CN117013891B - Load point judging method, device, equipment and storage medium - Google Patents
Load point judging method, device, equipment and storage medium Download PDFInfo
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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
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Abstract
The invention discloses a load point judging method, a device, equipment and a storage medium, and relates to the technical field of stepping motors, in particular to a load point judging method, a device, equipment and a storage medium. The load point judging method is applied to the stepping motor, and comprises the following steps: setting a window of mean filtering according to the beat number of the stepping motor to obtain a mean filtering window, carrying out mean filtering processing on input feedback current data according to the mean filtering window to obtain mean filtering data, setting a window of slope calculation according to a preset slope window threshold to obtain a slope calculation window, carrying out slope calculation on the mean filtering data according to the slope calculation window to obtain target slope data, and carrying out load point judgment according to the target slope data to obtain a target load point. The invention can accurately judge the load point of the stepping motor, and further accurately position the position of the motor ejector rod when contacting with the valve rod, so as to accurately control the flow.
Description
Technical Field
The present invention relates to the field of stepper motors, and in particular, to a method, an apparatus, a device, and a storage medium for determining a load point.
Background
The temperature control valve is characterized in that the motor is used for pushing the ejector rod, and the ejector rod is used for pushing the valve, so that the purpose of controlling the temperature by controlling the flow of hot water is achieved. Because the valve is various, the effective distance length of valve rod is different, consequently, temperature-sensing valve can not pinpoint the position when motor ejector pin and valve rod contact, and then can not accurate control flow.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the invention provides a load point judging method which can accurately judge the load point of a stepping motor, and further accurately position the position of the motor ejector rod when the motor ejector rod is in contact with the valve rod so as to accurately control the flow.
The invention also provides a load point judging device.
The invention also provides load point judging equipment.
The invention also proposes a computer readable storage medium.
In a first aspect, an embodiment of the present invention provides a load point determining method, applied to a stepper motor, including:
setting a window of mean value filtering according to the beat number of the stepping motor to obtain a window of mean value filtering;
average filtering processing is carried out on the input feedback current data according to the average filtering window, so that average filtering data are obtained;
setting a slope calculation window according to a preset slope window threshold value to obtain a slope calculation window;
slope calculation is carried out on the mean value filtering data according to the slope calculation window, and target slope data are obtained;
and judging the load point according to the target slope data to obtain a target load point.
The load point judging method of the embodiment of the invention has at least the following beneficial effects: obtaining the beat number of a stepping motor, setting the beat number of the stepping motor as a window of mean value filtering to obtain a mean value filtering window, inputting feedback current data into the mean value filtering window one by one, carrying out mean value filtering processing on the feedback current data one by the mean value filtering window to obtain mean value filtering data, obtaining a preset slope window threshold value, setting a window of slope calculation according to the slope window threshold value to obtain a slope calculation window, inputting the mean value filtering data into the slope calculation window one by one, carrying out slope calculation on the mean value filtering data one by the slope calculation window to obtain target slope data, and judging the load point of the stepping motor according to the target slope data to obtain a target load point. The average value filtering window is set according to the beat number of the stepping motor, average value filtering processing is carried out on the feedback current data according to the average value filtering window, average value filtering data are obtained, interference of shaking of the motor ejector rod can be reduced, and accuracy of load points is improved. And setting a slope calculation window according to the slope window threshold value, carrying out slope calculation on the mean value filtering data according to the slope calculation window to obtain target slope data, judging a target load point of the stepping motor according to the target slope data, and accurately judging the load point of the stepping motor so as to accurately position the position when the motor ejector rod is in contact with the valve rod, thereby accurately controlling the flow.
According to other embodiments of the present invention, the method for determining a load point sets a window of mean filtering according to the number of beats of the stepper motor, to obtain a window of mean filtering, includes:
acquiring the number of beats required by the rotation of the stepping motor for one circle, and obtaining the number of beats of the motor;
setting the motor beat number as a filtering window threshold;
and constructing a mean filtering window according to the filtering window threshold value to obtain the mean filtering window.
