CN106482753A - Driver and the control system of position accumulated error are eliminated automatically can - Google Patents
Driver and the control system of position accumulated error are eliminated automatically can Download PDFInfo
- Publication number
- CN106482753A CN106482753A CN201610844847.7A CN201610844847A CN106482753A CN 106482753 A CN106482753 A CN 106482753A CN 201610844847 A CN201610844847 A CN 201610844847A CN 106482753 A CN106482753 A CN 106482753A
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- CN
- China
- Prior art keywords
- driver
- hall element
- hall
- accumulated error
- automatically
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/24471—Error correction
- G01D5/24485—Error correction using other sensors
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
- G01D5/145—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47B—TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE
- A47B2200/00—General construction of tables or desks
- A47B2200/0035—Tables or desks with features relating to adjustability or folding
- A47B2200/005—Leg adjustment
- A47B2200/0062—Electronically user-adaptable, height-adjustable desk or table
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47B—TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE
- A47B2200/00—General construction of tables or desks
- A47B2200/008—Tables or desks having means for applying electronic or electric devices
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47B—TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE
- A47B9/00—Tables with tops of variable height
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47C—CHAIRS; SOFAS; BEDS
- A47C17/00—Sofas; Couches; Beds
- A47C17/86—Parts or details for beds, sofas or couches only not fully covered in a single one of the sub-groups A47C17/02, A47C17/04, A47C17/38, A47C17/52, A47C17/64, or A47C17/84; Drawers in or under beds
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Seats For Vehicles (AREA)
- Control Of Position Or Direction (AREA)
Abstract
The invention discloses a kind of driver that can eliminate automatically position accumulated error, the driver has one or two Hall elements one and/or Hall element two, for gathering the positional information of driver, also increase a Hall element three, wherein to should Hall element three magnet on the deceleration device.The driver that position accumulated error can be eliminated automatically of the present invention and control system are applied to Electric sofa, beddo or same table, can be used to eliminate the position accumulated error produced using the driver longtime running of single Hall element or double Hall elements.
Description
Technical field
The invention belongs to electric furniture field, particularly a kind of for Electric sofa, beddo or same table can be automatic
Eliminate driver and the control system of position accumulated error.
Background technology
Electric sofa and beddo, same table, it usually needs run to memory area（Or target location）；Wherein used
One or two Hall device is typically equipped with driver（Magnet+Hall element）；Magnet cartridge is in the rotation of drive motor
On axle, motor goes to a circle, and Hall device generally exports 1 or 2 pulses（1 or 2 pulses are by the number of poles pair of magnet NS
Determine）；Therefore Hall pulse number is proportional with driver (or motor) travel distance.By the meter to Hall pulse
Number, so that it may know drive location, so as to run to memory area（Or target location）.
As shown in figure 1, the Hall timing chart of the motor with 2 Hall elements.It is of course also possible to only one of which is suddenly
That element, but now the traffic direction of motor can only be determined by control box, by Hall step-by-step counting and motor operation direction
（Direction determines to count to be increased or reduces）Determine position.
Two Hall original papers not only can carry out Hall step-by-step counting, can also be known by the phase relation of two Halls
Present motor traffic direction（When particularly motor is promoted passive operation by external force, traffic direction is not determined by control box, this
When need to use two Hall elements）, so that it is determined that motor position；The counting principle of two Halls is described below.
As shown in Fig. 2 in figure fine rule is control box sampling instant, in figure first left sampling instant, Hall unit
The level of part one is height（It is denoted as 1）, the level of Hall element two is low（It is denoted as 0）, constitute binary value 10, in the same manner, in figure its
The binary value that his instance sample is obtained is 11,01,00；If the binary value change order that sampling is obtained is 10 11 01
10 00 11 01 10 11, so circulate, illustrate that motor is run in positive direction（In figure is from left to right）；If sampled value becomes
Change order is 10 00 01 11 10 00 01 11 10, so circulates, illustrates motor in reverse direction operation（In figure
From right to left）；Traffic direction determines to count to be incremented by and still successively decreases, and is set forth below and is only referred to be incremented by, different indeed according to direction
Count can be carried out；Actual samples interval is closeer much than sampling line shown in figure（The minimum being generally spaced than being likely to occur
The 1/4 of pulse width is little）, with ensure each Hall element level change can detect.So from left to right sample
Data are probably 10,10,10,11,11,11,01,01,01,00,00,00,10,10,11,11,11,11, etc. so circulate；
Only just counted in numerical value change, such as 10,10, numerical value does not become, and does not count, 10,11, numerical value change ability counting.?
