CN108062038A - Servos control method, control system and steering engine - Google Patents
Servos control method, control system and steering engine Download PDFInfo
- Publication number
- CN108062038A CN108062038A CN201610983728.XA CN201610983728A CN108062038A CN 108062038 A CN108062038 A CN 108062038A CN 201610983728 A CN201610983728 A CN 201610983728A CN 108062038 A CN108062038 A CN 108062038A
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- steering engine
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Power Steering Mechanism (AREA)
- Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)
Abstract
The invention discloses a kind of servos control method, control system and steering engine, which includes：Steering engine position information acquisition module, user obtain the location information of steering engine and are sent to controller；Drive module, for the steering engine to be driven to rotate, and the stopping driving instruction being sent according to the controller stops that the steering engine is driven to rotate；Control module, the control module is connected respectively with the steering engine position information acquisition module and the drive module, and the control module is used to send the stopping driving instruction to the drive module when the steering engine is turned in the preset range of assigned target position.The invention has the advantages that：Stop driving steering engine when steering engine is turned in the preset range of target location, can prevent steering gear swaying, it is energy saving.
Description
Technical field
The present invention relates to steering engine technical fields, and in particular to a kind of servos control method, control system and steering engine.
Background technology
Steering engine tends not to accurately reach precalculated position when rotating, it will usually following several situations occurs：
One kind is that precalculated position (owing some distances in preset distance position) is not achieved, and then steering engine always strives to reach the position
It puts, but since distance objective position is close, rotating torque is inadequate, therefore target location is not achieved always；
Another situation is that steering engine is more than precalculated position certain distance, and then steering engine always strives to go back, at this point, together
Sample can be because distance objective position be close, and rotating torque is inadequate, therefore target location is not achieved always；
Again or the error due to potentiometer, this is measured as 89 degree when causing to measure position, and next time, measurement was 91 degree
(such as target location is 90 degree).It oneself is not reaching to target location in this way, steering engine also will be considered that and constantly attempts to reach mesh
Cursor position.
Above several situations can all cause steering engine to be shaken near target location or Small-angle Rotation, be commonly called as " looking for position ".
The content of the invention
It is contemplated that at least solve one of above-mentioned technical problem.
For this purpose, an object of the present invention is to provide a kind of steering gear control systems, steering gear swaying can be prevented.
To achieve these goals, embodiment of the invention discloses that a kind of steering gear control system, including：Believe steering engine position
Acquisition module is ceased, for obtaining the location information of steering engine and being sent to controller；Drive module, for the steering engine to be driven to turn
It is dynamic, and the stopping driving instruction being sent according to the controller stops that the steering engine is driven to rotate；Control module, the control mould
Block is connected respectively with the steering engine position information acquisition module and the drive module, and the control module is used in the steering engine
When turning in the preset range of assigned target position the stopping driving instruction being sent to the drive module.
Steering gear control system according to embodiments of the present invention stops driving when steering engine is turned in the preset range of target location
Dynamic steering engine, can prevent steering gear swaying, energy saving.
In addition, steering gear control system according to the above embodiment of the present invention, can also have following additional technical characteristic：
Further, the steering engine position information acquisition module is rotary angle transmitter.
Further, the control module is further used for：The pre- of the assigned target position is turned in the steering engine
Determine in scope, and send the stopping to the drive module when position of the steering engine persistently changes in the given time
Driving instruction.
Further, the control module, which is additionally operable to send to the drive module, starts drive signal, the driving mould
Block is additionally operable to according to the startup drive signal steering engine be driven to rotate.
For this purpose, it is another object of the present invention to propose a kind of servos control method, steering gear swaying can be prevented.
To achieve these goals, embodiment of the invention discloses that a kind of servos control method, comprises the following steps：It obtains
Take the location information of steering engine；Judge the position of the steering engine whether in the preset range of assigned target position；If the rudder
Machine is in the preset range of the assigned target position, and control stops the steering engine and rotates.
Servos control method according to embodiments of the present invention stops driving when steering engine is turned in the preset range of target location
Dynamic steering engine, can prevent steering gear swaying, energy saving.
In addition, servos control method according to the above embodiment of the present invention, can also have following additional technical characteristic：
Further, the location information of the steering engine is obtained by rotary angle transmitter.
Further, if the steering engine is in the preset range of the assigned target position, control stops institute
Steering engine rotation is stated to further comprise：If the steering engine is in the preset range of the assigned target position, and the steering engine
Position when persistently changing in the given time, control stops the steering engine and rotates.
Further, further include：According to externally input drive signal the steering engine is driven to rotate.
For this purpose, it is another object of the present invention to propose a kind of steering engine, can prevent from shaking.
To achieve these goals, embodiment of the invention discloses that a kind of steering engine, the steering engine control including above-described embodiment
System processed.
The additional aspect and advantage of the present invention will be set forth in part in the description, and will partly become from the following description
It obtains substantially or is recognized by the practice of the present invention.
Description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become in the description from combination accompanying drawings below to embodiment
Substantially and it is readily appreciated that, wherein：
Fig. 1 is the structure diagram of the steering gear control system of the embodiment of the present invention；
Fig. 2 be one embodiment of the invention steering gear control system in control module control flow chart；
Fig. 3 is the flow chart of the servos control method of the embodiment of the present invention.