According to another embodiment of the present invention, a load point determining method performs an average filtering process on input feedback current data according to the average filtering window to obtain average filtering data, including:
inputting the feedback current data into the mean value filtering window for data traversal;
and if the data quantity of the traversed feedback current data reaches the filtering window threshold value, carrying out average filtering processing on the traversed feedback current data to obtain average filtering data.
According to another embodiment of the present invention, the method for determining a load point includes:
inputting the mean filtering data into the slope calculation window for data traversal;
and if the data quantity of the traversed mean value filtering data reaches the slope window threshold value, performing slope calculation on the traversed mean value filtering data to obtain the target slope data.
According to other embodiments of the present invention, the method for determining a load point includes performing slope calculation on the traversed mean value filtered data to obtain the target slope data, including:
calculating a difference value according to the rotating turns of the stepping motor to obtain a rotating turn difference value;
performing difference calculation according to the mean value filtering data to obtain a filtering data difference value;
and carrying out proportional calculation on the filtered data difference value and the rotation circle number difference value to obtain the target slope data.
According to another embodiment of the present invention, the load point determining method according to the target slope data, to obtain a target load point, includes:
acquiring current target slope data to obtain current slope data;
judging a mutation value according to the current slope data to obtain a slope mutation result;
and if the slope abrupt change result indicates that the slope data difference value is larger than a preset slope difference threshold value, setting the current rotation circle number of the stepping motor as the target load point.
According to another embodiment of the present invention, after the load point is determined according to the target slope data, the load point determining method further includes:
acquiring the target slope data corresponding to a plurality of target load points to obtain load point slope data;
calculating the difference value according to the load point slope data to obtain a load point slope difference value;
setting a slope threshold according to a preset feedback circuit and preset ADC precision;
and updating the target load point according to the load point slope difference value and the slope threshold value.
In a second aspect, an embodiment of the present invention provides a load point determination device applied to a stepping motor, the load point determination device including:
the filtering window setting module is used for setting a window of mean value filtering according to the beat number of the stepping motor to obtain a mean value filtering window;
the average filtering module is used for carrying out average filtering processing on the input feedback current data according to the average filtering window to obtain average filtering data;
the slope window setting module is used for setting a window for slope calculation according to a preset slope window threshold value to obtain a slope calculation window;
the slope calculation module is used for carrying out slope calculation on the mean value filtering data according to the slope calculation window to obtain target slope data;
and the load point judging module is used for judging the load point according to the target slope data to obtain a target load point.
The load point judging device provided by the embodiment of the invention has at least the following beneficial effects: the method comprises the steps that a filter window setting module obtains the beat number of a stepping motor, the beat number of the stepping motor is set as a window of mean value filter to obtain a mean value filter window, the mean value filter module inputs feedback current data into the mean value filter window one by one, the mean value filter window carries out mean value filter processing on the feedback current data one by one to obtain mean value filter data, a slope window setting module obtains a preset slope window threshold value, a slope calculation window is set according to the slope window threshold value to obtain a slope calculation window, the mean value filter data is input into the slope calculation window one by the slope calculation window, slope calculation is carried out on the mean value filter data one by one to obtain target slope data, and a load point judging module judges the load point of the stepping motor according to the target slope data to obtain a target load point. The average value filtering window is set according to the beat number of the stepping motor, average value filtering processing is carried out on the feedback current data according to the average value filtering window, average value filtering data are obtained, interference of shaking of the motor ejector rod can be reduced, and accuracy of load points is improved. And setting a slope calculation window according to the slope window threshold value, carrying out slope calculation on the mean value filtering data according to the slope calculation window to obtain target slope data, judging a target load point of the stepping motor according to the target slope data, and accurately judging the load point of the stepping motor so as to accurately position the position when the motor ejector rod is in contact with the valve rod, thereby accurately controlling the flow.
