CN103001563B - A kind of driving method of The Cloud Terrace motor vertical - Google Patents

Abstract

The invention discloses the driving method of a kind of The Cloud Terrace motor vertical, comprise the following steps: (1) first acquires the angle value of current The Cloud Terrace upright position after receiving control instruction；(2) numerical value of current The Cloud Terrace vertical movement state flag bit is obtained to determine The Cloud Terrace vertical movement state；(3) new driving electric current segmentation table is regenerated according to drive electric current segmentation table, the angle value of The Cloud Terrace upright position and the The Cloud Terrace vertical movement state of motor vertical；(4) move to the upright position set according to the new electric current segmentation table-driven motor vertical that drives regenerated.The present invention can update electric current segmentation table in conjunction with The Cloud Terrace upright position angle and kinestate, it is achieved that the flexible control of motor vertical moment；In the range of motor vertical full angle can be realized, moment size adaptation；Effectively solve conventional The Cloud Terrace motor under the higher position of motor torque demand and kinestate to lose step, even the situation such as cannot start.

Description

A kind of driving method of The Cloud Terrace motor vertical

Technical field

The present invention relates to technical field of video monitoring, particularly relate to a kind of according to The Cloud Terrace position and kinestate Control the motor vertical driving method of motor torque.

Background technology

In protection and monitor field, motor is with its position control accurately, and cheap cost, simplicity are fast The plurality of advantages such as prompt control mode, in the position control both horizontally and vertically of The Cloud Terrace monitoring system, have Quite varied application, take on the dominant position of monitoring system Angle ambiguity.And the driving of digital subdividing Mode, because it can make motor running status more steady, controls more flexible, is more and more opened The personnel of sending out are utilized.

But traditional digital subdividing mode, does not carries out effective manipulation flexibly, is passing the amplitude driving electric current In the case of dynamic structure is fixing, motor output torque size can not be control effectively；Lead at safety monitoring In territory, owing to The Cloud Terrace is affected by gravity, cause required for vertical direction different angles and different motion state Motor torque different, utilize tradition segmentation mode be driven, will result in motor continue high-torque During work, can be under the relatively low position of torque demand and kinestate, meaningless power consumption so that vertical Motor and driving chip generate heat, and reduce parts service life；When motor continues the work of little moment, can make The Cloud Terrace motor under the higher position of motor torque demand and kinestate is lost step, even cannot be started, significantly The quality monitoring reducing The Cloud Terrace monitoring system.

Summary of the invention

It is an object of the invention to for technological deficiency present in prior art, and provide one to operate steadily nothing Lose the driving method of the The Cloud Terrace motor vertical of step.

Be the technical scheme is that by realizing the purpose of the present invention

The driving method of a kind of The Cloud Terrace motor vertical, it is characterised in that comprise the following steps:

(1) after receiving control instruction, first acquire the angle value of current The Cloud Terrace upright position；

(2) numerical value of current The Cloud Terrace vertical movement state flag bit is obtained to determine The Cloud Terrace vertical movement state；

(3) driving electric current segmentation table, the angle value of The Cloud Terrace upright position and The Cloud Terrace according to motor vertical are vertical Kinestate regenerates new driving electric current segmentation table；

Wherein, the new driving electric current segmentation table driving electric current segmentation table to refer to read motor vertical is regenerated And it is multiplied by an amplitude regulatory factor A_fz(θ, z) to generate new driving electric current segmentation table, wherein, A_fz (θ, z)=A (θ) × B (z),

$B\left(z\right)=\left\{\begin{array}{cc}{B}_1& z=-1\\ B_2& z=0\\ B_3& z=1\end{array}\right.$

Wherein, z=-1 represents The Cloud Terrace vertical downward movement；It is static that z=0 represents The Cloud Terrace vertical direction；Z= 1 represents The Cloud Terrace upward vertical movement；B (z) is vertical movement state factor function；

(4) move to set vertical according to the new electric current segmentation table-driven motor vertical that drives regenerated Position.

