WO2023178733A1

WO2023178733A1 - Platform cover plate control method, apparatus, electronic device, and storage medium

Info

Publication number: WO2023178733A1
Application number: PCT/CN2022/085307
Authority: WO
Inventors: 王喜军; 余铁辉; 傅涛; 齐国东
Original assignee: 中际联合（北京）科技股份有限公司
Priority date: 2022-03-22
Filing date: 2022-04-06
Publication date: 2023-09-28
Also published as: CN114592765A; CN114592765B

Abstract

Disclosed are a platform cover plate control method, an apparatus, an electronic device, and a storage medium. The method comprises: determining a zero position, wherein the zero position corresponds to the completely closed state of a platform cover plate; in response to a driving motor operating a preset number of pulses from the zero position according to a first preset operation mode, controlling the driving motor to drive the platform cover plate to be opened; and in response to the driving motor operating, according to a second preset operation mode, the preset number of pulses from the position where the platform cover plate is opened, controlling the driving motor to drive the platform cover plate to be completely closed.

Description

Platform cover control method, device, electronic equipment and storage medium

Cross-references to related applications

This application claims priority to the Chinese patent application with application number 202210288921.7 and the invention title "Platform Cover Control Method and Device" submitted on March 22, 2022, which is fully incorporated herein by reference.

Technical field

The present disclosure relates to platform cover control methods, devices, electronic equipment and storage media.

Background technique

The statements herein merely provide background information related to the present disclosure and do not necessarily constitute prior art.

A wind turbine is a device that converts wind kinetic energy into mechanical kinetic energy, and then converts mechanical energy into electrical kinetic energy. The principle of wind power generation is to use wind power to drive the blades of the windmill to rotate, and then use a speed increaser to increase the speed of rotation to prompt the generator to generate electricity. The wind turbine tower is used to support the blades and absorb the vibration of the unit. The platform cover is a safety access door for each layer in the wind turbine tower, which is used for safe passage of operators in the wind turbine tower and isolation and protection between layers.

It is known from the related art that the platform cover uses a mechanical switch (for example, a swing lever type travel switch) as a limit. Among them, the triggering position of the mechanical switch needs to be adjusted manually.

Contents of the invention

The present disclosure provides a platform cover control method, device, electronic equipment and storage medium.

In a first aspect, some embodiments of the present disclosure provide a platform cover control method for automatic cover. The automatic cover at least includes a platform cover, a control device and a driving motor. The platform cover is connected to the platform cover. The drive motor is connected, the drive motor is connected to the control device, and the control device is used to execute the method, specifically including:

Determining a zero position, wherein the zero position corresponds to a fully closed state of the platform cover;

In response to the drive motor running a preset number of pulses from the zero position in accordance with the first preset operation mode, the drive motor is controlled to drive the platform cover to open;

In response to the driving motor running the preset number of pulses from the position where the platform cover is opened according to the second preset operation mode, the driving motor is controlled to drive the platform cover to completely close.

In a second aspect, some embodiments of the present disclosure provide a control device, including:

A zero-setting module is used to determine the zero position, wherein the zero position corresponds to the fully closed state of the platform cover;

An opening module, configured to control the driving motor to drive the platform cover to open in response to the driving motor running a preset number of pulses from the zero position in a first preset operating mode;

A shutdown module, configured to run the preset number of pulses from the position where the platform cover is opened in response to the drive motor operating in the second preset operation mode, and control the drive motor to drive the platform cover completely. closure.

In a third aspect, some embodiments of the present disclosure provide an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, including:

In a fourth aspect, some embodiments of the present disclosure provide a non-transitory computer-readable storage medium having a computer program stored thereon, including:

In a fifth aspect, some embodiments of the present disclosure provide a computer program product, including a computer program, wherein when executed by a processor, the computer program includes:

Description of the drawings

In order to more clearly illustrate the technical solutions of the present disclosure, a brief introduction will be made below to the drawings needed to be used in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present disclosure, which are of great significance to this field. Ordinary technicians can also obtain other drawings based on these drawings without exerting creative work.

Figure 1 is one of the schematic flow diagrams of a platform cover control method provided by an embodiment of the present disclosure;

Figure 2 is a second schematic flowchart of a platform cover control method provided by an embodiment of the present disclosure;

Figure 3 is one of the flow diagrams of a platform cover control method during the platform cover opening process provided by an embodiment of the present disclosure;

Figure 4 is a second schematic flowchart of the platform cover control method during the opening process of the platform cover provided by an embodiment of the present disclosure;

Figure 5 is a schematic structural diagram of a control device provided by an embodiment of the present disclosure;

FIG. 6 is a schematic structural diagram of an electronic device provided by an embodiment of the present disclosure.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present disclosure clearer, the technical solutions in the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings in the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure. , not all examples. Based on the embodiments in this disclosure, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the scope of protection of this disclosure.

In embodiments of the present disclosure, the platform cover may be a platform cover of a wind turbine, where the wind turbine may be a device for wind power generation. Wind turbines may include wind turbine towers, blades and automatic covers. Among them, the wind turbine tower can be used to support the blades and absorb the vibration of the unit. The automatic cover can be installed inside the wind turbine tower. Among them, there will be a multi-layered fan platform inside the wind turbine tower. Each layer of the fan platform has an escape passage for operators or crawlers to pass through. The escape passage is closed or opened by the platform cover (i.e., it is closed or opened by the platform cover). to achieve the closing or opening of the avoidance channel).

It is known from the related art that the platform cover uses a mechanical switch (for example, a pendulum type travel switch) as a limit, and the triggering position of the mechanical switch is manually adjusted. Therefore, during the process of opening or closing the platform cover, due to errors in the manual adjustment of the trigger position, the mechanical switch may be triggered prematurely or not triggered, resulting in the platform cover being unable to be fully opened or unable to be fully closed. situation occurs.

The platform cover control method provided by the embodiment of the present disclosure can accurately locate the position of the platform cover by obtaining the running direction and the number of operating pulses of the drive motor and based on the determination of the zero position, and realize the limitation of the platform cover. position processing, which can avoid the situation that the platform cover cannot be fully opened or cannot be fully closed due to the use of mechanical switches as limiters during the opening or closing process of the platform cover.

The present disclosure will illustrate the process of the platform cover control method through the following embodiments.

Figure 1 is one of the schematic flow diagrams of a platform cover control method provided by an embodiment of the present disclosure.