In a third aspect, an embodiment of the present invention provides a load point determination apparatus, including:
at least one processor, and,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the point-of-load determination method according to the first aspect.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium storing computer-executable instructions for causing a computer to perform the load point determination method according to the first aspect.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
FIG. 1 is a flowchart of a load point determination method according to an embodiment of the present invention;
FIG. 2 is a flowchart of step S101 in FIG. 1;
FIG. 3 is a flowchart illustrating the step S102 in FIG. 1;
FIG. 4 is a flowchart of step S104 in FIG. 1;
FIG. 5 is a flowchart illustrating the step S402 in FIG. 4;
FIG. 6 is a flowchart of step S105 in FIG. 1;
FIG. 7 is a flowchart of another embodiment of a load point determination method according to an embodiment of the present invention;
fig. 8 is a block diagram of a load point determining device according to an embodiment of the present invention.
Reference numerals illustrate:
a filtering window setting module 801, an average filtering module 802, a slope window setting module 803, a slope calculating module 804 and a load point judging module 805.
Detailed Description
The conception and the technical effects produced by the present invention will be clearly and completely described in conjunction with the embodiments below to fully understand the objects, features and effects of the present invention. It is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments, and that other embodiments obtained by those skilled in the art without inventive effort are within the scope of the present invention based on the embodiments of the present invention.
In the description of the present invention, if an orientation description such as "upper", "lower", "front", "rear", "left", "right", etc. is referred to, it is merely for convenience of description and simplification of the description, and does not indicate or imply that the apparatus or element referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the invention. If a feature is referred to as being "disposed," "secured," "connected," or "mounted" on another feature, it can be directly disposed, secured, or connected to the other feature or be indirectly disposed, secured, connected, or mounted on the other feature.
In the description of the embodiments of the present invention, if "several" is referred to, it means more than one, if "multiple" is referred to, it is understood that the number is not included if "greater than", "less than", "exceeding", and it is understood that the number is included if "above", "below", "within" is referred to. If reference is made to "first", "second" it is to be understood as being used for distinguishing technical features and not as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
The temperature control valve is characterized in that the motor is used for pushing the ejector rod, and the ejector rod is used for pushing the valve, so that the purpose of controlling the temperature by controlling the flow of hot water is achieved. Because the valve is various, the effective distance length of valve rod is different, consequently, temperature-sensing valve can not pinpoint the position when motor ejector pin and valve rod contact, and then can not accurate control flow. And the feedback signals of the motor are only 1, and the current is high. Taking a stepping motor as an example, when the required thrust is larger, the current is larger, and the ADC value fed back to the main control end is larger.
The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the invention provides a load point judging method which can accurately judge the load point of a stepping motor, and further accurately position the position of the motor ejector rod when the motor ejector rod is in contact with the valve rod so as to accurately control the flow.
Referring to fig. 1, fig. 1 is a flow chart illustrating a load point determining method according to an embodiment of the invention. In some embodiments, the load point determination method may include, but is not limited to, steps S101 to S105, applied to a stepping motor.
Step S101, setting a mean value filtering window according to the beat number of a stepping motor to obtain a mean value filtering window;
step S102, carrying out mean value filtering processing on input feedback current data according to a mean value filtering window to obtain mean value filtering data;
step S103, setting a slope calculation window according to a preset slope window threshold value to obtain a slope calculation window;
step S104, carrying out slope calculation on the mean value filtering data according to a slope calculation window to obtain target slope data;
step S105, judging the load point according to the target slope data to obtain a target load point.
Step S101 to step S105 schematically illustrated in the embodiment of the present application are performed, the number of beats of a stepper motor is obtained, the number of beats of the stepper motor is set as a window for mean filtering, a mean filtering window is obtained, feedback current data is input to the mean filtering window one by one, mean filtering processing is performed on the feedback current data by one by the mean filtering window, mean filtering data is obtained, a preset slope window threshold is obtained, a window for slope calculation is set according to the slope window threshold, a slope calculation window is obtained, the mean filtering data is input to the slope calculation window one by one, slope calculation is performed on the mean filtering data by one by the slope calculation window, target slope data is obtained, a load point of the stepper motor is judged according to the target slope data, and a target load point is obtained. The average value filtering window is set according to the beat number of the stepping motor, average value filtering processing is carried out on the feedback current data according to the average value filtering window, average value filtering data are obtained, interference of shaking of the motor ejector rod can be reduced, and accuracy of load points is improved. And setting a slope calculation window according to the slope window threshold value, carrying out slope calculation on the mean value filtering data according to the slope calculation window to obtain target slope data, judging a target load point of the stepping motor according to the target slope data, and accurately judging the load point of the stepping motor so as to accurately position the position when the motor ejector rod is in contact with the valve rod, thereby accurately controlling the flow.
