所述电源的当前第三电参数。The current third electrical parameter of the power supply is determined according to the comparison table of the first electrical parameter of the power supply and the maximum feedback current of the power supply.
本发明通过提供一种电动工具及其控制方法，通过该电动工具可以解决现有的电动工具存在因电动工具或电池包的温度、内阻等发生变化而出现刹车电流不可控、电机超压等造成刹车失效的问题，使电动工具在工作过程中，获取电源的当前第一电参数和电机控制线路的当前第二电参数；并根据电源的当前第一电参数确定电源的当前第三电参数；且当获取到刹车信号时，根据电源的当前第三电参数和电机控制线路的当前第二电参数调节输出用于调节电机当前电压的控制信号至驱动单元，从而调节电机的转速以调节电动工具的刹车控制，避免出现线路电流不可控、超压以及刹车失灵等情况。The present invention provides an electric tool and its control method, through which the electric tool can solve the problem of uncontrollable braking current, motor overvoltage, etc. Cause the problem of brake failure, so that the electric tool can obtain the current first electrical parameter of the power supply and the current second electrical parameter of the motor control circuit during the working process; and determine the current third electrical parameter of the power supply according to the current first electrical parameter of the power supply ; and when the brake signal is obtained, according to the current third electrical parameter of the power supply and the current second electrical parameter of the motor control circuit, the control signal for adjusting the current voltage of the motor is output to the drive unit, thereby adjusting the speed of the motor to adjust the motor Tool brake control to avoid uncontrollable line current, overvoltage and brake failure.
附图说明Description of drawings
图1是本发明实施例中的一种电动工具的电路结构框图；Fig. 1 is a block diagram of a circuit structure of an electric tool in an embodiment of the present invention;
图2是本发明实施例中的一种电动工具的控制方法的流程图。Fig. 2 is a flowchart of a control method of an electric tool in an embodiment of the present invention.
具体实施方式Detailed ways
下面结合附图和实施例对本发明作进一步的详细说明。可以理解的是，此处所描述的具体实施例仅仅用于解释本发明，而非对本发明的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与本发明相关的部分而非全部结构。The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention. In addition, it should be noted that, for the convenience of description, only some structures related to the present invention are shown in the drawings but not all structures.
图1为本发明实施例中提供的一种电动工具的电路结构框图。参考图1，该电动工具包括：电机10；电源20，与电机10电连接，用于为电机10提供供电电压；驱动单元30，与电机10电连接，用于驱动控制电机10；第一检测单元40，与电源20电连接，用于检测获得电源20的当前第一电参数；第二检测单元50，与电机10电连接，用于检测获得电机10控制线路的当前第二电参数；控制器60，至少与电机10、第一检测单元40和第二检测单元50电连接；控制器60被配置为：获取电源20的当前第一电参数和电机10控制线路的当前第二电参数；根据电源20的当前第一电参数确定电源20的当前第三电参数；当获取到刹车信号时，根据电源20的当前第三电参数和电机10控制线路的当前第二电参数调节输出用于调节电机10当前电压的控制信号至驱动单元30。Fig. 1 is a block diagram of a circuit structure of an electric tool provided in an embodiment of the present invention. Referring to Fig. 1, the power tool includes: a motor 10; a power supply 20, electrically connected to the motor 10, for providing a power supply voltage for the motor 10; a drive unit 30, electrically connected to the motor 10, for driving and controlling the motor 10; the first detection The unit 40 is electrically connected to the power supply 20, and is used to detect and obtain the current first electrical parameter of the power supply 20; the second detection unit 50 is electrically connected to the motor 10, and is used to detect and obtain the current second electrical parameter of the control circuit of the motor 10; A controller 60 is at least electrically connected to the motor 10, the first detection unit 40 and the second detection unit 50; the controller 60 is configured to: acquire the current first electrical parameter of the power supply 20 and the current second electrical parameter of the control circuit of the motor 10; Determine the current third electrical parameter of the power supply 20 according to the current first electrical parameter of the power supply 20; when the braking signal is obtained, adjust the output according to the current third electrical parameter of the power supply 20 and the current second electrical parameter of the control circuit of the motor 10 for A control signal for adjusting the current voltage of the motor 10 is sent to the drive unit 30 .