Described step 1) the medium cloud corner of table angle value maximum motor step by The Cloud Terrace maximum perpendicular angle and correspondence thereof Number and current motor step Numerical calculate.

Compared with prior art, the invention has the beneficial effects as follows:

The present invention can update electric current segmentation table in conjunction with The Cloud Terrace upright position angle and kinestate, it is achieved that hangs down The flexible control of straight motor torque；In actual application, owing to The Cloud Terrace is affected by gravity, cause vertical direction Motor torque required for different angles and different motion state is different, by the present invention, just can realize In the range of motor vertical full angle, moment size adaptation；Effectively solve conventional The Cloud Terrace at motor torque Under position that demand is higher and kinestate, motor is lost step, even the situation such as cannot be started, and effectively reduces The unnecessary consumption of power under the relatively low position of torque demand and kinestate, it is possible to drop to a certain extent The caloric value of low motor vertical and driving chip, elongate member service life；There is reduction power consumption, strengthen and fit The features such as Ying Xing, application simplicity.

Detailed description of the invention

Below in conjunction with specific embodiment, the present invention is described in further detail.Should be appreciated that described herein Specific embodiment only in order to explain the present invention, be not intended to limit the present invention.

The method controlling motor torque according to The Cloud Terrace position and kinestate of the present invention, comprises the following steps:

Step 1: by The Cloud Terrace maximum perpendicular angle and the maximum perpendicular number of motor steps of correspondence thereof and current vertical electricity Machine step Numerical calculates The Cloud Terrace current vertical angle information；The step for be The Cloud Terrace receive rotation order after Perform, this utilize program to calculate current angular information method is simple, without additional hardware electricity The Cloud Terrace vertical angle information is detected on road in real time, cost-saved.

Step 2: obtain the numerical value of The Cloud Terrace vertical movement state flag bit to determine motion rotation direction；Vertical fortune Dynamic state flag bit refers to represent the direction of The Cloud Terrace vertical movement, and including upwards, downwards and translation, three kinds are not With vertical movement three kinds of different stress of Determines, so the present invention distinguished be assigned to different Amplitude.

Step 3: that reads motor vertical drives electric current segmentation table the angle value according to current The Cloud Terrace upright position Regenerate new driving electric current segmentation table with kinestate, i.e. combine The Cloud Terrace location and will carry out Motion regenerate new driving electric current segmentation table because having nothing in common with each other in the start bit of every time motion and direction, So regenerating new driving electric current segmentation table according to practical situation, the motor that can preferably improve motion drives Dynamic effect；

Step 4: by motor-drive circuit according to the new driving electric current segmentation table-driven motor work regenerated Making, motor is driven according to driving electric current segmentation table, it is achieved motor smooth drive, utilizes and drives electric current thin Dividing table-driven motor is prior art, does not repeats them here；

Step 5: judge whether a segmentation cycle has performed, performs if it is, return step 1 circulation Step 1, to step 4, continues according to the current new driving regenerated if it is not, then return step 4 Electric current segmentation table performs.Specifically, performing an all after date of segmentation, sending a flag bit, logical Cross flag bit to judge whether this segmentation cycle has performed to judge the main cause whether a segmentation cycle completes It is, if a segmentation cycle has not been carried out, directly to perform next one segmentation table, electricity can be caused Machine runs unstable, such as card, shakes or loses step etc.；

Step 6 motor receives the instruction of stopping, stopping operating, wherein motor internal when stop motion when Electric current be the fixed value generated according to current location, according to the A value corresponding to vertical angle θ and static shape Coefficient B 2 when state determines.

Specifically, wherein, the computing formula of step 1 angle value is:

θ=θ_max(M/M_max)

In formula: θ_maxFor the vertical maximum angle of The Cloud Terrace；M is the current step number of motor vertical；M_maxHang down for The Cloud Terrace The maximum perpendicular number of motor steps that straight maximum angle is corresponding.