In an exemplary embodiment of the present disclosure, the platform cover control method can be applied to the automatic cover, wherein the automatic cover can at least include a platform cover, a control device and a drive motor. In an example, the control device can be connected with the drive motor. The motor is electrically connected, and the drive motor can be connected to the platform cover. During the application process, based on the electrical connection relationship between the control device and the drive motor, the control device can obtain the running direction and pulse number of the drive motor in real time, and drive the platform cover to open and close by controlling the drive motor. In one example, the driving motor can drive the platform cover to open and close through a driving device, where the driving device can be a connecting rod or a hinge. As shown in Figure 1, the platform cover control method may include steps 110 to 130. Each step will be introduced separately below.

In step 110, a zero position is determined, wherein the zero position corresponds to the fully closed state of the platform cover.

In an exemplary embodiment of the present disclosure, after the automatic cover is powered on, the driving motor can be controlled by the control device to rotate according to a preset operating mode (corresponding to the operating direction that drives the platform cover to close) to drive the platform cover. The plate is completely closed, the platform cover is in contact with the platform, and this state is determined to be the zero position or zero position state.

Due to the gap between the gears of the drive motor, when the platform cover is completely closed, the drive motor may also output a pulse number. In an example, when the number of pulses sent by the driving motor to the control device (for example, the control device may include but is not limited to a PLC controller, a microcontroller, a CPU, an MCU, etc.) is less than 200p/min and lasts for 2 seconds, it can be considered that this time The platform cover is fully closed.

Since the models of the drive motors are different, the clearance of the gears in the drive motors is also different accordingly. It can be understood that when the platform cover is in a completely closed state, the number and duration of pulses sent by the drive motor to the control device will change accordingly. In this embodiment, the number and duration of pulses sent by the drive motor to the control device when the platform cover is in a completely closed state are not specifically limited, and they can be adjusted according to the actual situation.

In step 120, in response to the drive motor running a preset number of pulses from zero in accordance with the first preset operation mode, the drive motor is controlled to drive the platform cover to open.

In one embodiment, taking the control of the forward rotation of the drive motor corresponding to the opening of the platform cover as an example, when the control device detects that the drive motor runs from the zero position in the forward rotation mode for a preset number of pulses, it can be controlled by the control device The drive motor drives the platform cover to open. It can be understood that the preset number of pulses can be adjusted according to the actual situation. It can be the number of pulses required to enable the platform cover to operate from zero to fully open, or it can be the number of pulses to enable the platform cover to operate from zero to fully open. The number of pulses that need to be run when turning on the preset angle.

In one embodiment, the control device can monitor the output pulses of the driving motor through the number of pulses transmitted by the driving motor to it. In one example, the driving motor may be a brushless DC motor, which may directly feed back the pulse number to the control device. In another example, the driving motor can also be other types of motors. Since other types of motors cannot directly feed back the number of pulses to the control device, they need to be used with a pulse signal generator to feed back the number of pulses to the control device. Among them, the pulse signal generator can be a Hall device, a photoelectric switch or a proximity switch, etc.

In step 130, in response to the drive motor running a preset number of pulses from the position where the platform cover is opened according to the second preset operation mode, the drive motor is controlled to drive the platform cover to completely close.

It should be noted that the operation directions of the first preset operation mode and the second preset operation mode are opposite. The operation directions of the first preset operation mode and the second preset operation mode are opposite, which can ensure that after the drive motor drives the platform cover through the preset number of pulses according to the first preset operation mode, the drive motor is then driven according to the second preset operation mode. Assuming that the operation mode drives the platform cover through the same preset number of pulses, the platform cover can return to the initial position.

In one embodiment, taking the control of the drive motor to rotate in reverse corresponding to causing the platform cover to be closed as an example, when the control device detects that the drive motor operates in a reverse direction from the position where the platform cover is opened after the platform cover is opened, the preset number of pulses are run. , the drive motor can be controlled by the control device to drive the platform cover to completely close. Because the control device can record the preset number of pulses that the drive motor has run, and can use the position of the platform cover after it is opened as a closing limit. Further, the control device can be used to control the driving motor to run a preset number of pulses, so that the platform cover returns to the fully closed state of the platform cover. In this embodiment, on the basis of step 110, the control device can accurately locate the position of the platform cover by obtaining the running direction and the number of running pulses of the drive motor, without the need for a mechanical switch to be used as a limit switch. This reduces the cost of parts and improves the accuracy of the position limit, so that the fully open or fully closed function of the platform cover can be accurately realized.

In order to further introduce the platform cover control method provided by the present disclosure, the following will be described in conjunction with the following embodiments.

Figure 2 is a second schematic flowchart of a platform cover control method provided by an embodiment of the present disclosure.

In an exemplary embodiment of the present disclosure, the preset pulse number may include the first preset pulse number, and the position of the platform cover after it is opened may include the position of the platform cover after it is fully opened. As shown in Figure 2, the platform cover control method may include steps 210 to 230, where step 210 is the same as or similar to step 110. Please refer to the previous description for its specific embodiments and beneficial effects, which will not be described again in this embodiment. , step 220 and step 230 will be introduced respectively below.

In step 220, in response to the drive motor running the first preset number of pulses from zero in accordance with the first preset operation mode, the drive motor is controlled to drive the platform cover to fully open.

In step 230, in response to the drive motor running the first preset number of pulses from the position after the platform cover is fully opened in the second preset operation mode, the drive motor is controlled to drive the platform cover to completely close.

In one embodiment, taking the control of the forward rotation of the drive motor corresponding to the opening of the platform cover as an example, when the control device detects that the drive motor runs the first preset number of pulses from zero in the forward rotation mode, it can be controlled by The device controls the drive motor to drive the platform cover to fully open. It can be understood that the first preset pulse number is the number of pulses that the drive motor operates when the platform cover is switched between the zero position (fully closed) and the fully open position.

Further, taking the control of the driving motor to reverse rotation corresponding to causing the platform cover to be closed as an example, when the platform cover is in the position after the platform cover is fully opened, the control device detects that the driving motor is rotated by the platform cover in a reversing manner. After it is fully opened, the first preset number of pulses will be run from the position, and the drive motor can be controlled by the control device to drive the platform cover to completely close. Because the control device can record the first preset pulse number that the drive motor has run, and can use the position of the platform cover after it is opened as the closing limit. Further, the control device can be used to control the driving motor to run a first preset number of pulses, so that the platform cover returns to the fully closed state of the platform cover.

In this embodiment, on the basis of step 210, by obtaining the running direction and the number of running pulses of the drive motor, the position of the platform cover can be accurately located, without the need for a mechanical switch to be used as a limit switch, thereby reducing It reduces the cost of parts and improves the accuracy of the limit, so that the platform cover can be fully opened or fully closed accurately.

The present disclosure will describe the process of determining the preset number of pulses for the drive motor to run from zero in accordance with the first preset operation mode in conjunction with the following embodiments.