其中，电机10可以为直流电机；电源20可以为电池包，与电机10电连接，用于为电机10提供供电电压。驱动单元30可以为驱动器，分别与电机10和控制器60电连接，用于根据控制器60输出的控制信号控制电机10的转动。第一检测单元40分别与电源20和控制器60电连接，用于检测获得电源20的当前第一电参数并发送给控制器60；第二检测单元50分别与电机10和控制器60电连接，用于检测获得电机控制线路的当前第二电参数并发送给控制器60。控制器60用于接收电源20的当前第一电参数和电机控制线路的当前第二电参数，并根据电源20的当前第一电参数确定电源20的当前第三电参数。控制器60还用于当获取到电动工具的刹车信号时，根据电源20的当前第三电参数和电机控制线路的当前第二电参数调节输出控制信号至驱动单元30，驱动单元30根据控制信号调节电机10的当前电压以调节电机的转速，从而实现对电动工具的刹车控制，避免线路出现超压。Wherein, the motor 10 may be a DC motor; the power supply 20 may be a battery pack, electrically connected to the motor 10 and used to provide a power supply voltage for the motor 10 . The driving unit 30 may be a driver, electrically connected to the motor 10 and the controller 60 respectively, and used to control the rotation of the motor 10 according to the control signal output by the controller 60 . The first detection unit 40 is electrically connected to the power supply 20 and the controller 60 respectively, and is used to detect and obtain the current first electrical parameter of the power supply 20 and send it to the controller 60; the second detection unit 50 is electrically connected to the motor 10 and the controller 60 respectively , used to detect and obtain the current second electrical parameter of the motor control circuit and send it to the controller 60 . The controller 60 is configured to receive the current first electrical parameter of the power source 20 and the current second electrical parameter of the motor control circuit, and determine the current third electrical parameter of the power source 20 according to the current first electrical parameter of the power source 20 . The controller 60 is also used to adjust and output the control signal to the drive unit 30 according to the current third electrical parameter of the power supply 20 and the current second electrical parameter of the motor control circuit when the brake signal of the electric tool is obtained, and the drive unit 30 is configured according to the control signal The current voltage of the motor 10 is adjusted to adjust the speed of the motor, so as to realize braking control of the electric tool and avoid overvoltage of the circuit.
其中，当电动工具需要刹车时，刹车单元会向控制器60发送刹车信号。控制器60获取到刹车信号时，根据电源的当前第三电参数和电机控制线路的当前第二电参数调节输出用于调节电机当前电压的控制信号至驱动单元，以控制电动工具的刹车。Wherein, when the electric tool needs to be braked, the brake unit will send a brake signal to the controller 60 . When the controller 60 obtains the braking signal, it adjusts and outputs a control signal for adjusting the current voltage of the motor to the drive unit according to the current third electrical parameter of the power supply and the current second electrical parameter of the motor control circuit, so as to control the braking of the electric tool.
可选地，第一电参数可以包括电源的温度信息、内阻信息和并联数中的一种或多种组合。第二电参数可以包括电机线路的电流。第三电参数可以为电源20的吸收能力。Optionally, the first electrical parameter may include one or more combinations of temperature information, internal resistance information, and number of parallel connections of the power supply. The second electrical parameter may include a current of the motor line. The third electrical parameter may be the absorbing capacity of the power source 20 .
