CN106655927A - Motor control method and device, motor driving system and door lock - Google Patents
Motor control method and device, motor driving system and door lock Download PDFInfo
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- CN106655927A CN106655927A CN201611036738.9A CN201611036738A CN106655927A CN 106655927 A CN106655927 A CN 106655927A CN 201611036738 A CN201611036738 A CN 201611036738A CN 106655927 A CN106655927 A CN 106655927A
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Abstract
The invention discloses a motor control method and device, a motor driving system and a door lock, and relates to a field of motor drive control, the method comprising: monitoring the output voltage of a power supply battery; when the output voltage is greater than or equal to the first threshold voltage of the power supply battery, generating a DC signal and sending the DC signal to a motor driving device in order that the motor driving device drives the motor based on the DC signal; when the output voltage is lower than the first threshold voltage of the power supply battery, generating a pulse width modulation signal and transmitting the pulse width modulation signal to the motor driving device in order that the motor driving device drives the motor in accordance with the pulse width modulation signal. The method, apparatus and system provided by the application can drive the motor with the pulse width modulation signal when the power supply battery is lower than the threshold voltage, thereby prolonging the service life of the battery.
Description
Technical field
The present invention relates to the drive control field of motor, in particular to a kind of motor control method, device, motor
Drive system and door lock.
Background technology
Intelligent door lock property and safety for convenience, is all powered using battery, substantially so how to improve electricity at present
Pond utilization rate, it is all intelligent door Lock Factory business Hereby problems to be solved to extend battery.For the sake of security, it is electric at present
The alarm threshold value of cell voltage is generally maximum instantaneous pressure drop sum when the minimum running voltage and motor of MCU is rotated, and will protect
Hold certain surplus, with avoid the output voltage of battery too low and when motor is rotated maximum instantaneous pressure drop it is excessive and cause MCU's
Running voltage is too low and restarts MCU.And the minimum running voltage of MCU is typically relevant with chip, once the model of chip is selected,
The minimum running voltage of MCU is just a constant, therefore, the wink when bottleneck of restriction battery is that motor is rotated
When pressure drop ratio it is larger.
But, cause in order to avoid the motor driving force of intelligent door lock is not enough motor cannot driven dead bolt and cannot
The situation for opening door occurs, and adopts mostly direct current signal motor.But, the mode of direct current signal motor can cause
Instantaneous pressure drop when motor is rotated is excessive, causes the service life of battery not high.
The content of the invention
It is an object of the invention to provide a kind of motor control method, device, motor driven systems and door lock, with improvement
The problem stated.
In a first aspect, embodiments providing a kind of motor control method, motor driven systems, the electricity are applied to
Machine drive system includes supplying cell and motor driver.Methods described includes：Monitor the output voltage of the supplying cell；
When first threshold voltage of the output voltage less than the supplying cell, pulse width modulating signal is generated, by the arteries and veins
Rush bandwidth modulation signals to send to the motor driver, so that the motor driver is according to the pulse width modulation
Signal drive motor.
Second aspect, embodiments provides a kind of motor control assembly, is applied to motor driven systems, the electricity
Machine drive system includes supplying cell and motor.The motor control assembly includes：Monitoring means and the first driver element.Monitoring
Unit is used for the output voltage for monitoring the supplying cell.First driver element is used to be less than the power supply when the output voltage
During the first threshold voltage of battery, pulse width modulating signal is generated, the pulse width modulating signal is sent to the electricity
Machine actuating device, so that the motor driver is according to the pulse width modulating signal motor.
The third aspect, embodiments provides motor driven systems, including：Supplying cell, master control set and motor
Driving means.The supplying cell is coupled with the master control set and the motor driver respectively, the master control set
Outfan is coupled with the input of the motor driver.The master control set is used for the output electricity for monitoring the supplying cell
Pressure, when first threshold voltage of the output voltage less than the supplying cell, generates pulse width modulating signal, will be described
Pulse width modulating signal is sent to the motor driver.The motor driver is for according to pulse width tune
Signal drive motor processed.