The more the valve stem is ejected, the more water flows. The temperature control valve controls the flow by controlling the length of the valve rod which is propped out, thereby controlling the temperature. The more hot water flows through the valve, the more heat is exchanged and the faster the temperature rises; the less hot water flows through, the less heat is exchanged, and the slower the temperature rises or remains unchanged.
Referring to fig. 2, fig. 2 is a flow chart illustrating a load point determining method according to an embodiment of the invention. In some embodiments, the window of mean filtering is set according to the number of beats of the stepper motor, and the obtaining the window of mean filtering may include, but is not limited to including, step S201 to step S203.
Step S201, obtaining the number of beats required by one turn of the stepping motor to obtain the number of beats of the motor;
step S202, setting the motor beat number as a filtering window threshold;
and step S203, constructing a mean filtering window according to the filtering window threshold value to obtain a mean filtering window.
Step S201 to step S203 illustrated in the embodiment of the present application monitor a stepper motor, monitor the number of beats required for the stepper motor to rotate one turn, obtain the number of beats of the motor, set the number of beats of the motor to a threshold value of a pre-constructed filter window size, obtain a filter window threshold value, and construct a window of average filtering of the filter window threshold value size according to the filter window threshold value, so as to obtain an average filter window. Through obtaining the motor beat number of one circle of rotation of the stepping motor, a filter window threshold is set according to the motor beat number, and an average filter window is constructed according to the filter window threshold, so that a proper average filter window can be constructed according to the beat number of one circle of rotation of the stepping motor.
It should be noted that, the stepper motor rotates at a fixed beat, for example, eight beats, and the motor rotates forward or backward one turn every eight beats. The current required by the motor is smaller when the motor does not contact the valve rod, and the ADC value fed back to the main control is smaller; when contacting the valve rod and pushing forward, the current will become large instantaneously, then tend to stabilize, and finally the current reaches the maximum when blocking.
For example, a window of ADC average filtering is defined, where the window size is n, and the window size n is the number of beats required for one rotation of the stepper motor.
Referring to fig. 3, fig. 3 is a flow chart illustrating a load point determining method according to an embodiment of the invention. In some embodiments, the average filtering process is performed on the input feedback current data according to the average filtering window, and obtaining average filtering data may include, but is not limited to, steps S301 to S302.
Step S301, feedback current data are input into a mean value filtering window for data traversal;
step S302, if the data quantity of the traversed feedback current data reaches the filtering window threshold value, average filtering processing is carried out on the traversed feedback current data, and average filtering data are obtained.
Step S301 to step S302 illustrated in the embodiment of the present application, feedback current data are input to an average filtering window one by one, so that the average filtering window traverses the feedback current data, if the data amount of the traversed feedback current data reaches the threshold value of the filtering window, filtering processing is performed on the feedback current data traversed in the average filtering window, and average value is calculated according to the filtered feedback current data, so as to obtain average filtering data. And traversing the feedback current data through the average filtering window, and when the data quantity of the traversed feedback current data reaches the threshold value of the filtering window, carrying out average filtering processing on the feedback current data in the average filtering window to obtain average filtering data, so that the interference of motor ejector rod jitter can be reduced, and the accuracy of load points is further improved.
It should be noted that the mean value filtering process is to calculate the average value of all feedback current data in the mean value filtering window. For example, the size of the average filtering window is 10, and when the number of feedback current data reaches 10, the average value of the feedback current data with the sequence numbers of 1 to 10 is calculated. When the number of feedback current data reaches 11, the average value filtering window moves, and the average value of the feedback current data of sequence numbers 2 to 11 is calculated.