在本实施例的技术方案中，电动工具可以为圆锯、往复锯、角磨和电木铣等。通常，对各种电动工具的刹车控制主要是采用下桥MOS打开，短接三相线刹车的方案，但是刹车力很大，刹车电流不可控，因而刹车手感也很突兀。为改善上述问题，采用软刹车方案，但是当电动工具处于低温状态下时，电池包吸收能量的能力会降低，这会导致电机母线电压升高很多，因而必须增加超压保护，防止电压击穿MOS管，但这会在一定程度上增加设计的复杂度和设计制造成本。目前的解决方案主要是关闭驱动，让电机自由滑行，防止刹车能量再往母线充电。但是，该方案会造成低温情况下电动工具刹车失效的问题。为此，本发明提供的电动工具，可以实现：在电动工具工作过程中，第一检测单元40实时检测获得电源20的当前第一电参数并发送给控制器60，第二检测单元50实时检测获得电机控制线路的当前第二电参数并发送给控制器60，控制器60根据接收到的电源20的当前第一电参数生成电源20的当前第三电参数，当控制器60接收到电动工具的刹车信号时，根据电源20的当前第三电参数和电机控制线路的当前第二电参数调节输出用于调节电机当前电压的控制信号至驱动单元30，驱动单元30根据控制信号调节电机10的当前电压以调节电机的转速，从而实现对电动工具的刹车控制，避免线路出现超压、电流不可控以及刹车失效等。In the technical solution of this embodiment, the electric tool may be a circular saw, a reciprocating saw, an angle grinder, an electric wood miller, and the like. Usually, the brake control of various electric tools is mainly to open the lower bridge MOS and short-circuit the three-phase line brake, but the brake force is very large, the brake current is uncontrollable, so the brake feel is also very abrupt. In order to improve the above problems, a soft brake solution is adopted, but when the power tool is in a low temperature state, the ability of the battery pack to absorb energy will decrease, which will cause a large increase in the voltage of the motor bus, so it is necessary to increase overvoltage protection to prevent voltage breakdown MOS tube, but this will increase the complexity of the design and the cost of design and manufacturing to a certain extent. The current solution is mainly to turn off the drive, let the motor slide freely, and prevent the braking energy from charging the bus. However, this solution will cause the problem of brake failure of the electric tool under low temperature conditions. For this reason, the electric tool provided by the present invention can realize: in the working process of the electric tool, the first detection unit 40 detects and obtains the current first electrical parameter of the power supply 20 in real time and sends it to the controller 60, and the second detection unit 50 detects in real time Obtain the current second electric parameter of the motor control circuit and send it to the controller 60. The controller 60 generates the current third electric parameter of the power supply 20 according to the received current first electric parameter of the power supply 20. When the controller 60 receives the electric tool When the brake signal is applied, the control signal for adjusting the current voltage of the motor is output to the drive unit 30 according to the current third electrical parameter of the power supply 20 and the current second electrical parameter of the motor control circuit, and the drive unit 30 adjusts the motor 10 according to the control signal. The current voltage is used to adjust the speed of the motor, so as to realize the brake control of the electric tool and avoid overvoltage, uncontrollable current and brake failure of the line.
本实施例的技术方案，通过提供一种电动工具，该电动工具包括：电机；电源，与电机电连接，用于为电机提供供电电压；驱动单元，与电机电连接，用于驱动控制电机；第一检测单元，与电源电连接，用于检测获得电源的当前第一电参数；第二检测单元，与电机电连接，用于检测获得电机控制线路的当前第二电参数；控制器，至少与电机、第一检测单元和第二检测单元电连接；控制器被配置为：获取电源的当前第一电参数和电机控制线路的当前第二电参数；根据电源的当前第一电参数确定电源的当前第三电参数；当获取到刹车信号时，根据电源的当前第三电参数和电机控制线路的当前第二电参数调节输出用于调节电机当前电压的控制信号至驱动单元。通过该电动工具可以解决现有的电动工具存在因电动工具或电池包的温度、内阻等发生变化而出现刹车电流不可控、电机超压等造成刹车失效的问题，使电动工具在工作过程中，获取电源的当前第一电参数和电机控制线路的当前第二电参数；并根据电源的当前第一电参数确定电源的当前第三电参数；且当获取到刹车信号时，根据电源的当前第三电参数和电机控制线路的当前第二电参数调节输出用于调节电机当前电压的控制信号至驱动单元，从而调节电机的转速以调节电动工具的刹车控制，避免出现线路电流不可控、超压以及刹车失灵等情况。