Fourth aspect, the embodiment of the present invention additionally provide a kind of door lock, including motor, lockset and motor described above drive
Dynamic system.The motor is connected with the lockset, the motor driver and the motor connection.The motor driver
For driving the motor, so that lockset described in the motor control is opened or closed.
In the embodiment of the present invention, when output voltage is less than first threshold voltage, believed than direct current using motor instantaneous pressure drop
Number much lower pulse width modulating signal motor, during so that output voltage being less than first threshold, supplying cell still can
Enough normal uses are broken down without causing the restarting for chip in motor driven systems.With prior art in output voltage
Compare less than cannot just use during first threshold, it is possible to increase the service life of supplying cell.
Other features and advantages of the present invention will be illustrated in subsequent description, also, are partly become from description
It is clear that or being understood by implementing the embodiment of the present invention.The purpose of the present invention and other advantages can be by saying for being write
In bright book, claims and accompanying drawing, specifically noted structure is realizing and obtain.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
The accompanying drawing that needs are used is briefly described, it should be apparent that, drawings in the following description are only some enforcements of the present invention
Example, for those of ordinary skill in the art, on the premise of not paying creative work, can be being obtained according to these accompanying drawings
Obtain other accompanying drawings.By shown in accompanying drawing, the above and other purpose of the present invention, feature and advantage will become apparent from.In whole
In accompanying drawing, identical reference indicates identical part.Deliberately accompanying drawing, emphasis are not drawn by actual size equal proportion scaling
It is the purport for illustrating the present invention.
Fig. 1 shows the structured flowchart of door lock provided in an embodiment of the present invention；
Fig. 2 shows the structured flowchart of motor driven systems provided in an embodiment of the present invention；
Fig. 3 shows the circuit theory of the power module of motor driven systems provided in an embodiment of the present invention；
Fig. 4 shows the circuit theory diagrams of the motor driver of motor driven systems provided in an embodiment of the present invention；
The flow chart that Fig. 5 shows a kind of motor control method that one embodiment of the invention is provided；
The flow chart that Fig. 6 shows a kind of motor control method that another embodiment of the present invention is provided；
Fig. 7 shows a kind of functional block diagram of motor control assembly that one embodiment of the invention is provided；
Fig. 8 shows a kind of functional block diagram of motor control assembly that another embodiment of the present invention is provided.
Specific embodiment
Below in conjunction with accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground description, it is clear that described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.Generally exist
The component of the embodiment of the present invention described and illustrated in accompanying drawing can be arranged and be designed with a variety of configurations herein.Cause
This, the detailed description of the embodiments of the invention to providing in the accompanying drawings is not intended to limit claimed invention below
Scope, but it is merely representative of the selected embodiment of the present invention.Based on embodiments of the invention, those skilled in the art are not doing
The every other embodiment obtained on the premise of going out creative work, belongs to the scope of protection of the invention.
It should be noted that：Similar label and letter represent similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined in individual accompanying drawing, then in subsequent accompanying drawing which further need not be defined and is explained.Meanwhile, the present invention's
In description, term " first ", " second " etc. are only used for distinguishing description, and it is not intended that indicating or implying relative importance.
As shown in figure 1, being a kind of structured flowchart of door lock provided in an embodiment of the present invention.The door lock 1 includes：Motor drive
System 10, motor 20 and lockset 30.The door lock 1 can apply to the parts such as door, cabinet door, chamber door or drawer.Wherein, lockset 30
Device is sealed as parts such as door, cabinet door, chamber door or drawers.The rotor of motor 20 is connected with lockset 30.Specifically, the lock
Tool 30 can include dead bolt and lockhole (not shown in figure), and the rotor of motor 20 is connected with dead bolt, and the rotor of motor 20 is just
Turn and reversion can drive dead bolt along stretching into lockhole or the direction away from lockhole is moved, and then, motor 20 can control lockset 30
Open or close.
Motor driven systems 10 can in the way of pulse width modulating signal or direct current signal etc. are different motor 20,
So that motor 20 controls opening or closing for lockset 30 under different mode of operations.The detailed embodiment party of motor driven systems 10
Formula, refers to Fig. 2.