For example, when feedback current data A is input i When the number n is reached, filtering processing is started to obtain all feedback current data A in the average filtering window i Average value of (2); with feedback current data A i The average value filter window is continuously moved to obtain the average value AVG of the filtered feedback current data i 。
In step S103 of some embodiments, for example, if the slope window threshold is set to m, the size of the window for slope calculation is m.
Referring to fig. 4, fig. 4 is a flow chart illustrating a load point determining method according to an embodiment of the invention. In some embodiments, the slope calculation is performed on the mean value filtered data according to a slope calculation window, and obtaining the target slope data may include, but is not limited to, steps S401 to S402.
Step S401, inputting the mean value filtering data into a slope calculation window for data traversal;
step S402, if the data amount of the traversed mean value filtering data reaches the slope window threshold, performing slope calculation on the traversed mean value filtering data to obtain target slope data.
In the steps S401 to S402 illustrated in the embodiments of the present application, average value filtering data is input to a slope calculation window one by one, so that the slope calculation window traverses the average value filtering data, and if the data amount of the traversed average value filtering data reaches a slope window threshold value, slope calculation is performed on the average value filtering data traversed in the slope calculation window, so as to calculate the slope of each average value filtering data, and obtain target slope data. Traversing the average value filtering data through a slope calculation window, and when the data quantity of the traversed average value filtering data reaches a slope window threshold value, carrying out slope calculation processing on the average value filtering data in the slope calculation window to obtain target slope data, wherein the inclination degree of the current motor ejector rod can be calculated through the slope calculation window.
Referring to fig. 5, fig. 5 is a flowchart illustrating a load point determining method according to an embodiment of the invention. In some embodiments, slope calculation is performed on the traversed mean filter data, and obtaining the target slope data may include, but is not limited to including, step S501 to step S503.
Step S501, calculating a difference value according to the rotation number of the stepping motor to obtain a rotation number difference value;
step S502, performing difference calculation according to the mean value filtering data to obtain a filtering data difference value;
step S503, the ratio of the filtered data difference to the rotation number difference is calculated to obtain the target slope data.
Step S501 to step S503 illustrated in the embodiment of the present application are implemented by obtaining the current number of turns of the stepper motor, obtaining the current number of turns of the stepper motor after obtaining the number of times of traversing the slope window threshold, obtaining the number of turns of the traversing, performing difference calculation on the current number of turns of the traversing and the number of turns of the traversing, obtaining a number of turns difference, obtaining current mean value filtering data, obtaining current filtering data, obtaining the mean value filtering data after obtaining the number of times of traversing the slope window threshold, obtaining traversing filtering data, performing difference calculation on the current filtering data and the traversing filtering data, obtaining a filtering data difference, and performing proportion calculation on the filtering data difference and the number of turns of the traversing difference, thereby obtaining target slope data. The gradient data of the target is obtained by calculating the rotating turn number difference value of the rotating turns of the stepping motor, calculating the filtering data difference value of the mean filtering data, and calculating the ratio of the filtering data difference value to the rotating turn number difference value, and the gradient calculation window is used for calculating the gradient degree of the current motor ejector rod.
For example, the filtered average value filter data AVG i When the number reaches m, the calculation of the slope G is started i =(AVG i+m –AVG i )/(C i+m -C i ). Wherein C is i Is the number of turns of the stepping motor.
Referring to fig. 6, fig. 6 is a flow chart illustrating a load point determining method according to an embodiment of the invention. In some embodiments, the load point determination is performed according to the target slope data, and obtaining the target load point may include, but is not limited to, including step S601 to step S603.
Step S601, acquiring current target slope data to obtain current slope data;
step S602, judging a mutation value according to current slope data to obtain a slope mutation result;
step S603, if the slope abrupt change result indicates that the slope data difference value is greater than the preset slope difference threshold, setting the current rotation number of the stepper motor as a target load point.