The technical solution of this embodiment provides an electric tool, which includes: a motor; a power supply, electrically connected to the motor, for providing a power supply voltage for the motor; a drive unit, electrically connected to the motor, for driving and controlling the motor; The first detection unit is electrically connected to the power supply, and is used to detect and obtain the current first electrical parameter of the power supply; the second detection unit is electrically connected to the motor, and is used to detect and obtain the current second electrical parameter of the motor control circuit; the controller, at least Electrically connected with the motor, the first detection unit and the second detection unit; the controller is configured to: obtain the current first electrical parameter of the power supply and the current second electrical parameter of the motor control circuit; determine the power supply according to the current first electrical parameter of the power supply The current third electrical parameter; when the brake signal is obtained, adjust and output the control signal for adjusting the current voltage of the motor to the drive unit according to the current third electrical parameter of the power supply and the current second electrical parameter of the motor control circuit. The electric tool can solve the problems of the existing electric tools that the brake current is uncontrollable and the motor is overvoltage due to changes in the temperature and internal resistance of the electric tool or the battery pack. , to obtain the current first electrical parameter of the power supply and the current second electrical parameter of the motor control circuit; and determine the current third electrical parameter of the power supply according to the current first electrical parameter of the power supply; The third electrical parameter and the current second electrical parameter adjustment output of the motor control circuit are used to adjust the control signal of the current voltage of the motor to the drive unit, so as to adjust the speed of the motor to adjust the brake control of the electric tool, and avoid uncontrollable line current. Pressure and brake failure and so on.
可选地，第一电参数至少包括电源的温度信息、内阻信息和并联数。Optionally, the first electrical parameter includes at least temperature information, internal resistance information, and number of parallel connections of the power supply.
其中，第一电参数可以为电源的温度信息、内阻信息和并联数中的一种或多种组合。还可以为其他参数，具体可根据实际情况进行设置，在此不做具体的限定。Wherein, the first electrical parameter may be one or more combinations of temperature information, internal resistance information, and parallel connection number of the power supply. It can also be other parameters, which can be set according to the actual situation, and no specific limitation is made here.
可选地，电源的当前第三电参数至少包括电源的当前最大回馈电流。Optionally, the current third electrical parameter of the power supply at least includes the current maximum feedback current of the power supply.
其中，电源的当前第三电参数为电源的当前吸收能力，电源的吸收能力可以用电源的最大回馈电流来表示。Wherein, the current third electrical parameter of the power supply is the current absorption capacity of the power supply, and the absorption capacity of the power supply can be represented by the maximum feedback current of the power supply.
可选地，根据电源的当前第一电参数确定电源的当前第三电参数，包括：Optionally, determining the current third electrical parameter of the power supply according to the current first electrical parameter of the power supply includes:
根据电源的第一电参数与电源的最大回馈电流对照表，确定电源的当前第三电参数。According to the comparison table of the first electrical parameter of the power supply and the maximum feedback current of the power supply, the current third electrical parameter of the power supply is determined.
具体的，已知电源的第一电参数，根据电源的第一电参数与电源的最大回馈电流对照表，可以确定对应的电源的最大回馈电流，进而可以确定电源的当前第三电参数(即电源的当前吸收能力)。其中，电源的第一电参数与电源的最大回馈电流对照表可根据实际情况进行设置，在此不做具体的限定。Specifically, the first electrical parameter of the power supply is known, and according to the comparison table of the first electrical parameter of the power supply and the maximum feedback current of the power supply, the maximum feedback current of the corresponding power supply can be determined, and then the current third electrical parameter of the power supply (ie current absorbing capacity of the power source). Wherein, the comparison table of the first electrical parameter of the power supply and the maximum feedback current of the power supply can be set according to the actual situation, and no specific limitation is made here.