As shown in Fig. 2 being a kind of structured flowchart of motor driven systems provided in an embodiment of the present invention.The Motor drive system
System 10 includes：Supplying cell 100, power module 200, master control set 300 and motor driver 400.
Supplying cell 100 is used to provide work electricity for master control set 300, motor driver 400 and power module 200
Source, and as the input power of power module 200.In the embodiment of the present invention, powered using four No. 5 batteries of section, often economized on electricity
The maximum voltage in pond is 1.5V, then the maximum voltage of supplying cell 100 is 6V.
The minimum running voltage of the chip in motor driven systems 10 is at least met in the output voltage of supplying cell 100
The chip in motor driven systems 10 cannot be less than with motor instantaneous pressure drop sum, the i.e. output voltage of supplying cell 100
Minimum running voltage and motor instantaneous pressure drop sum.Thus, a threshold value can be set in supplying cell 100, the threshold value is equal to
The minimum running voltage and motor instantaneous pressure drop sum of the chip in motor driven systems, the such as minimum running voltage of fruit chip and
If motor instantaneous pressure drop keeps constant, output voltage be less than the threshold value when, chip can be caused to restart and cannot be just
Often work, now, battery cannot be put into use again.
Power module 200 for the output voltage of supplying cell 100 to be converted to the running voltage of master control set 300, i.e.,
The running voltage of chip.Power module 200 is by the power end of the control source master control set 300 after conversion.Specifically, power supply mould
The circuit theory diagrams of block 200 are as shown in figure 3, power module 200 includes：Blood pressure lowering chip IC 1, the first electric capacity C1, the second electric capacity C2,
First resistor R1, second resistance R2 and the first inductance L1, the power voltage input terminal VIN and enable input of blood pressure lowering chip IC 1
EN is coupled with the outfan of supplying cell, the power voltage input terminal VIN and enable input EN and first of blood pressure lowering chip IC 1
One end coupling of electric capacity C1, the other end ground connection of the first electric capacity C1, the protective grounding PGND of blood pressure lowering chip IC 1, analogue ground
End AGND and earth terminal GND is grounded, and switch terminals SW of blood pressure lowering chip IC 1 are coupled with one end of the first inductance L1, the first inductance
The other end of L1 one end respectively with first resistor R1, one end of the second electric capacity C2, the voltage output end VOS of blood pressure lowering chip IC 1
Couple with one end of first resistor R1.The other end of second resistance R2 is coupled with the power end of master control set 300, the second electric capacity C2
Other end ground connection, the feedback end FB ground connection of blood pressure lowering chip IC 1, the other end of first resistor R1 and the output of blood pressure lowering chip IC 1
Power end PG is coupled.Supplying cell 100 outputs voltage signal to the power voltage input terminal VIN of blood pressure lowering chip IC 1, through Fig. 3
After the adjustment of shown circuit, the voltage signal of 3.3V is exported to master control set, provide running voltage for master control set.Wherein,
VCC_IN is exactly the output voltage of supplying cell.
Master control set 300 is used for the output voltage for gathering supplying cell 100, and generates the signal for motor, sends out
Motor driver 400 is delivered to, so that 400 motor of motor driver.Specific regulative mode, in subsequent embodiment
Introduce.In the embodiment of the present invention, the master control set is singlechip chip, for example, using the STM32L151 cores of ST companies
Piece.
Motor driver 400 adjusts electricity in the corresponding mode of the signal for the signal being input into according to master control set 300
Machine.Specifically, Fig. 4 is referred to, Fig. 4 shows the circuit theory diagrams of motor driver 400, the motor driver 400 is wrapped
Include：First field-effect transistor Q1, the second field-effect transistor Q2, the 3rd field-effect transistor Q3, the 4th field-effect transistor
Q4,3rd resistor R3, the 4th resistance R4, the 5th resistance R5, the 6th resistance R6, the 7th resistance R7, the 3rd electric capacity C3 and the 4th are electric
Hold C4.Preferably, the 4th electric capacity C4 is polar capacitor, and the first field-effect transistor Q1 and the second field-effect transistor Q2 is
Nmos pass transistor, the 3rd field-effect transistor Q3 and the 4th field-effect transistor Q4 are PMOS transistor.