In an exemplary embodiment of the present disclosure, taking the control of the forward rotation of the drive motor corresponding to opening the platform cover as an example, the drive motor switches from zero to zero in accordance with the first preset operation mode (in this embodiment, forward rotation is used as an example). The preset number of pulses for starting operation can be determined in the following way: in response to the control device receiving the signal sent by the corresponding sensor to determine the running direction of the lifting equipment and whether it is about to pass the platform. If it is determined that the lifting equipment is about to pass the platform, control the drive The motor rotates according to the first preset operation mode (for example, forward rotation) and runs a preset number of pulses starting from the zero position to drive the platform cover to be opened.

In one embodiment, the control device can determine the running direction of the lifting equipment based on the received signals sent by sensors installed on the platform ladder and located on both sides of the platform cover (above and below the platform cover), and then determine whether The platform cover needs to be opened. Among them, the Chinese utility model patent with the publication number CN206562233U discloses an automatic switch control system for the platform cover used in the fan climber. It describes in detail the implementation process of the control device judging the operating direction of the lifting equipment based on the signal sent by the sensor. , which will not be described in detail here.

In one example, the running direction of the lifting equipment and whether it is about to pass the platform can be determined through signals sent by the sensor to the control device. When it is detected that the lifting equipment is about to pass the platform, the drive motor can be controlled to rotate according to the first preset operation mode (for example, forward rotation) and run the preset number of pulses from zero to drive the platform cover to open. In another example, when it is detected that the lifting equipment is about to pass the platform, the drive motor can be controlled to rotate forward and run from the zero position for the first preset number of pulses, and the platform cover can be driven to fully open through the drive motor.

The present disclosure will describe the process of determining the preset number of pulses for the driving motor to operate from the position after the platform cover is opened according to the second preset operation mode in conjunction with the following embodiments.

In an exemplary embodiment of the present disclosure, taking the control of the driving motor to reverse rotation corresponding to causing the platform cover to be closed as an example, the driving motor is driven by the platform in accordance with the second preset operating mode (taking reverse rotation as an example in this embodiment). The preset number of pulses for operation from the position after the cover is opened can be determined in the following way: in response to the control device receiving the signal sent by the corresponding sensor to determine the running direction of the lifting equipment and whether it is far away from the current platform, if it is determined that the lifting equipment has Far away from the platform, the drive motor is controlled to rotate according to the second preset operation mode (for example, reverse rotation), and run the preset number of pulses from the position where the platform cover is opened to drive the platform cover to completely close.

In one embodiment, the control device can determine the running direction of the lifting equipment and whether it is far away from the current situation based on the received signals sent by sensors installed on the platform ladder and located on both sides of the platform cover (above and below the platform cover). platform to determine whether the platform cover needs to be closed. If it is determined that the lifting equipment has moved away from the platform, the drive motor is controlled to operate according to the second preset operation mode (such as reverse), and the preset number of pulses is run from the position of the platform cover after it is opened, so as to drive the platform cover completely closure. Among them, the Chinese utility model patent with the publication number CN206562233U discloses an automatic switch control system for the platform cover used in the fan climber. It describes in detail the implementation process of the control device judging the operating direction of the lifting equipment based on the signal sent by the sensor. , which will not be described in detail here.

Through this embodiment, after it is determined that the lifting equipment has moved away from the platform, the platform cover can be controlled to rotate to the opened angle, thereby realizing complete closing of the platform cover without the need for a mechanical switch to limit the position.

In order to further introduce the platform cover control method according to the embodiment of the present disclosure, the platform cover control method during the platform cover opening process will be described below.

Figure 3 is one of the schematic flow diagrams of a platform cover control method during the platform cover opening process provided by an embodiment of the present disclosure.

In an exemplary embodiment of the present disclosure, during the platform cover opening process, the platform cover control method may include steps 310 to 320, and each step will be introduced separately below.

In step 310, during the opening time of the platform cover, the real-time operating speed and actual operating current of the drive motor are determined in real time.

In one embodiment, the opening duration of the platform cover may correspond to the time it takes for the platform cover to be fully opened. Among them, the time it takes for the platform cover to be fully opened can ensure that the platform cover has been opened when the user or the robot arrives at the platform. In this embodiment, the time it takes for the platform cover to be fully opened can be adjusted according to the actual situation. For example, it can be determined based on the platform distance passed by the lifting equipment, the length of the platform cover, and the operating speed of the crawler. In one embodiment, the time it takes for the platform cover to be fully opened can be determined by the following formula (1):

Among them, T represents the time it takes for the platform cover to be fully opened, L1 represents the distance of the platform through which the lifting equipment passes, L2 represents the length of the platform cover, and V represents the operating speed of the free climber. In this embodiment, there may be no specific limit on the time it takes for the platform cover to be fully opened. In an example, the time it takes for the platform cover to be fully opened or the opening duration of the platform cover may be 10 seconds.

In one embodiment, the immediate operating speed of the drive motor can be determined in the following manner:

The real-time pulse number of the drive motor is monitored in real time through the control device; the real-time running speed of the drive motor is determined based on the real-time pulse number.

While the platform cover is open, the real-time pulse number of the drive motor can be monitored in real time through the control device. The control device can monitor the real-time pulse number of the driving motor through the number of pulses transmitted by the driving motor to it. In one example, the driving motor may be a brushless DC motor, which may directly feed back the real-time pulse number to the control device. In another example, the driving motor can also be other types of motors. Since other types of motors cannot directly feed back the real-time pulse number to the control device, they need to be used with a pulse signal generator to feed back the real-time pulse number to the control device. . Among them, the pulse signal generator can be a Hall device, a photoelectric switch or a proximity switch, etc.

Further, the instantaneous operating speed of the corresponding driving motor can be determined according to the instantaneous pulse number output by the driving motor, wherein the instantaneous operating speed of the driving motor can be determined according to the following formula (2):

n＝(M/N)×60 (2)

Among them, n represents the real-time running speed of the drive motor; M represents the number of real-time pulses output by the drive motor per unit time (per second); N represents the number of pulses output by the drive motor per revolution. The number of pulses N output by the drive motor per revolution varies according to the model of the drive motor. In this embodiment, the value of N is not specifically limited.

It should be noted that the unit corresponding to the instant running speed n of the driving motor calculated based on the above formula may be r/min (ie, the number of turns per minute of the driving motor).

In yet another embodiment, the actual operating current of the drive motor can be determined in the following manner:

The real-time pulse number of the drive motor is monitored in real time through the control device; the actual operating current of the drive motor is determined based on the real-time pulse number.