需要说明的是，当电源的第一电参数为电源的温度信息时，已知电源的当前温度信息，根据电源的温度信息与电源的最大回馈电流对照表，可以确定电源的当前第三电参数(即电源的当前吸收能力)；当电源的第一电参数为电源的内阻信息时，已知电源的当前内阻信息，根据电源的内阻信息与电源的最大回馈电流对照表，可以确定电源的当前第三电参数(即电源的当前吸收能力)；当电源的第一电参数为电源的并联数时，已知电源的当前并联数，根据电源的并联数与电源的最大回馈电流对照表，可以确定电源的当前第三电参数(即电源的当前吸收能力)；同理，当电源的第一电参数为电源的温度信息、内阻信息和并联数中的多种组合时，已知电源的温度信息、内阻信息和并联数，可以根据电源的温度信息与电源的最大回馈电流对照表、电源的内阻信息与电源的最大回馈电流对照表、电源的并联数与电源的最大回馈电流对照表中的一种或者多种组合，可以确定电源的当前第三电参数(即电源的当前吸收能力)，具体的组合查询方式可根据实际情况进行设置，在此不做具体的限定。It should be noted that when the first electrical parameter of the power supply is the temperature information of the power supply, the current temperature information of the power supply is known, and the current third electrical parameter of the power supply can be determined according to the comparison table between the temperature information of the power supply and the maximum feedback current of the power supply (that is, the current absorption capacity of the power supply); when the first electrical parameter of the power supply is the internal resistance information of the power supply, the current internal resistance information of the power supply is known, and according to the comparison table between the internal resistance information of the power supply and the maximum feedback current of the power supply, it can be determined The current third electrical parameter of the power supply (that is, the current absorption capacity of the power supply); when the first electrical parameter of the power supply is the number of parallel connections of the power supply, the current number of parallel connections of the power supply is known, and compared with the maximum feedback current of the power supply according to the number of parallel connections of the power supply table, can determine the current third electrical parameter of the power supply (that is, the current absorption capacity of the power supply); similarly, when the first electrical parameter of the power supply is a variety of combinations of the temperature information, internal resistance information and parallel connection number of the power supply, the Knowing the temperature information, internal resistance information and parallel connection number of the power supply, you can use the temperature information of the power supply and the maximum feedback current comparison table of the power supply, the comparison table between the internal resistance information of the power supply and the maximum feedback current of the power supply, the parallel connection number of the power supply and the maximum feedback current of the power supply. One or more combinations in the feedback current comparison table can determine the current third electrical parameter of the power supply (that is, the current absorption capacity of the power supply). The specific combination query method can be set according to the actual situation, and no specific limitation is made here. .
可选地，第二电参数至少包括：电机控制线路的电流。Optionally, the second electrical parameter at least includes: a current of the motor control circuit.
具体的，控制器实时获取电源的当前第一电参数和电机控制线路的当前电流，并根据电源的当前第一电参数可以确定电源的当前最大回馈电流，当获取到刹车信号时，根据电源的当前最大回馈电流和电机控制线路的当前电流调节输出用于调节电机当前电压的控制信号至驱动单元，使得驱动单元根据该控制信号调节电机的当前电压以调节电机的转速，从而实现对电动工具的刹车控制，避免线路出现超压。Specifically, the controller obtains the current first electrical parameter of the power supply and the current current of the motor control circuit in real time, and can determine the current maximum feedback current of the power supply according to the current first electrical parameter of the power supply. The current maximum feedback current and the current current adjustment output of the motor control circuit are used to adjust the control signal of the current voltage of the motor to the drive unit, so that the drive unit adjusts the current voltage of the motor according to the control signal to adjust the speed of the motor, so as to realize the control of the electric tool Brake control to avoid overpressure on the line.
可选地，控制信号为PWM占空比或PWM调制频率。Optionally, the control signal is PWM duty cycle or PWM modulation frequency.
其中，控制器根据电源的当前最大回馈电流和电机控制线路的当前电流调节输出用于调节电机当前电压的控制信号，可以包括：当电源的当前最大回馈电流大于电机控制线路的当前电流时，不改变原有的PWM控制信号，即按照原有的刹车程序继续执行刹车命令；当电源的当前最大回馈电流小于电机控制线路的当前电流时，增加PWM占空比减小的幅度，或增加PWM频率降低的幅度，以加快PWM降低的速度，避免电机母线电压升高或升高太快，最终使得电机控制线路的电流为零，以实现刹车功能。Wherein, the controller adjusts and outputs the control signal for adjusting the current voltage of the motor according to the current maximum feedback current of the power supply and the current current of the motor control circuit, which may include: when the current maximum feedback current of the power supply is greater than the current current of the motor control circuit, no Change the original PWM control signal, that is, continue to execute the braking command according to the original braking program; when the current maximum feedback current of the power supply is less than the current current of the motor control circuit, increase the amplitude of the reduction of the PWM duty cycle, or increase the PWM frequency The reduction range is to speed up the PWM reduction speed, avoid the motor bus voltage from rising or rising too fast, and finally make the current of the motor control circuit zero to realize the braking function.