Grid coupling after first outfan concatenation 3rd resistor R3 of master control set 300 with the first field-effect transistor Q1
Close, the source ground of the first field-effect transistor Q1, drain electrode and the 3rd field-effect transistor Q3 of the first field-effect transistor Q1
Drain electrode coupling, the grid of the 3rd field-effect transistor Q3 coupled with one end of the 4th resistance R4, the other end of the 4th resistance R4
Drain electrode with the second field-effect transistor Q2 is coupled, with second after the second outfan the 5th resistance R5 of concatenation of master control set 300
The grid coupling of field-effect transistor Q2, the source ground of the second field-effect transistor Q2, the leakage of the second field-effect transistor Q2
Pole is coupled with the drain electrode of the 4th field-effect transistor Q4, one end coupling of the grid and the 6th resistance R6 of the 4th field-effect transistor Q4
Close, the other end of the 6th resistance R6 is coupled with the drain electrode of the 3rd field-effect transistor Q3, one end and the power supply electricity of the 7th resistance R7
Pond couples, the other end of the 7th resistance R7 positive terminal respectively with the 4th electric capacity C4, the source electrode of the 3rd field-effect transistor Q3 and
4th field-effect transistor Q4 source electrode coupling, the 4th electric capacity C4 negative pole end ground connection, one end of the 3rd electric capacity C3 with the 3rd
The drain electrode coupling of effect transistor Q3, the other end of the 3rd electric capacity C3 are coupled with the drain electrode of the second field-effect transistor Q2.3rd
One end of electric capacity C3 is coupled with the first input end of motor, and the other end of the 3rd electric capacity C3 is coupled with the second input of motor.
Motor driver 400 is a H-bridge drive circuit being made up of four field-effect transistors, in Fig. 4, VCC_
IN is exactly the output voltage of supplying cell, two pins of MOTOR_EN, MOTOR_EP for singlechip chip, MOTOR_EN
For the first outfan of master control set 300, second outfans of the MOTOR_EP for master control set 300, by controlling MOTOR_
The low and high level of EN and MOTOR_EP outputs controlling the conducting of four field-effect transistors and shut-off, and then the two of motor
End produces voltage difference and carrys out rotating and reverse for motor.MOTOR_L and MOTOR_R is used for two pins for connecting motor,
To rotate and reverse the offer signal of telecommunication as motor.
Direct current signal motor is exactly that master control set 300 is defeated in the first outfan and the second outfan within a period of time
Go out constant level value, such as MOTOR_EN is high level always, and MOTOR_EP is low level always, then be added in motor two
The voltage difference at end is also constant.
Pulse width modulation (Pulse Width Modulation, PWM) signal type of drive is exactly that master control set 300 exists
In a period of time, output is periodically pulsing, by the conducting of Pulse Width Control field-effect transistor and shut-off, and then in motor
Two ends also produce periodic waveform.
Refer to Fig. 5, the flow chart that Fig. 5 shows a kind of motor control method provided in an embodiment of the present invention.The method
Executive agent be master control set in above-described embodiment, the method includes：
S401：Monitor the output voltage of the supplying cell；
The input of master control set is coupled with the outfan of the supplying cell, can gather the output voltage of supplying cell
Size.Specifically, the output voltage of supplying cell can be gathered by the PC0 pins of singlechip chip.Singlechip chip is gathered
To after the output voltage of supplying cell, analog voltage signal is converted to into digital signal, thus can just analyze output voltage
Numerical values recited.
S402：When first threshold voltage of the output voltage less than the supplying cell, pulse width modulation is generated
Signal, the pulse width modulating signal is sent to the motor driver, so that the motor driver is according to institute
State pulse width modulating signal motor.
Wherein, first threshold voltage is equal to the minimum running voltage and maximum motor instantaneous pressure drop sum of master control set.
