CN209813935U - Dual closed loop power tracking contact type car washer control device - Google Patents
Dual closed loop power tracking contact type car washer control device Download PDFInfo
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- CN209813935U CN209813935U CN201920400536.0U CN201920400536U CN209813935U CN 209813935 U CN209813935 U CN 209813935U CN 201920400536 U CN201920400536 U CN 201920400536U CN 209813935 U CN209813935 U CN 209813935U
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- 230000009977 dual effect Effects 0.000 title claims description 7
- 238000012544 monitoring process Methods 0.000 claims abstract description 21
- 238000000034 method Methods 0.000 abstract description 8
- 238000009434 installation Methods 0.000 abstract description 3
- 238000005406 washing Methods 0.000 description 8
- 238000004140 cleaning Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005669 field effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 229910044991 metal oxide Inorganic materials 0.000 description 1
- 150000004706 metal oxides Chemical class 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Abstract
The utility model discloses a double closed loop power tracking contact type car washer control device, which comprises a movable gantry, a three-phase servo motor with a coder, a servo driver, a top brush, a left side brush and a right side brush which are arranged on the movable gantry; the servo driver is electrically connected with an encoder of the three-phase servo motor through a three-phase line; the servo driver comprises a DC-DC chip, a motor driving chip, a current monitoring chip and a microprocessor, wherein a high-voltage direct-current power supply input from the outside of the DC-DC chip is converted into a low-voltage direct-current power supply to be used by the current monitoring chip, the motor driving chip and the microprocessor, and the current monitoring chip obtains three-phase current information and transmits the three-phase current information to the microprocessor. The utility model discloses an aspect, the method through power pursuit can improve the carwash efficiency, and on the other hand, this kind of mode can realize automatic carwash task with lower cost, implements the installation, easily popularizes and applies.
Description
Technical Field
The utility model belongs to the automatic carwash field of intelligence, especially a dual closed loop's power tracking contact carwash controlling means.
Background
With the development of economy, automobiles have gained wide popularity, and the demand for car washing has gradually increased. The manual car washing mode adopts the mode that a high-pressure water gun is held by a person to wash stains on a car body, and the car washer solves the problems of high labor cost, low cleaning efficiency and the like of manual car washing.
At present, a full-automatic contact type car washer adopts a hairbrush to traverse a car body so as to achieve the effect of washing the car body, the outline of the car body is obtained through a position sensor (such as a photoelectric sensor), and relevant operations are executed according to the information. In this manner, the overall control system is affected by sensor performance and increases installation and maintenance costs.
SUMMERY OF THE UTILITY MODEL
The utility model discloses overcome the weak point among the prior art, provide a dual closed loop's power tracking contact carwash controlling means, the device synthesizes the dual closed loop that the current information and the positional information of motor constitute, carries out real time power tracking to motor power and acquires the motor running state to it is clean to carry out whole car along the automobile body appearance.
The utility model provides a technical scheme that above-mentioned technical problem provided is: a double closed loop power tracking contact type car washer control device comprises a movable gantry, a three-phase servo motor with a coder, a servo driver, a top brush, a left side brush and a right side brush, wherein the top brush, the left side brush and the right side brush are arranged on the movable gantry; the servo driver is electrically connected with an encoder of the three-phase servo motor through a three-phase line;
the servo driver comprises a DC-DC chip, a motor driving chip, a current monitoring chip and a microprocessor, wherein a high-voltage direct-current power supply input from the outside of the DC-DC chip is converted into a low-voltage direct-current power supply to be used by the current monitoring chip, the motor driving chip and the microprocessor, the current monitoring chip obtains three-phase current information and transmits the three-phase current information to the microprocessor, and the microprocessor converts the three-phase current information into power information and outputs an output signal to the motor driving chip.
The further technical scheme is that the current monitoring chip adopts an ACS711 chip to acquire U/V/W three-phase current information.
The further technical scheme is that the FOC controller MP6570 produced by MPS is selected as the motor driving chip.
The further technical scheme is that an output element MOSFET and a predriver thereof are arranged on the motor driving chip.