其中，电源(以电池包为例)的吸收能力是指电池包当前能够承受的最大回馈电流。一般在低温环境下，电池包的能够承受的最大回馈电流的能力会变弱，若还是按照常温下的刹车参数进行刹车，此时的刹车电流与电池包当前状态下能够承受的最大回馈电流不匹配，从而引起母线电压抬升，进一步地，加载在驱动电路上的电压也会抬升，最终可能会损坏驱动电路中的MOS管。示例性的，作为一种实施方式，以电源的第一电参数为温度信息为例，该电动工具的实现过程为：在电动工具工作过程中，第一检测单元40实时检测获得电源20的当前温度信息并发送给控制器60，第二检测单元50实时检测获得电机控制线路的当前电流并发送给控制器60，控制器60根据接收到的电源20的当前温度信息，按照电源的温度信息与电源的最大回馈电流对照表，可以确定电源的当前最大回馈电流，当控制器60接收到电动工具的刹车信号时，根据电源20的当前最大回馈电流和电机控制线路的当前电流调节输出用于调节电机当前电压的控制信号至驱动单元30，驱动单元30根据控制信号调节电机10的当前电压以调节电机的转速，从而实现对电动工具的刹车控制，避免线路出现超压、电流不可控以及刹车失效等。由此，一方面可以改善低温刹车性能，另一方面也可以根据电池包能力动态调整刹车手感，提升MOS可靠性。Among them, the absorption capacity of the power supply (taking the battery pack as an example) refers to the maximum feedback current that the battery pack can currently withstand. Generally, in a low temperature environment, the battery pack’s ability to withstand the maximum feedback current will become weaker. If braking is performed according to the braking parameters at normal temperature, the braking current at this time is not the same as the maximum feedback current that the battery pack can withstand in the current state. Matching, thus causing the bus voltage to rise, and further, the voltage loaded on the driving circuit will also rise, which may eventually damage the MOS tube in the driving circuit. Exemplarily, as an implementation, taking the first electrical parameter of the power supply as temperature information as an example, the implementation process of the electric tool is: during the working process of the electric tool, the first detection unit 40 detects and obtains the current value of the power supply 20 in real time. The temperature information is sent to the controller 60. The second detection unit 50 detects and obtains the current current of the motor control circuit in real time and sends it to the controller 60. The controller 60 receives the current temperature information of the power supply 20 according to the temperature information of the power supply and the temperature information of the power supply. The maximum feedback current comparison table of the power supply can determine the current maximum feedback current of the power supply. When the controller 60 receives the braking signal of the electric tool, it will adjust the output according to the current maximum feedback current of the power supply 20 and the current current current of the motor control circuit. The control signal of the current voltage of the motor is sent to the drive unit 30, and the drive unit 30 adjusts the current voltage of the motor 10 according to the control signal to adjust the speed of the motor, so as to realize the braking control of the electric tool and avoid overvoltage, uncontrollable current and brake failure of the line wait. As a result, on the one hand, low-temperature braking performance can be improved, and on the other hand, the braking feel can be dynamically adjusted according to the capacity of the battery pack to improve MOS reliability.