In step S601 to step S603 illustrated in the embodiment of the present application, current target slope data is obtained, current slope data is obtained, previous target slope data and next target slope data are obtained according to the current slope data, the current slope data is compared with the previous target slope data, the current slope data is compared with the next target slope data, and a slope abrupt change result is obtained, if the slope abrupt change result indicates that the difference between the current slope data and the previous target slope data is greater than a preset slope difference threshold, and the difference between the current slope data and the next target slope data is greater than the preset slope difference threshold, the current slope data is an abrupt change value, and the number of turns of the current rotation of the stepper motor is set as a target load point. And judging a slope mutation result according to the current slope data by acquiring the current slope data, if the slope mutation result indicates that the slope data difference value is larger than a preset slope difference threshold value, setting the current rotating circle number as a target load point, and accurately judging the load point of the stepping motor, so that the position of the motor ejector rod when the motor ejector rod is in contact with the valve rod can be accurately positioned, and the flow can be accurately controlled.
For example, when the motor is operated from the no-load to the target load point, G i Will suddenly become larger and then tend to be 0 again. Traversing all G' s i Judgment of G i When the index i suddenly increases, it can be determined that the motor rotates by G i After the turn, the target load point is reached.
Referring to fig. 7, fig. 7 is a flowchart illustrating a load point determining method according to an embodiment of the invention. In some embodiments, after the load point is determined according to the target slope data, the load point determination method may further include, but is not limited to, steps S701 to S704.
Step S701, obtaining target slope data corresponding to a plurality of target load points to obtain load point slope data;
step S702, calculating a difference value according to a plurality of load point slope data to obtain a load point slope difference value;
step S703, setting a slope threshold according to a preset feedback circuit and a preset ADC precision;
step S704, updating the target load point according to the load point slope difference value and the slope threshold value.
In step S701 to step S704 illustrated in the embodiment of the present application, target slope data corresponding to a plurality of target load points are obtained, a plurality of load point slope data are obtained, two load point slope data are screened in the plurality of load point slope data, difference calculation is performed on the two load point slope data, a load point slope difference is obtained, a slope threshold is set according to an actual feedback circuit and a preset ADC precision, and if the load point slope difference is smaller than the slope threshold, the load point slope data of the next time is set as a target load point to update the target load point. The load point slope data corresponding to the target load point is obtained, the load point slope difference value is calculated according to the load point slope data, the slope threshold value is set according to the feedback circuit and the ADC precision, and the target load point is updated according to the load point slope difference value and the slope threshold value, so that the load point of the stepping motor can be accurately judged, and the position of the motor ejector rod when the motor ejector rod is in contact with the valve rod can be accurately positioned, so that the flow is accurately controlled.
For example, taking a stepping motor with 8 beats and 1 turn as an example, the size n of the average filtering window is selected to be 8, and when the number of feedback current data fed back exceeds 8, average filtering processing is started to obtain average filtering data AVG of the feedback current data i . Then, defining the size m of the calculation slope calculation window as 4, when the average value of the average value filter data AVG i When the number of (4) is reached, the calculation of the target slope data G is started i . When the ejector rod of the motor just pushes against the valve rod, the target slope data suddenly become larger, and when the target slope data G i And when the load is more than or equal to 1, obtaining a target load point. Since the feedback current data may fluctuate, the target slope data G is determined i During the course of (a), the target slope data G may appear i 1 or more, and target slope data G i+m < 1, again target slope data G j And (3) the condition is more than or equal to 1. Can judge the slope data G used for calculating the target i Data G of slope with target j AVG of (a) i And AVG j If AVG is the difference of i And AVG j If the difference between (a) and (b) is less than the slope threshold, then G is considered j Is the slope of the target load point.
In addition, the embodiment of the application also discloses a load point judging device, please refer to fig. 8, fig. 8 is a block diagram of a load point judging device according to an embodiment of the invention. The load point judging device can realize the load point judging method, the load point judging device is applied to the stepping motor, and the load point judging device comprises: the filtering window setting module 801, the average filtering module 802, the slope window setting module 803, the slope calculating module 804 and the load point judging module 805 are all in communication connection.