So that supplying cell is 4 No. 5 batteries of section as an example, the maximum output voltage of supplying cell is 6V.Maximum motor is instantaneously pressed
Motor instantaneous pressure drop, e.g. 1.2V when being reduced to the type of drive motor using direct current signal, and master control set is minimum
Running voltage is 3.3V, then first threshold voltage is equal to 4.5V.
When master control set monitors that the output voltage of supplying cell is less than first threshold voltage (4.5V), it is necessary to adopt
Type of drive motor of the motor instantaneous pressure drop less than 1.2V, and direct current signal type of drive is compared, pwm signal type of drive
Motor instantaneous pressure drop it is lower, therefore, master control set generates pwm signal, institute's pwm signal is sent to Motor drive and is filled
Put.
In the embodiment of the present invention, it is second that the frequency of the pulse width modulating signal is the first preset value, dutycycle
Preset value, first preset value are selected from 1.2KHz to 1.8KHz, and second preset value is selected from 0.6 to 0.7.
The value of the frequency and dutycycle of above-mentioned pulse width modulating signal is that inventor is obtained through many experiments,
Motor instantaneous pressure drop not only can be made sufficiently small, and the driving force of motor is strong.It is default using above-mentioned first preset value and second
During value, motor instantaneous pressure drop is 0.6V, and once enabling success rate is 99.99%.Therefore, the output voltage of supplying cell is 3.9
When, MCU remains able to normal work, and the service life of supplying cell is changed into 3.9V from 4.5V, substantially increases supplying cell
Service life.
Refer to Fig. 6, the flow chart that Fig. 6 shows a kind of motor control method provided in an embodiment of the present invention.The method
Executive agent be master control set in above-described embodiment, the method includes：
S501：Monitor the output voltage of the supplying cell；
S502：Judge whether output voltage is less than the first threshold voltage of supplying cell；
Output voltage is judged whether less than the first threshold voltage of supplying cell, when output voltage is less than the of supplying cell
During one threshold voltage, execution step S504；When first threshold voltage of the output voltage greater than or equal to supplying cell, step is performed
Rapid S503.
Step S503：Direct current signal is generated, the direct current signal is sent to the motor driver.
When output voltage is more than first threshold voltage, represent that the electricity of supplying cell is abundant, it is now instantaneous using motor
The larger direct current signal of pressure drop drives, and makes the driving force of motor enough big, can greatly avoid door lock from opening failure.
After execution of step S503, execution step S501 is returned, continue the output voltage of the monitoring supplying cell.
Step S504：Judge the output voltage whether more than second threshold voltage；
If the output voltage is more than second threshold voltage, execution step S505；If the output voltage is less than or equal to
Second threshold voltage, execution step S506.
Wherein, second threshold voltage is the alarm threshold value of supplying cell, specifically, can be the minimum work of master control set
Voltage and minimum motor instantaneous pressure drop sum.
In order to avoid being exactly equal in output voltage during the minimum running voltage of minimum motor instantaneous pressure drop and master control set,
The fluctuation of voltage causes motor driven systems exception, therefore, second threshold voltage is set to into 4.0V.
Step S505：Pulse width modulating signal is generated, pulse width modulating signal is sent to motor driver；
After execution of step S505, execution step S501 is returned.Before the specific embodiment of step S505 can be with parameter
The embodiment of method is stated, be will not be described here.
Step S506：Alert, to point out to change battery.
When output voltage is less than or equal to second threshold voltage, represents that the electricity of supplying cell is not enough, be further continued for
If use, restarting for chip can be caused and the system failure is caused, be needed to change battery in time or battery is charged.
In the embodiment of the present invention, when output voltage is less than or equal to second threshold voltage, master control set sends warning
Information, to point out to change battery.Wherein, the mode of alert can be：
Master control set is provided with communication module, so that master control set can be by communication module and remote monitoring center or use
Family terminal coupling.Master control set is stored with the warning content for editting in advance, and the warning content can be one section of suggestive text
Word.The identification information in addition, master control set is stored with, identification information are corresponding with the door lock address corresponding to intelligent door lock.