图2是本发明实施例中提供的一种电动工具的控制方法的流程图，本实施例可适用于电动工具的控制方法的实现过程，该方法可以由本发明实施例所提供的电动工具来执行，该电动工具包括：电机；电源，与电机电连接，用于为电机提供供电电压；驱动单元，与电机电连接，用于驱动控制电机；第一检测单元，与电源电连接，用于检测获得电源的当前第一电参数；第二检测单元，与电机电连接，用于检测获得电机控制线路的当前第二电参数；控制器，至少与电机、第一检测单元和第二检测单元电连接；参考图2，该电动工具的控制方法具体包括如下步骤：Fig. 2 is a flowchart of a control method of an electric tool provided in an embodiment of the present invention. This embodiment is applicable to the realization process of the control method of an electric tool, and the method can be executed by the electric tool provided in the embodiment of the present invention , the electric tool includes: a motor; a power supply, electrically connected to the motor, for providing a power supply voltage for the motor; a drive unit, electrically connected to the motor, for driving and controlling the motor; a first detection unit, electrically connected to the power supply, for detecting Obtain the current first electrical parameter of the power supply; the second detection unit is electrically connected to the motor, and is used to detect and obtain the current second electrical parameter of the motor control circuit; the controller is at least electrically connected to the motor, the first detection unit and the second detection unit Connection; With reference to Fig. 2, the control method of this electric tool specifically comprises the following steps:
步骤110、获取电源的当前第一电参数和电机控制线路的当前第二电参数；Step 110, acquiring the current first electrical parameter of the power supply and the current second electrical parameter of the motor control circuit;
具体的，该电动工具至少包括电机、电源、控制器、第一检测单元和第二检测单元。其中，第一检测单元分别与电源和控制器电连接，用于实时检测获得电源的当前第一电参数并发送给控制器。第二检测单元分别与电机和控制器电连接，用于实时检测获得电机控制线路的当前第二电参数并发送给控制器。Specifically, the electric tool at least includes a motor, a power supply, a controller, a first detection unit and a second detection unit. Wherein, the first detection unit is electrically connected with the power supply and the controller respectively, and is used for real-time detection to obtain the current first electrical parameter of the power supply and send it to the controller. The second detection unit is electrically connected with the motor and the controller respectively, and is used for real-time detection to obtain the current second electrical parameter of the motor control circuit and send it to the controller.
步骤120、根据电源的当前第一电参数确定电源的当前第三电参数；Step 120. Determine the current third electrical parameter of the power supply according to the current first electrical parameter of the power supply;
其中，电源的第一电参数可以为电源的温度信息、内阻信息和并联数中的一种或多种组合。电源的第三电参数为电源的吸收能力，根据电源的温度信息、内阻信息和并联数中的一种或多种组合可以确定电源的吸收能力。Wherein, the first electrical parameter of the power supply may be one or more combinations of temperature information, internal resistance information and parallel connection number of the power supply. The third electrical parameter of the power supply is the absorption capacity of the power supply, which can be determined according to one or more combinations of temperature information, internal resistance information, and parallel connection number of the power supply.
步骤130、当获取到刹车信号时，根据电源的当前第三电参数和电机控制线路的当前第二电参数调节输出用于调节电机当前电压的控制信号至驱动单元。Step 130 , when the braking signal is obtained, adjust and output the control signal for adjusting the current voltage of the motor to the drive unit according to the current third electrical parameter of the power supply and the current second electrical parameter of the motor control circuit.
具体的，控制器接收电源的当前第一电参数和电机控制线路的当前第二电参数；并根据电源的当前第一电参数确定电源的当前第三电参数；当获取到刹车信号时，根据电源的当前第三电参数和电机控制线路的当前第二电参数调节输出用于调节电机当前电压的控制信号至驱动单元，驱动单元根据控制信号调节电机的当前电压以调节电机的转速，从而实现对电动工具的刹车控制，避免线路出现超压。Specifically, the controller receives the current first electrical parameter of the power supply and the current second electrical parameter of the motor control circuit; and determines the current third electrical parameter of the power supply according to the current first electrical parameter of the power supply; The current third electrical parameter of the power supply and the current second electrical parameter of the motor control circuit are adjusted to output a control signal for adjusting the current voltage of the motor to the drive unit, and the drive unit adjusts the current voltage of the motor according to the control signal to adjust the speed of the motor, thereby realizing Brake control of electric tools to avoid overpressure on the line.