Just count exactly when two Hall level are changed.It can be seen that, a pulse（High level+low level constitutes a pulse）Have
4 level changes, that is, 4 countings.Therefore motor turns around to correspond to and counts increment for 4；Generally in practical application, driver
（Motor）A datum mark can be run to for the first time（Typically limit inferior）, control box detects motor to limit inferior, by counting
It is worth clear 0, driver（Motor）From this datum mark, march forward, count and be incremented by, draw back, count；So motor is each
Individual position all corresponds to a count value.
Aforesaid way is in ideal situation（Hall impulse waveform is clean）Under have no problem, but, usual direct current carbon brush motor
Miscellaneous letter can be produced in operation, Hall impulse waveform is interfered, as shown in figure 3, so as to cause miscount, can increase or
Reduce and count.In general, increase or decrease several countings to impact position（Because of a few circles of motor operation, driver
Stroke very little）, but be run multiple times for a long time, if not running to datum mark clear 0 correction is carried out, this error can be constantly accumulated, tiring out
Position deviation after product is just larger.So, said method, Long-Time Service（Operation）During, if driver is not run by user
To datum mark（Usually limit inferior, certain first time installation and operation have to run to datum mark once）, generation will be accumulated
Larger position deviation.As shown in figure 3, when Hall waveform has interference signal, actual sample value is 10, and be correctly worth should
It is 11, causes miscount.
Content of the invention
In order to solve above-mentioned technical problem present in prior art, the invention provides one kind can eliminate position automatically tiring out
The driver of product error, the driver has one or two Hall elements one and/or Hall element two, for gathering driver
Positional information, also increase a Hall element three, wherein to should Hall element three magnet on the deceleration device.
Further, if Hall element three is counted when level changes, the step-by-step counting of Hall element three N3 time, corresponding
The step-by-step counting being made up of Hall element one and Hall element two is N12 time, N12=n*N3（n≥2）.Hereinafter illustrate all with n=16
It is illustrated.
Further, when the motor is running, whenever Hall element three has level to be counted when changing, the counting to N12
Value is once corrected by formula N12=16*N3.
Further, the sampling interval duration of three pulse of the Hall element is more than the interference signal width that actual capabilities are produced
Degree, the double same level that samples confirm as significant level.
Present invention also offers a kind of control system with the described driver that can eliminate automatically position accumulated error,
The control system is used for Electric sofa, beddo or same table.
The driver that position accumulated error can be eliminated automatically of the present invention and control system are applied to Electric sofa, beddo
Or same table, can be used for the position accumulation mistake that elimination is produced using the driver longtime running of single Hall element or double Hall elements
Difference.
Description of the drawings
Fig. 1 is the controller timing chart with 2 Hall elements；
Fig. 2 is the controller impulse waveform sampling schematic diagram with 2 Hall elements；
Fig. 3 is the sampling schematic diagram when impulse waveform has interference signal；
Fig. 4 is the controller timing chart with 3 Hall elements of the present invention；
Fig. 5 is the controller impulse waveform sampling schematic diagram with 3 Hall elements of the present invention.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.
The driver that position accumulated error can be eliminated automatically of the present invention, is further added by a Hall element in the drive
Three, wherein to should Hall element three magnet on the deceleration device, that is, motor turns a lot of circles（As 8 circles）, this is suddenly
You produce a pulse by device（High level+low level）.
As shown in figure 4, increased Hall element three is counted when level changes, and three step-by-step counting of Hall element 2 times, corresponding
The step-by-step counting being made up of Hall element one and Hall element two be 32 times（Counting mode is as previously mentioned）, i.e., count value correspond to
Proportionate relationship is 1:16.