The filtering window setting module 801 sets a window of mean filtering according to the number of beats of the stepper motor, and obtains a window of mean filtering. The average filtering module 802 performs average filtering processing on the input feedback current data according to an average filtering window to obtain average filtering data. The slope window setting module 803 sets a window for slope calculation according to a preset slope window threshold value, and obtains a slope calculation window. The slope calculation module 804 performs slope calculation on the mean value filtered data according to the slope calculation window to obtain target slope data. The load point judging module 805 performs load point judgment according to the target slope data to obtain a target load point.
The load point judging device provided by the embodiment of the invention has at least the following beneficial effects: the filtering window setting module 801 obtains the number of beats of the stepper motor, sets the number of beats as a window of mean filtering according to the number of beats of the stepper motor to obtain a mean filtering window, the mean filtering module 802 inputs feedback current data into the mean filtering window one by one, the mean filtering window carries out mean filtering processing on the feedback current data one by one to obtain mean filtering data, the slope window setting module 803 obtains a preset slope window threshold, sets a window of slope calculation according to the slope window threshold to obtain a slope calculation window, the slope calculation module 804 inputs the mean filtering data into the slope calculation window one by one, the slope calculation window carries out slope calculation on the mean filtering data one by one to obtain target slope data, and the load point judging module 805 judges the load point of the stepper motor according to the target slope data to obtain a target load point. The average value filtering window is set according to the beat number of the stepping motor, average value filtering processing is carried out on the feedback current data according to the average value filtering window, average value filtering data are obtained, interference of shaking of the motor ejector rod can be reduced, and accuracy of load points is improved. And setting a slope calculation window according to the slope window threshold value, carrying out slope calculation on the mean value filtering data according to the slope calculation window to obtain target slope data, judging a target load point of the stepping motor according to the target slope data, and accurately judging the load point of the stepping motor so as to accurately position the position when the motor ejector rod is in contact with the valve rod, thereby accurately controlling the flow.
The operation procedure of the load point determining device of the present embodiment specifically refers to the load point determining methods steps S101 to S105, S201 to S203, S301 and S302, S401 and S402, S501 to S503, S601 to S603, and S701 to S704 in fig. 1, 2, 3, 4, 5, 6, and 7 described above, and is not repeated here.
Another embodiment of the present invention discloses a load point judgment device, including: at least one processor, and a memory communicatively coupled to the at least one processor; the memory stores instructions executable by the at least one processor, the instructions being executable by the at least one processor to enable the at least one processor to perform the load point determination methods as in the control method steps S101 to S105 in fig. 1, the control method steps S201 to S203 in fig. 2, the control method steps S301 and S302 in fig. 3, the control method steps S401 and S402 in fig. 4, the control method steps S501 to S503 in fig. 5, the control method steps S601 to S603 in fig. 6, and the control method steps S701 to S704 in fig. 7.
Another embodiment of the present invention discloses a computer-readable storage medium, the storage medium comprising: the storage medium stores computer-executable instructions for causing a computer to execute the control method steps S101 to S105 in fig. 1, the control method steps S201 to S203 in fig. 2, the control method steps S301 and S302 in fig. 3, the control method steps S401 and S402 in fig. 4, the control method steps S501 to S503 in fig. 5, the control method steps S601 to S603 in fig. 6, and the load point determination method of the control method steps S701 to S704 in fig. 7.
The above described apparatus embodiments are merely illustrative, wherein the units illustrated as separate components may or may not be physically separate, i.e. may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
Those of ordinary skill in the art will appreciate that all or some of the steps, systems, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes both volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as known to those skilled in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computer. Furthermore, as is well known to those of ordinary skill in the art, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of one of ordinary skill in the art without departing from the spirit of the present invention. Furthermore, embodiments of the invention and features of the embodiments may be combined with each other without conflict.