During the application process, the actual operating current of the corresponding driving motor can also be determined based on the number of instant pulses output by the driving motor. The actual operating current of the driving motor can be determined using the following formula (3) based on the number of instant pulses output by the driving motor. :

Among them, I represents the actual operating current of the drive motor, U represents the power supply voltage of the drive motor; a represents the duty cycle of PWM (also known as pulse width modulation); C _E represents the motor back electromotive force constant about the drive motor; n represents the drive motor The instant running speed; φ represents the magnetic field strength.

It should be noted that C _E nφ represents the motor back electromotive force of the drive motor, where the instant operating speed n of the drive motor can be calculated by formula (2). It can be understood that since the real-time running speed n of the driving motor is determined based on the number of real-time pulses output by the driving motor, the actual running current I of the driving motor is determined based on the real-time running speed n of the driving motor, that is, the actual running current I of the driving motor. It can be determined based on the number of real-time pulses output by the drive motor. In order to make the actual operating current collection result of the driving motor more accurate, the actual operating current of the driving motor can also be collected directly based on the current sampling amplifier circuit.

In another embodiment, the automatic cover can also include a main circuit for platform cover control. The main circuit for platform cover control is connected in series with a current sampling amplification circuit. The actual operating current of the drive motor can be determined in the following way:

Based on the current sampling amplifier circuit, the actual operating current of the drive motor is collected.

During the application process, the current sampling amplifier circuit can be connected in series to the main circuit of the platform cover control, and the actual operating current of the drive motor can be directly collected through the current sampling amplifier circuit, and the collected actual operating current can be input to the control device.

It should be noted that in the embodiment of the present disclosure, the specific method of obtaining the instantaneous operating speed and actual operating current of the driving motor includes but is not limited to the above description. In the embodiment of the present disclosure, there is no need to obtain the instantaneous operating speed and actual operating current of the driving motor. The specific mode of operating current is limited.

In step 320, the duty cycle of the pulse width modulation (also known as PWM) is adjusted so that the immediate operating speed is close to the first speed threshold and the actual operating current is not greater than the first current threshold.

In one embodiment, the immediate operating speed can be compared with the first speed threshold, and the duty cycle of the pulse width modulation can be adjusted so that the immediate operating speed of the drive motor is close to the first speed threshold. During the application process, on the premise that the instant operating speed is close to the first speed threshold, the actual operating current can also be compared with the current threshold, and the duty cycle of the pulse width modulation can be adjusted again to make the actual operating current of the drive motor Not greater than the first current threshold.

It should be noted that both the first speed threshold and the first current threshold can be adjusted according to the actual situation, and are not specifically limited in this embodiment. The first speed threshold can be the maximum operating speed of the driving motor, and the current threshold can be The maximum operating current of the drive motor. In this embodiment, during the period when the platform cover is open, by adjusting the duty cycle of the pulse width modulation, the immediate operating speed is brought close to the first speed threshold, and the actual operating current is not greater than the first current threshold, which ensures that the platform As long as the cover is opened in time, the platform cover will run smoothly and the drive motor will not generate excessive current, thus ensuring that the drive motor is not damaged and ensuring its good working performance.

It should be noted that, on the premise that the operation requirements of the platform cover during operation are not high, the following examples can be used to ensure the good operation of the platform cover.

In an example, the duty cycle of the pulse width modulation can be adjusted according to the immediate operating speed and the first speed threshold, so that the immediate operating speed is close to the first speed threshold. This embodiment can ensure the smooth operation of the platform cover.

In yet another example, the duty cycle of the pulse width modulation can also be adjusted according to the actual operating current and the first current threshold, so that the actual operating current is not greater than the first current threshold. Through this embodiment, it can be ensured that the driving motor will not generate excessive current during the operation of the platform cover, thereby ensuring that the driving motor is not damaged.

It should be noted that the instant operating speed and actual operating current can still be determined in the aforementioned manner, which will not be described again in this embodiment.

Based on the same concept, it is also necessary to control the operating current of the drive motor during the closing process of the platform cover.

The present disclosure will describe the platform cover control method during the platform cover closing process with reference to the following embodiments.

In an exemplary embodiment of the present disclosure, during the platform cover closing process, the platform cover control method may include the following steps:

Confirm the instant operating speed and actual operating current of the drive motor in real time; adjust the duty cycle of the pulse width modulation according to the instant operating speed and the second speed threshold, as well as the actual operating current and the second current threshold, so that the instant operating speed is close to the second The speed threshold, and the actual operating current is not greater than the second current threshold.

In this embodiment, during the closing process of the platform cover, by adjusting the duty cycle of the pulse width modulation, the immediate operating speed is brought close to the second speed threshold, and the actual operating current is not greater than the second current threshold, which ensures that the During the closing process of the platform cover, the platform cover runs smoothly and the drive motor does not generate excessive current, thus ensuring that the drive motor is not damaged and ensuring its good working performance.

Among them, the first speed threshold and the second speed threshold, the first current threshold and the second current threshold can be set according to actual needs. For example, the first speed threshold and the second speed threshold can be set to the same value, and the first current threshold and the second current threshold can be set to the same value. Thresholds can be set to the same value.

In order to further introduce the platform cover control method provided by the embodiments of the present disclosure, the following will be described with reference to the following embodiments.

Figure 4 is a second schematic flowchart of a platform cover control method during the platform cover opening process provided by an embodiment of the present disclosure.

In an exemplary embodiment of the present disclosure, as shown in FIG. 4 , during the platform cover opening process, the platform cover control method may include step 410 and step 420 , each step will be introduced separately below.

In step 410, the number of real-time pulses of the driving motor is monitored in real time by the control device, and the number of real-time pulses is accumulated.

In step 420, in response to the accumulated instant pulse number reaching the first preset pulse number, any one of the three phases in the drive motor is controlled to be powered on, and a preset current maintaining a constant torque is input to the drive motor, so that The drive motor does not rotate.

In one embodiment, the number of real-time pulses of the driving motor can be monitored in real time through the control device, and the number of real-time pulses can be accumulated. When it is detected that the accumulated instant pulse number reaches the first preset pulse number, it means that the platform cover has reached the fully open limit position. At this time, the drive motor needs to stop rotating and output a constant torque to maintain the platform. The balance of the cover ensures that the platform cover will not rotate and can be maintained in a fully open state. In an example, the drive motor can be ensured to stop rotating by controlling any one of the three phases in the drive motor to be powered on. Furthermore, a preset current that maintains a constant torque can also be input to the driving motor, so that the driving motor outputs a constant torque to maintain the balance of the platform cover. Among them, the preset current can correspond to a constant torque. In an example, the preset current can be determined by the following formula (4):

T _e =C _t *I _a *φ (4)

Among them, _Te represents the constant torque of the drive motor; C _t represents the torque constant; I _a represents the preset current input to the drive motor to maintain a constant torque; φ represents the magnetic field strength.