The count value of Hall element three is denoted as N3, and the count value of Hall element one, two is denoted as N12, so N12=16*N3.
When the motor is running, whenever Hall element three has level to be counted when changing, and the count value of N12 is pressed above-mentioned
Formula N12=16*N3 is once corrected, so as to eliminate automatically accumulated error.And, counting precision（Rate respectively）Also keep
Constant, still keep the counting precision of N12.
In fact, three pulse of Hall element can also be interfered, but due to three pulse width of Hall element be far longer than dry
The width of signal is disturbed, from hardware and is very easy to filter on software.As long as shown in figure 5, adopting to three pulse of Hall element
Sample interval time, more than the interference signal width that actual capabilities are produced, is just considered effective electricity using double sampling to same level
Flat mode（Double sample high level, be just considered high level, the double low level that samples just is considered low electricity
Flat）, it is possible to impact of the filtering interference signals to Hall element three.
As shown in figure 5, the pulse of Hall element three is disturbed by an interference signal, S1 ~ S8 is sampled point, during interval
Between more than interference signal width.
If not interfering with signal, it is high level that what S1 ~ S6 was sampled is continuous high level, i.e. significant level, and S7, S8
Continuous sampling twice to low level, i.e. significant level be low level, so, from S1-S8 sampling after the completion of, there occurs once from height
Change to low level, N3 is counted once；
When there is interference signal as shown in Figure 5, in S1-S6 sampling process, only S5 is once low level, only continuous twice
Sample same level just effectively, so the low level of current sampling is invalid, is still considered high level, recognizes until S8 has sampled
For there is low level, level change once from high to low is there occurs, N3 is counted once.As counting when not disturbing, not
Have and count once because of the generation of interference signal more.
Present invention is especially suited for during use, infrequently returning in the application of reference position, such as same table control system.
Claims (5)
1. a kind of driver that can eliminate automatically position accumulated error, the driver have one or two Hall elements one and/
Or Hall element two, for gathering the positional information of driver, it is characterised in that：Also increase a Hall element three, wherein right
Should Hall element three magnet on the deceleration device.
2. the driver of position accumulated error can be eliminated as claimed in claim 1 automatically, it is characterised in that：If Hall element three
Count when level changes, the step-by-step counting of Hall element three N3 time, corresponding be made up of Hall element one and Hall element two
Step-by-step counting be N12 time, N12=n*N3（n≥2）.
3. the driver of position accumulated error can be eliminated as claimed in claim 2 automatically, it is characterised in that：Work as motor operation
When, whenever Hall element three has level to be counted when changing, the count value to N12 carries out once school by formula N12=16*N3
Just.
4. the driver of position accumulated error can be eliminated as claimed in claim 1 or 2 automatically, it is characterised in that：The Hall
The sampling interval duration of three pulse of element double samples same level more than the interference signal width that actual capabilities are produced
Confirm as significant level.
5. a kind of control system of the driver that can eliminate automatically position accumulated error with as described in one of claim 1-4
System, it is characterised in that：The control system is used for Electric sofa, beddo or same table.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610844847.7A CN106482753B (en) | 2016-09-23 | 2016-09-23 | The driver and control system of position accumulated error can be eliminated automatically |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610844847.7A CN106482753B (en) | 2016-09-23 | 2016-09-23 | The driver and control system of position accumulated error can be eliminated automatically |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106482753A true CN106482753A (en) | 2017-03-08 |