Claims (7)
1. A load point determination method, which is applied to a stepper motor, the load point determination method comprising:
setting a window of mean value filtering according to the beat number of the stepping motor to obtain a window of mean value filtering;
average filtering processing is carried out on the input feedback current data according to the average filtering window, so that average filtering data are obtained;
setting a slope calculation window according to a preset slope window threshold value to obtain a slope calculation window;
performing slope calculation on the mean filtering data according to the slope calculation window to obtain target slope data, including:
inputting the mean filtering data into the slope calculation window for data traversal;
if the data amount of the traversed average filtering data reaches the slope window threshold, performing slope calculation on the traversed average filtering data to obtain the target slope data, wherein the method comprises the following steps:
calculating a difference value according to the rotating turns of the stepping motor to obtain a rotating turn difference value;
performing difference calculation according to the mean value filtering data to obtain a filtering data difference value;
performing proportional calculation on the filtered data difference value and the rotation number difference value to obtain the target slope data;
carrying out load point judgment according to the target slope data to obtain a target load point, wherein the load point judgment comprises the following steps:
acquiring current target slope data to obtain current slope data;
judging a mutation value according to the current slope data to obtain a slope mutation result;
and if the slope abrupt change result indicates that the slope data difference value is larger than a preset slope difference threshold value, setting the current rotation circle number of the stepping motor as the target load point.
2. The method for determining a load point according to claim 1, wherein the step of setting a window for mean filtering according to the number of beats of the stepper motor, to obtain a window for mean filtering, includes:
acquiring the number of beats required by the rotation of the stepping motor for one circle, and obtaining the number of beats of the motor;
setting the motor beat number as a filtering window threshold;
and constructing a mean filtering window according to the filtering window threshold value to obtain the mean filtering window.
3. The method of claim 2, wherein the performing, according to the average filtering window, average filtering processing on the input feedback current data to obtain average filtered data includes:
inputting the feedback current data into the mean value filtering window for data traversal;
and if the data quantity of the traversed feedback current data reaches the filtering window threshold value, carrying out average filtering processing on the traversed feedback current data to obtain average filtering data.
4. The load point determination method according to claim 1, wherein after the load point determination is performed according to the target slope data to obtain a target load point, the load point determination method further comprises:
acquiring the target slope data corresponding to a plurality of target load points to obtain load point slope data;
calculating the difference value according to the load point slope data to obtain a load point slope difference value;
setting a slope threshold according to a preset feedback circuit and preset ADC precision;
and updating the target load point according to the load point slope difference value and the slope threshold value.
5. A load point determination device, characterized by being applied to a stepping motor, comprising:
the filtering window setting module is used for setting a window of mean value filtering according to the beat number of the stepping motor to obtain a mean value filtering window;
the average filtering module is used for carrying out average filtering processing on the input feedback current data according to the average filtering window to obtain average filtering data;
the slope window setting module is used for setting a window for slope calculation according to a preset slope window threshold value to obtain a slope calculation window;
the slope calculation module is configured to perform slope calculation on the mean filtering data according to the slope calculation window, to obtain target slope data, and includes:
inputting the mean filtering data into the slope calculation window for data traversal;
if the data amount of the traversed average filtering data reaches the slope window threshold, performing slope calculation on the traversed average filtering data to obtain the target slope data, wherein the method comprises the following steps:
calculating a difference value according to the rotating turns of the stepping motor to obtain a rotating turn difference value;
performing difference calculation according to the mean value filtering data to obtain a filtering data difference value;
performing proportional calculation on the filtered data difference value and the rotation number difference value to obtain the target slope data;
the load point judging module is used for judging the load point according to the target slope data to obtain a target load point, and comprises the following steps:
acquiring current target slope data to obtain current slope data;
judging a mutation value according to the current slope data to obtain a slope mutation result;
and if the slope abrupt change result indicates that the slope data difference value is larger than a preset slope difference threshold value, setting the current rotation circle number of the stepping motor as the target load point.
6. A load point judgment device characterized by comprising:
at least one processor, and,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the point-of-load determination method of any one of claims 1 to 4.
7. A computer-readable storage medium storing computer-executable instructions for causing a computer to perform the load point determination method according to any one of claims 1 to 4.
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