It should be noted that the accumulated number of real-time pulses in step 420 refers to the accumulation of the number of real-time pulses generated by the driving motor during the opening process of the platform cover. When the drive motor is about to start, the number of instant pulses will increase from 0. Since the first preset pulse number corresponds to the number of pulses when the platform cover is fully opened, during the opening process of the platform cover, when the accumulated instant pulse number reaches the first preset pulse number, it means that the platform cover has reached full open extreme position.

Furthermore, since the driving motor runs in opposite directions during the opening or closing process of the platform cover, if the number of pulses output by the driving motor during the closing process of the platform cover is the same as the number of pulses output when the platform cover is fully opened, , which can mean that the platform cover has returned to the initial position, that is, the platform cover is in a completely closed state.

The control device monitors the number of real-time pulses of the driving motor in real time and accumulates the number of real-time pulses; in response to the accumulated number of real-time pulses reaching the first preset number of pulses, the driving motor is controlled to stop working.

In one embodiment, during the closing process of the platform cover, the real-time pulse number of the driving motor can also be monitored in real time and the real-time pulse number can be accumulated. Further, if the accumulated instant pulse number reaches the first preset pulse number, it means that the platform cover has reached the limit position of complete closing. At this time, the drive motor needs to stop working.

It should be noted that in this embodiment, the accumulated number of real-time pulses refers to the accumulated number of real-time pulses generated by the driving motor during the closing process of the platform cover. When the drive motor is about to start, the number of instant pulses will increase from 0. Since the number of pulses output by the drive motor during the closing process of the platform cover is the same as the number of pulses output during the opening process of the platform cover, when the accumulated instant pulse number reaches the first preset number of pulses, it means that the platform cover has reached the fully closed limit position. Continuing to take the above-described embodiment as an example, during the process of opening the platform cover, the platform cover control method may also include: in response to the accumulated instant pulse number not reaching the first preset pulse number, according to the driving The real-time pulse number of the motor controls the operation of the drive motor through the control device.

During the opening process of the platform cover, if the accumulated instant pulse number does not reach the first preset pulse number, it means that the platform cover has not reached the fully opened limit position, and the platform cover may encounter obstacles. At this time, it is necessary to control the operation of the drive motor through the control device according to the real-time pulse number of the drive motor to ensure that the operating current of the drive motor will not be too large and cause damage to the drive motor.

In one embodiment, during the process of opening the platform cover, according to the instantaneous pulse number of the driving motor, controlling the operation of the driving motor through the control device can be realized in the following manner: within the protection time, if the instantaneous pulse number of the driving motor does not If a change occurs, the control device reduces the input current of the driving motor so that the input current is not greater than the first current threshold.

In an example, during the process of opening the platform cover, if the real-time pulse number of the drive motor does not change within the protection time, it means that the drive motor has encountered a large obstacle and cannot operate. At this time, the operation of the drive motor needs to be reduced. current, so that the input current of the drive motor will not be too large and damage the drive motor. During the application process, the input current of the driving motor can be reduced through the control device so that the input current is not greater than the first current threshold, thereby ensuring that the input current of the driving motor will not be too large and damage the driving motor.

In another embodiment, during the process of opening the platform cover, according to the instantaneous pulse number of the driving motor, controlling the operation of the driving motor through the control device can be realized in the following manner: during the protection time, if the instantaneous pulse number of the driving motor If there is no change in the first time period and there is a change in the second time period, the first input current of the driving motor is reduced through the control device during the first time period, and the first input current of the driving motor is reduced through the control device during the second time period. The input current increases to a second input current, wherein the second time period is located after the first time period during the protection time, and the second input current is not greater than the first current threshold.

During the opening of the platform cover, if the number of real-time pulses of the driving motor does not change in the first time period and changes in the second time period during the protection time, it means that the driving motor encountered obstacles in the first time period and The obstruction disappears during the second subsequent time period. At this time, it is necessary to ensure that the input current of the driving motor is not too large in the first period of time and cause loss of the driving motor, and that the input current of the driving motor needs to be increased in the second period of time so that the driving motor can drive the platform cover to operate normally. . It can be understood that the first time period is the starting time period within the protection time, and the second time period is other times after the first time period within the protection time. In an example, the first input current of the driving motor can be reduced through the control device during the first time period, and the first input current of the driving motor can be increased to the second input current through the control device during the second time period, thereby ensuring that In the first period of time, the input current of the driving motor should not be too large to cause loss of the driving motor, and in the second period of time, the input current of the driving motor should be increased so that the driving motor can drive the platform cover to operate normally. It should be noted that the protection time can be determined according to actual conditions, and the protection time is not specifically limited in this embodiment.

Continuing to take the above-described embodiment as an example, during the process of closing the platform cover, the platform cover control method may also include: in response to the accumulated instant pulse number not reaching the first preset pulse number, according to the driving The real-time pulse number of the motor controls the operation of the drive motor through the control device.

In one embodiment, during the closing process of the platform cover, if the accumulated instant pulse number does not reach the first preset pulse number, it means that the platform cover has not reached the limit position of complete closing, and the platform cover may encounter a problem. to obstacles. At this time, it is necessary to control the operation of the drive motor through the control device according to the real-time pulse number of the drive motor to ensure that the operating current of the drive motor will not be too large and cause damage to the drive motor. In this embodiment, within a specific period of time (for example, during the closing process of the platform cover), by monitoring the real-time pulse number of the driving motor in real time, the accumulated real-time pulse number and the first preset pulse number can be compared in real time. relationship, and adjust the operation of the drive motor according to the comparison relationship to ensure that when the platform cover cannot continue to move due to any other external force factors, system damage will not be caused by jamming.

In one embodiment, during the closing process of the platform cover, according to the instant pulse number of the driving motor, controlling the operation of the driving motor through the control device can be achieved in the following manner: during the protection time, if the driving If the instant pulse number of the motor does not change, the input current of the driving motor is reduced through the control device so that the input current is not greater than the second current threshold.

In an example, during the process of closing the platform cover, if the instant pulse number of the drive motor does not change within the protection time, it means that the drive motor has encountered a large obstacle and cannot operate. At this time, the operation of the drive motor needs to be reduced. current, so that the input current of the drive motor will not be too large and damage the drive motor. In one example, the control device can be used to reduce the input current of the driving motor so that the input current is not greater than the second current threshold, thereby ensuring that the input current of the driving motor will not be too large and damage the driving motor.