Wherein, step 3 regenerates the new step driving electric current segmentation table is according to angle, The Cloud Terrace upright position Angle value and kinestate, drive the electric current of electric current segmentation table to carry out amplitude regulation accordingly.Due to typically The structure of actuating device is fixing, therefore motor moment depends mainly on the size of the size of electric machine phase current, And the amplitude of Subdivision Curves can affect the size of motor phase current to a great extent, therefore, regulation width Value can play the effect of regulation motor torque to a certain extent, so can meet different motion demand.

The mathematical model of amplitude regulatory factor is:

A_fz(θ, z)=A (θ) B (z) (1)

Wherein A (θ) is amplitude and vertical angle relation function；B (z) is vertical movement state factor function Amplitude with vertical angle relation function factor expression formula is:

Kinestate saturation factor expression formula is:

$B\left(z\right)=\left\{\begin{array}{cc}{B}_1& z=-1\\ B_2& z=0\\ B_3& z=1\end{array}\right.---\left(3\right)$

Wherein z=-1 represents The Cloud Terrace vertical downward movement；It is static that z=0 represents The Cloud Terrace vertical direction；Z=1 Represent The Cloud Terrace upward vertical movement；

It should be noted that A₁-A_nAnd B₁、B₂、B₃Being one group of experiment value or empirical value, it is according to difference Type or environment is set and is slightly different, great angular interval is set and how above-mentioned each value is set, Can be configured according to demand, not repeat at this.

For the present invention, the driving electric current segmentation table of motor vertical can use any form of Subdivision Curves, Such as sine or triangle etc., the present invention does not change the fractionized of driving electric current segmentation table, is only to segment In table, subdivided data reads and carries out amplitude regulation, it is not necessary to hardware supported, it is not necessary to improve existing apparatus Can realize, it is achieved simple.The new determination driving electric current segmentation table that motor vertical regenerates can be along with Vertical angle information θ and the vertical movement change of state z of current The Cloud Terrace and change flexibly, so that The Cloud Terrace exists Under different vertical angle and kinestate, it is achieved motor vertical moment self adaptation.

The above is only the preferred embodiment of the present invention, it is noted that for the art For those of ordinary skill, under the premise without departing from the principles of the invention, it is also possible to make some improvement and profit Decorations, these improvements and modifications also should be regarded as protection scope of the present invention.

Claims (2)

1. the driving method of a The Cloud Terrace motor vertical, it is characterised in that comprise the following steps:

(1) after receiving control instruction, first acquire the angle value of current The Cloud Terrace upright position；

(2) numerical value of current The Cloud Terrace vertical movement state flag bit is obtained to determine The Cloud Terrace vertical movement state；

(3) driving electric current segmentation table, the angle value of The Cloud Terrace upright position and The Cloud Terrace according to motor vertical are vertical Kinestate regenerates new driving electric current segmentation table；

Wherein, the new driving electric current segmentation table driving electric current segmentation table to refer to read motor vertical is regenerated And it is multiplied by an amplitude regulatory factor A_fz(θ, z) to generate new driving electric current segmentation table, wherein, A_fz (θ, z)=A (θ) × B (z),

Wherein, z=-1 represents The Cloud Terrace vertical downward movement；It is static that z=0 represents The Cloud Terrace vertical direction；Z= 1 represents The Cloud Terrace upward vertical movement；B (z) is vertical movement state factor function；θ is vertical angle；θ_max For the vertical maximum angle of The Cloud Terrace；θ_minFor the vertical minimum angles of The Cloud Terrace, A₁-A_nAnd B₁、B₂、B₃It it is one group of reality Test value or empirical value；θ₁, θ₂, θ₃... θ_nFor different vertical angles；

(4) move to set vertical according to the new electric current segmentation table-driven motor vertical that drives regenerated Position.

2. driving method as claimed in claim 1, it is characterised in that described step 1) medium cloud corner of table Angle value is calculated by The Cloud Terrace maximum perpendicular angle and the maximum motor step number of correspondence thereof and current motor step Numerical Draw.