When master control set monitors that the output voltage of supplying cell is less than or equal to second threshold voltage, content will be warned
With send to remote monitoring center or user terminal after id signal packing, staff can pass through remote monitoring center or
Person's user terminal checks warning message.In addition, master control set also includes alarm device, when master control set monitors supplying cell
When output voltage is less than or equal to second threshold voltage, master control set can control the alarm device and send sound and light alarm.Make
For a kind of embodiment, alarm device can be signal lighties or buzzer, it is preferable that the alarm device is signal lighties.
Furthermore, also including USB interface.The output journal of door lock can be checked by USB interface, when being easy to break down,
Orientation problem；Can with when battery not in time change and cell voltage it is too low when, by USB interface connect externally fed,
To guarantee normal door.
Fig. 7 is referred to, Fig. 7 shows a kind of functional block diagram of motor control assembly provided in an embodiment of the present invention.Should
Motor control assembly 600 is applied to the master control set of said system, and the motor control assembly 600 includes：Monitoring means 601 and
One driver element 602.
Monitoring means 601 are used for the output voltage for monitoring the supplying cell.
First driver element 602 is for being less than when the output voltage during first threshold voltage of the supplying cell, raw
Into pulse width modulating signal, the pulse width modulating signal is sent to the motor driver, so that the motor
Driving means are according to the pulse width modulating signal motor.
It should be noted that each unit in the present embodiment can be by software code realization, now, above-mentioned each unit
Can be stored in master control set 300.Above each unit equally can be realized by hardware such as IC chip.
Those skilled in the art can be understood that, for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, may be referred to the corresponding process in preceding method embodiment, will not be described here.
Fig. 8 is referred to, Fig. 8 shows a kind of functional block diagram of motor control assembly provided in an embodiment of the present invention.Should
Motor control assembly 700 is applied to the master control set of said system, and the motor control assembly 700 includes：Monitoring means 701,
One driver element 702, the second driver element 703 and alarm unit 704.
Monitoring means 701 are used for the output voltage for monitoring the supplying cell.
First driver element 702 is for being less than when the output voltage during first threshold voltage of the supplying cell, raw
Into pulse width modulating signal, the pulse width modulating signal is sent to the motor driver, so that the motor
Driving means are according to the pulse width modulating signal motor.
Second driver element 703 is used for the first threshold voltage when the output voltage greater than or equal to the supplying cell
When, direct current signal is generated, by motor driver described in the direct current signal, so that the motor driver is according to described straight
Stream signal drive motor.
In addition, first driver element 702 is specifically for when the output voltage is less than the first of the supplying cell
During threshold voltage, whether the output voltage is judged more than second threshold voltage, if the output voltage is more than Second Threshold electricity
Pressure, generates pulse width modulating signal, the pulse width modulating signal is sent to the motor driver.
If alarm unit 704 is used for the output voltage is less than or equal to second threshold voltage, alert, to put forward
Show replacing battery.
It should be noted that each unit in the present embodiment can be by software code realization, now, above-mentioned each unit
Can be stored in master control set 300.Above each unit equally can be realized by hardware such as IC chip.
Those skilled in the art can be understood that, for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, may be referred to the corresponding process in preceding method embodiment, will not be described here.
In sum, in the embodiment of the present invention, when output voltage is less than first threshold voltage, using motor instantaneous pressure drop
The pulse width modulating signal motor more much lower than direct current signal, during so that output voltage being less than first threshold, power supply electricity
Pond remains able to normal use and breaks down without causing the restarting for chip in motor driven systems.Exist with prior art
Cannot just use when output voltage is less than first threshold and compare, it is possible to increase the service life of supplying cell.
In addition, existing employing pwm signal motor, although motor instantaneous pressure drop than it is relatively low and with adopt direct current signal
Mode compare, be capable of the service life of battery to a certain extent, but, can also there is enabling under certain probability in PWM
The situation of failure, the time for using are more long, and the probability for failure occur can be higher.Therefore, in the application, institute is less than in output voltage
Pwm signal motor is adopted in the case of stating the first threshold voltage of supplying cell, and is greater than or equal to institute in output voltage
In the case of stating the first threshold voltage of supplying cell, using direct current signal motor, the use of battery can not only be extended
Life-span, and, it is possible to increase enabling success rate.