A double closed loop power tracking full-automatic contact type car washer control method comprises the following steps:
s10, when the vehicle drives into the movable dragon door, the top brush is driven by a three-phase servo motor with an encoder to vertically move up and down, and the left brush and the right brush are driven to horizontally move left and right respectively;
s20, three-phase current information of three-phase servo motors is obtained through a servo driver, the three-phase current information is converted into power information, real-time position information of rotors of the three-phase servo motors is obtained through an encoder, and the servo driver forms a current closed loop and a position closed loop according to the power information, the real-time position information and a set closed loop power value;
and S30, controlling the motion track of the brush head by adjusting the current closed loop and the position closed loop of the three-phase servo motors, and realizing the power tracking of the car washer, thereby completely washing the car body according to the car type.
The current monitoring chip obtains three-phase current information and transmits the three-phase current information to the microprocessor, the microprocessor converts the three-phase current information into power information and compares the power information with a set power value, so as to control the three-phase servo motor to be far away from or close to a vehicle body; and obtaining three-phase current information in real time after the automobile body is far away from or close to the automobile body, and further repeating the steps to form a current closed loop.
The further technical scheme is that the comparison process of the power information and the set power value is as follows: and if the power information is less than the set value, controlling the three-phase servo motor to be close to the vehicle body, and if the power information is greater than the set value, controlling the three-phase servo motor to be far away from the vehicle body.
The further technical scheme is that the position closed loop comprises the following specific steps: acquiring real-time position information of a rotor of the three-phase servo motor through an encoder, and controlling motor phase change through position PID; and repeating the steps after the phase change, thereby forming a position closed loop.
The beneficial effects of utility model are that: the method has simple structure and ingenious design, and does not need a sensor to measure the shape of the vehicle body; on one hand, the method of power tracking can improve the car washing efficiency, and on the other hand, the method can realize the automatic car washing task with lower cost, implement installation and is easy to popularize and apply.
Drawings
FIG. 1 is a schematic view of a car washer;
FIG. 2 is a schematic diagram of a servo driver architecture;
fig. 3 is a schematic diagram of a control structure.
Detailed Description
The present invention will be further described with reference to the following examples and accompanying drawings.
As shown in fig. 1, a double closed loop power tracking contact type car washer control device comprises a movable gantry 1, a three-phase servo motor with an encoder, a servo driver, a top brush 2, a left brush 3 and a right brush 4, wherein the top brush 2, the left brush 3 and the right brush 4 are arranged on the movable gantry 1; the servo driver is electrically connected with an encoder of the three-phase servo motor through a three-phase line;
as shown in fig. 2, the servo driver comprises a DC-DC chip, a motor driving chip, a current monitoring chip, and a microprocessor, wherein a high voltage DC power input from the outside of the DC-DC chip is converted into a low voltage DC power for the current monitoring chip, the motor driving chip, and the microprocessor to use, the current monitoring chip obtains three-phase current information and transmits the three-phase current information to the microprocessor, the microprocessor converts the three-phase current information into power information, and output signals to a motor driving chip, the current monitoring chip adopts an ACS711 chip to collect U/V/W three-phase current information, the motor driving chip is an FOC controller MP6570 produced by MPS, the DC-DC chip is MP174GJ produced by MPS company, the microprocessor is PIC16F1788 produced by Microchip company, and the motor driving chip is provided with an output element MOSFET and a predriver thereof for protecting the circuit.
As shown in fig. 3, a method for controlling a dual closed-loop power tracking full-automatic contact car washer includes the following steps:
s10, driving the vehicle into the movable gantry 1, driving the top brush 2 to vertically move up and down by the three-phase servo motor with the encoder, and driving the left brush 3 and the right brush 4 to horizontally move left and right respectively;
s20, three-phase current information of three-phase servo motors is obtained through a servo driver, the three-phase current information is converted into power information, real-time position information of three-phase servo motor rotors is obtained through an encoder, the servo driver comprises a DC-DC chip, a motor driving chip, a current monitoring chip and a microprocessor, the current monitoring chip adopts an ACS711 chip and collects U/V/W three-phase current information, the motor driving chip is loaded with an output element MOSFET (metal oxide semiconductor field effect transistor) and a pre-driver thereof, a protection circuit and an external three-phase line driving servo motor.