In another embodiment, during the closing process of the platform cover, according to the instantaneous pulse number of the driving motor, controlling the operation of the driving motor through the control device can be realized in the following manner: during the protection time, if the instantaneous pulse number of the driving motor If there is no change in the first time period and there is a change in the second time period, the third input current of the drive motor is reduced through the control device during the first time period, and the third input current of the drive motor is reduced through the control device during the second time period. The input current increases to a fourth input current, wherein the second time period is located after the first time period within the protection time, and the fourth input current is not greater than the second current threshold.

In an example, during the process of closing the platform cover, if the number of real-time pulses driving the motor during the protection time does not change in the first time period and changes in the second time period, it means that the driving motor is in the first time period. An obstacle is encountered, and the obstacle disappears in the subsequent second period of time. At this time, it is necessary to ensure that the input current of the driving motor during the first period of time is not too large and cause loss of the driving motor, and that the input current of the inner driving motor needs to be increased during the second period of time so that the driving motor can drive the platform cover to operate normally. . It can be understood that the first time period is the starting time period within the protection time, and the second time period is other times after the first time period within the protection time. During the application process, the third input current of the driving motor can be reduced through the control device in the first time period, and the third input current of the driving motor can be increased to the fourth input current through the control device in the second time period, thereby ensuring that In the first period of time, the input current of the driving motor should not be too large to cause loss of the driving motor, and in the second period of time, the input current of the driving motor should be increased so that the driving motor can drive the platform cover to operate normally. It should be noted that the protection time can be determined according to actual conditions, and the protection time is not specifically limited in this embodiment.

According to the above description, it can be seen that the platform cover control method provided by the embodiment of the present disclosure can accurately locate the position of the platform cover by obtaining the operating direction and the number of operating pulses of the drive motor, and realize the position limit processing of the platform cover. Furthermore, during the process of opening or closing the platform cover, the situation that the platform cover cannot be fully opened or cannot be completely closed due to the use of a mechanical switch as a limit can be avoided. Furthermore, by monitoring the real-time pulse number of the drive motor in a specific period of time (for example, during the opening or closing of the platform cover), the accumulated real-time pulse number and the first preset pulse number can be compared in real time. relationship, and adjust the operation of the drive motor according to the comparison relationship to ensure that when the platform cover cannot continue to move due to any other external force factors, the system will not be damaged due to jamming.

Based on the same concept, embodiments of the present disclosure also provide a control device.

The control device provided by the embodiment of the present disclosure is described below. The control device described below and the platform cover control method described above can be referenced correspondingly.

Figure 5 is a schematic structural diagram of a control device provided by an embodiment of the present disclosure.

In an exemplary embodiment of the present disclosure, as shown in FIG. 5 , the control device may include a zero setting module 510, an opening module 520, and a closing module 530. Each module will be introduced separately below.

The zero setting module 510 may be configured to determine a zero position, where the zero position corresponds to a fully closed state of the platform cover.

The opening module 520 may be configured to control the driving motor to drive the platform cover to open in response to the driving motor running a preset number of pulses starting from the zero position in the first preset operating mode.

The closing module 530 may be configured to control the driving motor to drive the platform cover to completely close in response to the drive motor running a preset number of pulses from the position where the platform cover is opened according to the second preset operation mode.

In an exemplary embodiment of the present disclosure, the preset pulse number includes the first preset pulse number, and the position of the platform cover after it is opened includes the position of the platform cover after it is fully opened. The opening module 520 can control the drive motor to drive the platform cover to open in response to the drive motor running from zero in the first preset operation mode for a preset number of pulses in the following manner: in response to the drive motor running from zero in the first preset operation mode. Starting from the position, the first preset number of pulses is run, and the drive motor is controlled to drive the platform cover to fully open.

The closing module 530 can use the following method to control the driving motor to drive the platform cover to completely close in response to the driving motor running the preset number of pulses from the position after the platform cover is opened in the second preset operating mode: in response to the driving motor operating in the second preset operating mode. The second preset operation mode is to run the first preset number of pulses from the position after the platform cover is fully opened, and control the drive motor to drive the platform cover to completely close.

In an exemplary embodiment of the present disclosure, during the opening process of the platform cover, the opening module 520 may also be configured to: determine the instant operating speed and actual operating current of the drive motor in real time during the opening time of the platform cover; The duty cycle of the pulse width modulation is adjusted so that the immediate operating speed is close to the first speed threshold and the actual operating current is not greater than the first current threshold.

In an exemplary embodiment of the present disclosure, during the platform cover opening process, the opening module 520 can also be configured to: determine the instant operating speed or actual operating current of the drive motor in real time; adjust the duty cycle of the pulse width modulation , corresponding to making the immediate operating speed close to the first speed threshold, or the actual operating current being no greater than the first current threshold. In an exemplary embodiment of the present disclosure, during the platform cover closing process, the closing module 530 may also be configured to: determine the instant operating speed and actual operating current of the drive motor in real time; adjust the duty cycle of the pulse width modulation , in turn, the instant operating speed is close to the second speed threshold, and the actual operating current is not greater than the second current threshold.

In an exemplary embodiment of the present disclosure, during the platform cover closing process, the closing module 530 may also be configured to: determine the instant operating speed or actual operating current of the drive motor in real time; adjust the duty cycle of the pulse width modulation , corresponding to making the immediate operating speed close to the second speed threshold, or the actual operating current being no greater than the second current threshold.

In an exemplary embodiment of the present disclosure, the opening module 520 and the closing module 530 can determine the immediate operating speed of the driving motor in the following manner: monitoring the immediate pulse number of the driving motor in real time through the control device; determining the immediate operating speed of the driving motor based on the immediate pulse number. Running speed.

In an exemplary embodiment of the present disclosure, the opening module 520 and the closing module 530 can determine the actual operating current of the driving motor in the following manner: monitoring the real-time pulse number of the driving motor through the control device; determining the actual operating current of the driving motor based on the real-time pulse number. operating current.

In an exemplary embodiment of the present disclosure, the automatic cover may also include a main circuit for platform cover control. The main circuit for platform cover control is connected in series with a current sampling amplifier circuit. The opening module 520 and the closing module 530 can also be determined in the following manner. Actual operating current of the drive motor: Based on the current sampling amplifier circuit, the actual operating current of the drive motor is collected.

In an exemplary embodiment of the present disclosure, during the platform cover opening process, the opening module 520 can also be configured to: monitor the real-time pulse number of the drive motor through the control device and accumulate the real-time pulse number; respond When the accumulated instant pulse number reaches the first preset pulse number, any one of the three phases of the drive motor is controlled to be powered on, and a preset current that maintains a constant torque is input to the drive motor so that the drive motor does not rotate.