In several embodiments provided herein, it should be understood that disclosed apparatus and method, it is also possible to pass through
Other modes are realized.Device embodiment described above is only schematically, for example flow chart and block diagram in accompanying drawing
Show the device of multiple embodiments of the invention, the architectural framework in the cards of method and computer program product,
Function and operation.At this point, each square frame in flow chart or block diagram can represent the one of module, program segment or a code
Part, a part for the module, program segment or code are used to realize holding for the logic function for specifying comprising one or more
Row instruction.It should also be noted that at some as in the implementations replaced, the function of being marked in square frame can also be being different from
The order marked in accompanying drawing occurs.For example, two continuous square frames can essentially be performed substantially in parallel, and they are sometimes
Can perform in the opposite order, this is depending on involved function.It is also noted that every in block diagram and/or flow chart
The combination of individual square frame and block diagram and/or the square frame in flow chart, can use the special base for performing the function or action of regulation
Realize in the system of hardware, or can be realized with the combination of specialized hardware and computer instruction.
In addition, each functional module in each embodiment of the invention can integrate to form an independent portion
Divide, or modules individualism, it is also possible to which two or more modules are integrated to form an independent part.
If the function is realized using in the form of software function module and as independent production marketing or when using, can be with
It is stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially in other words
The part contributed to prior art or the part of the technical scheme can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, is used including some instructions so that a computer equipment (can be individual
People's computer, server, or network equipment etc.) perform all or part of step of each embodiment methods described of the invention.
And aforesaid storage medium includes：USB flash disk, portable hard drive, read only memory (ROM, Read-Only Memory), random access memory
Memorizer (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with the medium of store program codes.Need
It is noted that herein, such as first and second or the like relational terms are used merely to an entity or operation
Make a distinction with another entity or operation, and not necessarily require or imply these entities or exist between operating any this
Actual relation or order.And, term " including ", "comprising" or its any other variant are intended to nonexcludability
Comprising so that a series of process, method, article or equipment including key elements not only includes those key elements, but also wrapping
Other key elements being not expressly set out are included, or also includes intrinsic for this process, method, article or equipment wanting
Element.In the absence of more restrictions, the key element for being limited by sentence "including a ...", it is not excluded that wanting including described
The process of element, method, also there is other identical element in article or equipment.
The preferred embodiments of the present invention are the foregoing is only, the present invention is not limited to, for the skill of this area
For art personnel, the present invention can have various modifications and variations.It is all within the spirit and principles in the present invention, made any repair
Change, equivalent, improvement etc., should be included within the scope of the present invention.It should be noted that：Similar label and letter exist
Similar terms is represented in figure below, therefore, once being defined in a certain Xiang Yi accompanying drawing, then it is not required in subsequent accompanying drawing
Which is further defined and is explained.
The above, the only specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all be contained
Cover within protection scope of the present invention.Therefore, protection scope of the present invention described should be defined by scope of the claims.
Claims (12)
1. a kind of motor control method, it is characterised in that be applied to motor driven systems, the motor driven systems include power supply
Battery and motor driver, methods described include：
Monitor the output voltage of the supplying cell；
When first threshold voltage of the output voltage less than the supplying cell, pulse width modulating signal is generated, by institute
State pulse width modulating signal to send to the motor driver, so that the motor driver is according to the pulse width
Modulated signal motor.
2. method according to claim 1, it is characterised in that methods described also includes：
When first threshold voltage of the output voltage greater than or equal to the supplying cell, direct current signal is generated, will be described
Direct current signal is sent to the motor driver, so that the motor driver is according to the direct current signal motor.
3. method according to claim 1, it is characterised in that the frequency of the pulse width modulating signal is default for first
Value, dutycycle be the second preset value, first preset value be selected from 1.2KHz to 1.8KHz, second preset value be selected from 0.6
To 0.7.