本实施例的技术方案，通过提供一种电动工具控制方法。该电动工具控制方法由电动工具执行，电动工具包括：电机；电源，与电机电连接，用于为电机提供供电电压；驱动单元，与电机电连接，用于驱动控制电机；第一检测单元，与电源电连接，用于检测获得电源的当前第一电参数；第二检测单元，与电机电连接，用于检测获得电机控制线路的当前第二电参数；控制器，至少与电机、第一检测单元和第二检测单元电连接；控制方法包括：获取电源的当前第一电参数和电机控制线路的当前第二电参数；根据电源的当前第一电参数确定电源的当前第三电参数；当获取到刹车信号时，根据电源的当前第三电参数和电机控制线路的当前第二电参数调节输出用于调节电机当前电压的控制信号至驱动单元。通过该方法可以解决现有的电动工具存在因电动工具或电池包的温度、内阻等发生变化而出现刹车电流不可控、电机超压等造成刹车失效的问题，使电动工具在工作过程中，获取电源的当前第一电参数和电机控制线路的当前第二电参数；并根据电源的当前第一电参数确定电源的当前第三电参数；且当获取到刹车信号时，根据电源的当前第三电参数和电机控制线路的当前第二电参数调节输出用于调节电机当前电压的控制信号至驱动单元，从而调节电机的转速以调节电动工具的刹车控制，避免出现线路电流不可控、超压以及刹车失灵等情况。The technical solution of this embodiment provides a method for controlling an electric tool. The electric tool control method is executed by the electric tool, and the electric tool includes: a motor; a power supply, electrically connected to the motor, used to provide a power supply voltage for the motor; a drive unit, electrically connected to the motor, used to drive and control the motor; a first detection unit, Electrically connected to the power supply, used to detect and obtain the current first electrical parameter of the power supply; the second detection unit, electrically connected to the motor, used to detect and obtain the current second electrical parameter of the motor control circuit; the controller, at least connected with the motor, the first The detection unit is electrically connected to the second detection unit; the control method includes: obtaining the current first electrical parameter of the power supply and the current second electrical parameter of the motor control circuit; determining the current third electrical parameter of the power supply according to the current first electrical parameter of the power supply; When the braking signal is obtained, the control signal for adjusting the current voltage of the motor is output to the drive unit according to the current third electrical parameter of the power supply and the current second electrical parameter of the motor control circuit. This method can solve the problem of uncontrollable braking current and overvoltage of the motor in the existing electric tools due to changes in the temperature and internal resistance of the electric tool or the battery pack. Obtain the current first electrical parameter of the power supply and the current second electrical parameter of the motor control circuit; and determine the current third electrical parameter of the power supply according to the current first electrical parameter of the power supply; Three electrical parameters and the current second electrical parameter adjustment output of the motor control circuit are used to adjust the control signal of the current voltage of the motor to the drive unit, so as to adjust the speed of the motor to adjust the brake control of the electric tool to avoid uncontrollable line current and overvoltage and brake failure.
可选地，第一电参数至少包括电源的温度信息、内阻信息和并联数。Optionally, the first electrical parameter includes at least temperature information, internal resistance information, and number of parallel connections of the power supply.
可选地，电源的当前第三电参数至少包括电源的当前最大回馈电流。Optionally, the current third electrical parameter of the power supply at least includes the current maximum feedback current of the power supply.
可选地，根据电源的当前第一电参数确定电源的当前吸收能力，包括：Optionally, determining the current absorption capacity of the power supply according to the current first electrical parameter of the power supply includes:
根据电源的第一电参数与电源的最大回馈电流对照表，确定电源的当前第三电参数。According to the comparison table of the first electrical parameter of the power supply and the maximum feedback current of the power supply, the current third electrical parameter of the power supply is determined.
注意，上述仅为本发明的较佳实施例及所运用技术原理。本领域技术人员会理解，本发明不限于这里所述的特定实施例，对本领域技术人员来说能够进行各种明显的变化、重新调整和替代而不会脱离本发明的保护范围。因此，虽然通过以上实施例对本发明进行了较为详细的说明，但是本发明不仅仅限于以上实施例，在不脱离本发明构思的情况下，还可以包括更多其他等效实施例，而本发明的范围由所附的权利要求范围决定。Note that the above are only preferred embodiments of the present invention and applied technical principles. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, rearrangements and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and can also include more other equivalent embodiments without departing from the concept of the present invention, and the present invention The scope is determined by the scope of the appended claims.
Claims (10)
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