In an exemplary embodiment of the present disclosure, during the platform cover closing process, the closing module 530 may also be configured to: monitor the real-time pulse number of the drive motor through the control device and accumulate the real-time pulse number; respond When the accumulated instant pulse number reaches the first preset pulse number, the drive motor is controlled to stop working.

In an exemplary embodiment of the present disclosure, during the platform cover opening process, the opening module 520 may also be configured to: in response to the accumulated instant pulse number not reaching the first preset pulse number, according to the driving motor The real-time pulse number controls the operation of the drive motor through the control device.

In an exemplary embodiment of the present disclosure, the opening module 520 can control the operation of the driving motor through the control device according to the immediate pulse number of the driving motor in the following manner: within the protection time, if the immediate pulse number of the driving motor does not change, then The input current of the driving motor is reduced through the control device so that the input current is not greater than the first current threshold.

In an exemplary embodiment of the present disclosure, the opening module 520 can control the operation of the driving motor through the control device according to the immediate pulse number of the driving motor in the following manner: within the protection time, if the immediate pulse number of the driving motor is within the first time period does not change and changes in the second time period, then the first input current of the driving motor is reduced through the control device during the first time period, and the first input current of the driving motor is increased to the second time period through the control device. Two input currents, wherein the second time period is located after the first time period within the protection time, and the second input current is not greater than the first current threshold.

In an exemplary embodiment of the present disclosure, during the platform cover closing process, the closing module 530 may also be configured to: in response to the accumulated instant pulse number not reaching the first preset pulse number, according to the driving motor The real-time pulse number controls the operation of the drive motor through the control device.

In an exemplary embodiment of the present disclosure, the shutdown module 530 can control the operation of the driving motor through the control device according to the immediate pulse number of the driving motor in the following manner: within the protection time, if the immediate pulse number of the driving motor does not change, then The input current of the driving motor is reduced through the control device so that the input current is not greater than the second current threshold.

In an exemplary embodiment of the present disclosure, the shutdown module 530 can control the operation of the driving motor through the control device according to the immediate pulse number of the driving motor in the following manner: within the protection time, if the immediate pulse number of the driving motor is within the first time period does not change and changes in the second time period, then the third input current of the driving motor is reduced through the control device during the first time period, and the third input current of the driving motor is increased to the third input current through the control device during the second time period. Four input currents, wherein the second time period is located after the first time period within the protection time, and the fourth input current is not greater than the second current threshold.

Figure 6 illustrates a schematic diagram of the physical structure of an electronic device. As shown in Figure 6, the electronic device may include: a processor (processor) 610, a communications interface (Communications Interface) 620, a memory (memory) 630 and a communication bus 640. Among them, the processor 610, the communication interface 620, and the memory 630 complete communication with each other through the communication bus 640. The processor 610 can call the logic instructions in the memory 630 to execute the platform cover control method, the method is applied to the automatic cover, the automatic cover at least includes a platform cover, a control device and a driving motor, the platform cover and The drive motor is connected, and the drive motor is connected to a control device. The control device is used to execute the method. The method includes: determining the zero position, wherein the zero position corresponds to the fully closed state of the platform cover; in response to the drive motor following the first The preset operation mode starts from the zero position and runs the preset number of pulses, controlling the drive motor to drive the platform cover to open; in response to the drive motor running the preset number of pulses from the position after the platform cover is opened according to the second preset operation mode, Control the drive motor to drive the platform cover to close completely.

In addition, the above-mentioned logical instructions in the memory 630 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present disclosure is essentially or the part that contributes to the existing technology or the part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present disclosure. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program code. .

On the other hand, the present disclosure also provides a computer program product. The computer program product includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can Execute the platform cover control method provided by each of the above methods. The method is applied to the automatic cover. The automatic cover at least includes a platform cover, a control device and a drive motor. The platform cover is connected to the drive motor, and the drive motor is connected to the drive motor. The control device is connected, and the control device is used to execute the method, which method includes: determining the zero position, wherein the zero position corresponds to the fully closed state of the platform cover; in response to the drive motor moving from the zero position according to the first preset operation mode The driving motor is controlled to drive the platform cover to open according to the preset number of pulses. In response to the second preset operation mode, the driving motor is started from the position where the platform cover is opened after the platform cover is opened. The drive motor is controlled to drive the platform cover. Completely closed.

In yet another aspect, the present disclosure also provides a non-transitory computer-readable storage medium on which a computer program is stored. The computer program is implemented when executed by a processor to execute the platform cover control method provided by each of the above methods. The method is applied to an automatic cover. The automatic cover at least includes a platform cover, a control device and a drive motor. The platform cover is connected to the drive motor, the drive motor is connected to the control device, and the control device is used to execute the method. The method It includes: determining the zero position, where the zero position corresponds to the fully closed state of the platform cover; in response to the drive motor running a preset number of pulses from the zero position in accordance with the first preset operation mode, controlling the drive motor to drive the platform cover to open ; In response to the drive motor running the preset number of pulses from the position where the platform cover is opened according to the second preset operation mode, the drive motor is controlled to drive the platform cover to completely close.

The device embodiments described above are only illustrative. The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they may be located in One location, or it can be distributed across multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Persons of ordinary skill in the art can understand and implement the method without any creative effort.

Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the part of the above technical solution that essentially contributes to the existing technology can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., including a number of instructions to cause a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in various embodiments or certain parts of the embodiments.

It will be further understood that although the operations are described in a specific order in the drawings in the embodiments of the present disclosure, this should not be understood as requiring that these operations be performed in the specific order shown or in a serial order, or that it is required that Perform all operations shown to obtain the desired results. In certain circumstances, multitasking and parallel processing may be advantageous.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present disclosure, but not to limit it; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that it can still be used Modifications may be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions may be made to some of the technical features; however, these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present disclosure.