4. method according to claim 1, it is characterised in that described when the output voltage is less than the supplying cell
First threshold voltage when, generate pulse width modulating signal, by the pulse width modulating signal send to the motor drive
The step of dynamic device, including：
When first threshold voltage of the output voltage less than the supplying cell, judge that whether the output voltage is more than the
Two threshold voltages, if the output voltage is more than second threshold voltage, generate pulse width modulating signal, by the pulse width
Modulated signal is sent to the motor driver.
5. method according to claim 4, it is characterised in that methods described also includes：
If the output voltage is less than or equal to second threshold voltage, alert.
6. a kind of motor control assembly, it is characterised in that be applied to motor driven systems, the motor driven systems include power supply
Battery and motor, the motor control assembly include：
Monitoring means, for monitoring the output voltage of the supplying cell；
First driver element, for being less than when the output voltage during first threshold voltage of the supplying cell, generates pulse
Bandwidth modulation signals, the pulse width modulating signal is sent to the motor driver, so that Motor drive dress
Put according to the pulse width modulating signal motor.
7. device according to claim 6, it is characterised in that also include：
Second driver element, it is during for being greater than or equal to the first threshold voltage of the supplying cell when the output voltage, raw
Into direct current signal, the direct current signal is sent to the motor driver, so that the motor driver is according to described
Direct current signal motor.
8. device according to claim 6, it is characterised in that also include：The frequency of the pulse width modulating signal is
First preset value, dutycycle are the second preset value, and first preset value is selected from 1.2KHz to 1.8KHz, second preset value
Selected from 0.6 to 0.7.
9. device according to claim 6, it is characterised in that：
First driver element, specifically for being less than when the output voltage during first threshold voltage of the supplying cell,
Judge that the output voltage, whether more than second threshold voltage, if the output voltage is more than second threshold voltage, generates pulse
Bandwidth modulation signals, the pulse width modulating signal is sent to the motor driver.
10. device according to claim 9, it is characterised in that also include：
Alarm unit, if being less than or equal to second threshold voltage, alert for the output voltage.
11. a kind of motor driven systems, it is characterised in that include：Supplying cell, master control set and motor driver, it is described
Supplying cell is coupled with the master control set and the motor driver respectively, the outfan of the master control set and the electricity
The input coupling of machine actuating device；
The master control set is used for the output voltage for monitoring the supplying cell, when the output voltage is less than the supplying cell
First threshold voltage when, generate pulse width modulating signal, by the pulse width modulating signal send to the motor drive
Dynamic device；
The motor driver is for according to the pulse width modulating signal motor.
12. a kind of door locks, it is characterised in that including the motor driven systems described in motor, lockset and the claims 11, institute
State motor to be connected with the lockset, the motor driver and the motor connection；The motor driver is used to drive
The motor, so that lockset described in the motor control is opened or closed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611036738.9A CN106655927B (en) | 2016-11-22 | 2016-11-22 | Motor control method, device, motor driven systems and door lock |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611036738.9A CN106655927B (en) | 2016-11-22 | 2016-11-22 | Motor control method, device, motor driven systems and door lock |
Publications (2)
| Publication Number | Publication Date |
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| CN106655927A true CN106655927A (en) | 2017-05-10 |
| CN106655927B CN106655927B (en) | 2019-09-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611036738.9A Active CN106655927B (en) | 2016-11-22 | 2016-11-22 | Motor control method, device, motor driven systems and door lock |
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| CN (1) | CN106655927B (en) |
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| CN108075699A (en) * | 2017-12-29 | 2018-05-25 | 上海沪工焊接集团股份有限公司 | A kind of motor control method and electric machine controller |
| CN112164175A (en) * | 2020-08-19 | 2021-01-01 | 北京三快在线科技有限公司 | Cashbox state detection method and device, electronic equipment and storage medium |
| CN112330874A (en) * | 2020-08-19 | 2021-02-05 | 北京三快在线科技有限公司 | Control method, control device, cash register system, electronic device and computer readable medium |
| CN113017885A (en) * | 2018-07-03 | 2021-06-25 | 深圳素士科技股份有限公司 | Tooth irrigator and computer-readable storage medium |
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| Publication number | Publication date |
|---|---|
| CN106655927B (en) | 2019-09-17 |
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