| CN106482753B CN106482753B (en) | 2019-04-16 |
Family
ID=58267766
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610844847.7A Expired - Fee Related CN106482753B (en) | 2016-09-23 | 2016-09-23 | The driver and control system of position accumulated error can be eliminated automatically |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106482753B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109687774A (en) * | 2018-12-28 | 2019-04-26 | 厦门厦华科技有限公司 | A kind of capacitor table being freely lifted and its control method |
| WO2022096155A1 (en) * | 2020-11-09 | 2022-05-12 | Laing Karsten | Electrically adjustable piece of furniture with at least one electrical drive motor |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62225906A (en) * | 1986-03-27 | 1987-10-03 | Ishikawajima Harima Heavy Ind Co Ltd | Absolute address type multi-rotational position detector |
| JPH0526686A (en) * | 1991-07-17 | 1993-02-02 | Yokogawa Electric Corp | Optical encoder |
| JP2000280191A (en) * | 1999-03-29 | 2000-10-10 | Seiko Epson Corp | Position initializing method |
| CN1449984A (en) * | 2003-04-09 | 2003-10-22 | 上海二纺机股份有限公司 | Method for postion control by adopting brushless dc motor for twisting cam mechanism of automatic bobbin winder |
| CN101424946A (en) * | 2007-11-02 | 2009-05-06 | 深圳迈瑞生物医疗电子股份有限公司 | Pulse positioning system and method for compensating pulse positioning error thereof |
| CN101444916A (en) * | 2008-12-26 | 2009-06-03 | 北京理工大学 | Initial accurate positioning device of robot |
| CN102928677A (en) * | 2012-11-09 | 2013-02-13 | 湖南航天远望测控技术有限公司 | Nano pulse signal acquiring method |
| CN103644924A (en) * | 2013-11-25 | 2014-03-19 | 简玉君 | A photoelectric encoder interference elimination method |
| CN105305755A (en) * | 2015-11-06 | 2016-02-03 | 中国科学院电工研究所 | Detection method for rotor position of permanent-magnet synchronous motor |
| CN105790652A (en) * | 2016-04-28 | 2016-07-20 | 广东威灵电机制造有限公司 | Hall signal identification method used for motor control system and apparatus thereof |
-
2016
- 2016-09-23 CN CN201610844847.7A patent/CN106482753B/en not_active Expired - Fee Related
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62225906A (en) * | 1986-03-27 | 1987-10-03 | Ishikawajima Harima Heavy Ind Co Ltd | Absolute address type multi-rotational position detector |
| JPH0526686A (en) * | 1991-07-17 | 1993-02-02 | Yokogawa Electric Corp | Optical encoder |
| JP2000280191A (en) * | 1999-03-29 | 2000-10-10 | Seiko Epson Corp | Position initializing method |
| CN1449984A (en) * | 2003-04-09 | 2003-10-22 | 上海二纺机股份有限公司 | Method for postion control by adopting brushless dc motor for twisting cam mechanism of automatic bobbin winder |
| CN101424946A (en) * | 2007-11-02 | 2009-05-06 | 深圳迈瑞生物医疗电子股份有限公司 | Pulse positioning system and method for compensating pulse positioning error thereof |
| CN101444916A (en) * | 2008-12-26 | 2009-06-03 | 北京理工大学 | Initial accurate positioning device of robot |
| CN102928677A (en) * | 2012-11-09 | 2013-02-13 | 湖南航天远望测控技术有限公司 | Nano pulse signal acquiring method |
| CN103644924A (en) * | 2013-11-25 | 2014-03-19 | 简玉君 | A photoelectric encoder interference elimination method |
| CN105305755A (en) * | 2015-11-06 | 2016-02-03 | 中国科学院电工研究所 | Detection method for rotor position of permanent-magnet synchronous motor |
| CN105790652A (en) * | 2016-04-28 | 2016-07-20 | 广东威灵电机制造有限公司 | Hall signal identification method used for motor control system and apparatus thereof |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109687774A (en) * | 2018-12-28 | 2019-04-26 | 厦门厦华科技有限公司 | A kind of capacitor table being freely lifted and its control method |
| WO2022096155A1 (en) * | 2020-11-09 | 2022-05-12 | Laing Karsten | Electrically adjustable piece of furniture with at least one electrical drive motor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106482753B (en) | 2019-04-16 |
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Address after: 314000 room 247, building 6, Jiaxing Photovoltaic Science and Innovation Park, 1288 Kanghe Road, Xiuzhou District, Jiaxing City, Zhejiang Province Patentee after: Dworkon Technology Group Co.,Ltd. Address before: Jiaxing City, Zhejiang province 314016 Sanfeng wangjiangjing Road Development Zone No. 410 Patentee before: OKIN Refined Electric Technology Co.,Ltd. |
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Granted publication date: 20190416 |