A high-voltage direct-current power supply input from the outside of a DC-DC chip of the three-phase servo motor is converted into a low-voltage direct-current power supply to be used by a current monitoring chip, a motor driving chip and a microprocessor, the current monitoring chip obtains three-phase current information and transmits the three-phase current information to the microprocessor, and the microprocessor converts the three-phase current information into power information and outputs output signals to the motor driving chip to respectively control the three-phase servo motors to act;
the internal structure of the servo motor driver is shown in fig. 2, an encoder of the servo motor is connected to an encoder interface of the driver, and three phase lines of the servo motor are respectively connected to corresponding interfaces of the driver; because three phases of the servo motors are connected in a star shape, three-phase current information can be obtained by using two current monitoring chips; real-time position information of a motor rotor can be acquired through an encoder so as to control the motor to rotate;
s30, the microprocessor converts three-phase current information of the three-phase servo motors into three power information, the output power is controlled through the current PID, the motor phase change is controlled through the position PID, the output signal is output to the motor driving chip to control the servo motors to act, so that the brush moves along the track of the car body, the power tracking of the car washer is realized, and the car washing process is completed.
The three pieces of power information are compared with three preset power values, when the current power value is larger than the preset power value, the hairbrush is too close to the vehicle body, and the hairbrush is far away from the vehicle body through a power closed loop and a position closed loop; otherwise, the brush is close to the vehicle body.
By adopting the control method of the embodiment, the top brushes 2 are cleaned along the top of the vehicle body, and the brushes on the two sides are cleaned along the vehicle body twice, so that the aim of cleaning the whole vehicle is fulfilled.
The above description is not intended to limit the present invention in any way, and the present invention has been disclosed in the above embodiments, but is not intended to be limited thereto, and any person skilled in the art can make some changes or modify equivalent embodiments with equivalent changes when using the technical content disclosed above without departing from the technical scope of the present invention.
Claims (4)
1. A double closed loop power tracking contact type car washer control device is characterized by comprising a movable gantry (1), a three-phase servo motor with a coder, a servo driver, a top brush (2), a left brush (3) and a right brush (4) which are arranged on the movable gantry (1); the servo driver is electrically connected with an encoder of the three-phase servo motor through a three-phase line;
the servo driver comprises a DC-DC chip, a motor driving chip, a current monitoring chip and a microprocessor, wherein a high-voltage direct-current power supply input from the outside of the DC-DC chip is converted into a low-voltage direct-current power supply to be used by the current monitoring chip, the motor driving chip and the microprocessor, the current monitoring chip obtains three-phase current information and transmits the three-phase current information to the microprocessor, and the microprocessor converts the three-phase current information into power information and outputs an output signal to the motor driving chip.
2. The control device of the double closed loop power tracking contact type car washer according to claim 1, wherein the current monitoring chip adopts an ACS711 chip to collect U/V/W three-phase current information.
3. The control device of the dual closed-loop power tracking contact type car washer according to claim 1, wherein the motor driving chip is FOC controller MP6570 produced by MPS.
4. The control device of claim 3, wherein the motor driver chip is provided with an output MOSFET tube and a pre-driver thereof.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920400536.0U CN209813935U (en) | 2019-03-27 | 2019-03-27 | Dual closed loop power tracking contact type car washer control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920400536.0U CN209813935U (en) | 2019-03-27 | 2019-03-27 | Dual closed loop power tracking contact type car washer control device |
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| Publication Number | Publication Date |
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| CN209813935U true CN209813935U (en) | 2019-12-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920400536.0U Expired - Fee Related CN209813935U (en) | 2019-03-27 | 2019-03-27 | Dual closed loop power tracking contact type car washer control device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109927681A (en) * | 2019-03-27 | 2019-06-25 | 四川中匠科技有限公司 | A kind of power tracking contact car washer control device and method of dual closed loop |
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2019
- 2019-03-27 CN CN201920400536.0U patent/CN209813935U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109927681A (en) * | 2019-03-27 | 2019-06-25 | 四川中匠科技有限公司 | A kind of power tracking contact car washer control device and method of dual closed loop |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191220 |