Claims

A platform cover control method for automatic cover. The automatic cover at least includes a platform cover, a control device and a drive motor. The platform cover is connected to the drive motor, and the drive motor is connected to the drive motor. A control device is connected, and the control device is used to execute the method, specifically including:

Determining a zero position, wherein the zero position corresponds to a fully closed state of the platform cover;

In response to the drive motor running a preset number of pulses from the zero position in accordance with the first preset operation mode, the drive motor is controlled to drive the platform cover to open;

In response to the driving motor running the preset number of pulses from the position where the platform cover is opened according to the second preset operation mode, the driving motor is controlled to drive the platform cover to completely close.
The platform cover control method according to claim 1, wherein the preset pulse number includes a first preset pulse number, and the position of the platform cover after it is opened includes the position of the platform cover after it is fully opened. , in response to the drive motor running a preset number of pulses from the zero position in accordance with the first preset operation mode, controlling the drive motor to drive the platform cover to open, including:

In response to the driving motor operating the first preset number of pulses from the zero position in accordance with the first preset operation mode, the driving motor is controlled to drive the platform cover to fully open;

In response to the drive motor running a preset number of pulses from the position where the platform cover is opened according to the second preset operation mode, controlling the drive motor to drive the platform cover to completely close includes:

In response to the driving motor operating the first preset number of pulses from the position after the platform cover is fully opened in the second preset operation mode, the driving motor is controlled to drive the platform cover to completely close.
The platform cover control method according to claim 2, wherein during the opening and closing process of the platform cover, the method further includes:

Determine the instant operating speed and actual operating current of the drive motor in real time;

The duty cycle of the pulse width modulation is adjusted so that the instantaneous operating speed is close to the corresponding speed threshold and the actual operating current is not greater than the corresponding current threshold.
The platform cover control method according to claim 3, wherein the instant running speed of the drive motor is determined in the following manner:

Real-time monitoring of the instant pulse number of the drive motor;

The instant operating speed of the drive motor is determined based on the instant pulse number.
The platform cover control method according to claim 3, wherein

The actual operating current of the drive motor is determined in the following way:

Real-time monitoring of the instant pulse number of the drive motor;

The actual operating current of the drive motor is determined based on the instantaneous pulse number.
The platform cover control method according to claim 3, wherein

A current sampling amplifier circuit is used to collect the actual operating current of the drive motor, and the current sampling amplifier circuit is connected in series to the platform cover control main circuit.
The platform cover control method according to claim 2, wherein during the opening and closing process of the platform cover, the method further includes:

Determine the instant operating speed or actual operating current of the drive motor in real time;

The duty cycle of the pulse width modulation is adjusted to make the instant operating speed close to the corresponding speed threshold, or the actual operating current is not greater than the corresponding current threshold.
The platform cover control method according to claim 7, wherein the instant operating speed of the drive motor is determined in the following manner:

Real-time monitoring of the instant pulse number of the drive motor;

The instant operating speed of the drive motor is determined based on the instant pulse number.
The platform cover control method according to claim 7, wherein

A current sampling amplifier circuit is used to collect the actual operating current of the drive motor, and the current sampling amplifier circuit is connected in series to the platform cover control main circuit.
The platform cover control method according to claim 2, wherein during the platform cover opening process, the method further includes:

Monitor the real-time pulse number of the driving motor in real time, and accumulate the real-time pulse number;

Determine whether the accumulated instant pulse number reaches the first preset pulse number. If it does, control any one of the three phases in the drive motor to be powered on, and input a preset value to maintain a constant torque for the drive motor. Set the current so that the driving motor does not rotate; otherwise, continue to control the operation of the driving motor.
The platform cover control method according to claim 10, wherein during the opening process of the platform cover, continuing to control the operation of the driving motor includes:

During the protection time, if the immediate pulse number of the driving motor does not change, the corresponding input current of the driving motor is reduced so that the input current is not greater than the corresponding current threshold.
The platform cover control method according to claim 10, wherein during the opening process of the platform cover, continuing to control the operation of the driving motor includes:

During the protection time, if the instant pulse number of the driving motor does not change in the first time period and changes in the second time period, then the corresponding input current of the driving motor is reduced in the first time period, and In the second time period, the input current of the driving motor in the first time period is increased to the corresponding input current in the second time period, wherein the second time period is within the protection time. After the first time period, the corresponding input current in the second time period is not greater than the corresponding current threshold.
The platform cover control method according to claim 2, wherein during the platform cover closing process, the method further includes:

Monitor the real-time pulse number of the driving motor in real time, and accumulate the real-time pulse number;

It is determined whether the accumulated instant pulse number reaches the first preset pulse number. If it reaches the first preset pulse number, the driving motor is controlled to stop working; otherwise, the driving motor is continued to be controlled to run.
The platform cover control method according to claim 13, wherein during the closing process of the platform cover, continuing to control the operation of the driving motor includes:

During the protection time, if the immediate pulse number of the driving motor does not change, the corresponding input current of the driving motor is reduced so that the input current is not greater than the corresponding current threshold.
The platform cover control method according to claim 13, wherein during the closing process of the platform cover, continuing to control the operation of the driving motor includes:

During the protection time, if the instant pulse number of the driving motor does not change in the first time period and changes in the second time period, then the corresponding input current of the driving motor is reduced in the first time period, and In the second time period, the input current of the driving motor in the first time period is increased to the corresponding input current in the second time period, wherein the second time period is within the protection time. After the first time period, the corresponding input current in the second time period is not greater than the corresponding current threshold.
A control device including:

A zero-setting module is used to determine the zero position, wherein the zero position corresponds to the fully closed state of the platform cover;

An opening module, configured to control the driving motor to drive the platform cover to open in response to the driving motor running a preset number of pulses from the zero position in a first preset operating mode;

A shutdown module, configured to run the preset number of pulses from the position where the platform cover is opened in response to the drive motor operating in the second preset operation mode, and control the drive motor to drive the platform cover completely. closure.
An electronic device includes a memory, a processor, and a computer program stored on the memory and executable on the processor, including:

Determining a zero position, wherein the zero position corresponds to a fully closed state of the platform cover;

In response to the drive motor running a preset number of pulses from the zero position in accordance with the first preset operation mode, the drive motor is controlled to drive the platform cover to open;

In response to the driving motor running the preset number of pulses from the position where the platform cover is opened according to the second preset operation mode, the driving motor is controlled to drive the platform cover to completely close.
A non-transitory computer-readable storage medium having a computer program stored thereon, including:

Determining a zero position, wherein the zero position corresponds to a fully closed state of the platform cover;

In response to the drive motor running a preset number of pulses from the zero position in accordance with the first preset operation mode, the drive motor is controlled to drive the platform cover to open;

In response to the driving motor running the preset number of pulses from the position where the platform cover is opened according to the second preset operation mode, the driving motor is controlled to drive the platform cover to completely close.
A computer program product includes a computer program, wherein when executed by a processor, the computer program includes:

Determining a zero position, wherein the zero position corresponds to a fully closed state of the platform cover;

In response to the drive motor running a preset number of pulses from the zero position in accordance with the first preset operation mode, the drive motor is controlled to drive the platform cover to open;

In response to the driving motor running the preset number of pulses from the position where the platform cover is opened according to the second preset operation mode, the driving motor is controlled to drive the platform cover to completely close.