Specific embodiment
The embodiment of the present invention is described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or has the function of same or like element.Below with reference to attached
The embodiment of figure description is exemplary, and is only used for explaining the present invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " on ", " under ",
The orientation or position relationship of the instructions such as "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer " are
Based on orientation shown in the drawings or position relationship, it is for only for ease of the description present invention and simplifies description rather than instruction or dark
Show that signified device or element there must be specific orientation, with specific azimuth configuration and operation, thus it is it is not intended that right
The limitation of the present invention.In addition, term " first ", " second " are only used for description purpose, and it is not intended that instruction or hint are opposite
Importance.
In the description of the present invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or be integrally connected；It can
To be mechanical connection or be electrically connected；It can be directly connected, can also be indirectly connected by intermediary, Ke Yishi
Connection inside two elements.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood at this
Concrete meaning in invention.
With reference to following description and attached drawing, it will be clear that these and other aspects of the embodiment of the present invention.In these descriptions
In attached drawing, some particular implementations in the embodiment of the present invention are specifically disclosed, to represent to implement the implementation of the present invention
Some modes of the principle of example, but it is to be understood that the scope of embodiments of the invention is not limited.On the contrary, the present invention
Embodiment includes falling into all changes, modification and the equivalent in the range of the spirit and intension of attached claims.
The present invention is described below in conjunction with attached drawing.
Fig. 1 is the structure diagram of the steering gear control system of one embodiment of the invention.As shown in Figure 1, a kind of servos control
System, including：Steering engine position information acquisition module 110, drive module 120 and control module 130.
Wherein, steering engine position information acquisition module 110 is used to obtain the location information of steering engine and is sent to controller.Driving
Module 120 is for driving steering engine to rotate, and the stopping driving instruction being sent according to controller stops driving steering engine and rotates.Control mould
Block 130 is connected respectively with steering engine position information acquisition module 110 and drive module 120, for turning to predeterminated target in steering engine
It is sent when in the preset range of position to drive module 120 and stops driving instruction.Wherein, the preset range that predeterminated target is put is root
According to permissible accuracy setting, driving steering engine is off when steering engine turns to the preset range that predeterminated target puts, can prevent rudder
Machine is shaken, energy saving.
In one embodiment of the invention, steering engine position information acquisition module 110 is rotary angle transmitter, can accurately be obtained
Obtain the angle position information residing for steering engine.
In one embodiment of the invention, control module 130 is further used for：Assigned target position is turned in steering engine
Preset range in, and sent to drive module 120 when the position of steering engine persistently changes in the given time and stop driving
Instruction.It in the given time if steering engine position persistently changes, represents steering engine and is shaking, control module 130 passes through
Drive module 120 stops driving steering engine.It can make steering engine as far as possible close to target location or true by setting the predetermined time
It stops on target location well, and can be to avoid steering gear swaying.
In one embodiment of the invention, control module 130, which is additionally operable to send to drive module 120, starts driving letter
Number, drive module 120 is additionally operable to be rotated according to startup drive signal driving steering engine.Wherein, control module 130, which is sent, starts driving
Signal can not rotate or at the time of in rotation process in steering engine.
In the example of the present invention, the control flow of control module 130 is as shown in Figure 2.Whether first determine whether steering engine
Near target location, and then judge whether to receive and be instructed, finally steering engine is controlled to stop operating.
The embodiment of the present invention also discloses a kind of servos control method.
Fig. 3 is the flow chart of the servos control method of one embodiment of the invention.As shown in figure 3, a kind of servos control side
Method comprises the following steps：
S210：Obtain the location information of steering engine；
S220：Judge the position of steering engine whether in the preset range of assigned target position；
S230：If steering engine is in the preset range of assigned target position, control stops steering engine and rotates.
In one embodiment of the invention, the location information of steering engine is obtained by rotary angle transmitter.
In one embodiment of the invention, step S230 further comprises：If steering engine is in assigned target position
In preset range, and when the position of steering engine persistently changes in the given time, control stops steering engine and rotates.
In one embodiment of the invention, further include：According to externally input drive signal steering engine is driven to rotate.
It should be noted that the specific embodiment and the embodiment of the present invention of the servos control method of the embodiment of the present invention
The specific embodiment of steering gear control system is similar, referring specifically to the description of components of system as directed, in order to reduce redundancy, does not repeat.
In addition, the present invention also with having opened a kind of steering engine, the steering gear control system including above-described embodiment.The present invention is implemented
The steering engine of example can prevent from shaking, energy saving.
In addition, other compositions of the steering engine of the embodiment of the present invention and effect are all for a person skilled in the art
It is known, in order to reduce redundancy, do not repeat.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment of the present invention or example.In the present specification, schematic expression of the above terms is not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiments or example in combine in an appropriate manner.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that：Not
In the case of departing from the principle of the present invention and objective a variety of change, modification, replacement and modification can be carried out to these embodiments, this
The scope of invention is by claim and its equivalent limits.
Claims (9)
1. a kind of steering gear control system, which is characterized in that including：
Steering engine position information acquisition module, for obtaining the location information of steering engine and being sent to controller；
Drive module, for the steering engine to be driven to rotate, and the stopping driving instruction being sent according to the controller stops driving
The steering engine rotates；
Control module, the control module are connected respectively with the steering engine position information acquisition module and the drive module, institute
Control module is stated for sending institute to the drive module when the steering engine is turned in the preset range of assigned target position
State stopping driving instruction.
2. steering gear control system according to claim 1, which is characterized in that the steering engine position information acquisition module is to turn
Angle transducer.
3. steering gear control system according to claim 1, which is characterized in that the control module is further used for：
It is turned in the steering engine in the preset range of the assigned target position, and the position of the steering engine is in the given time
When persistently changing the stopping driving instruction being sent to the drive module.
4. according to any steering gear control systems of claim 1-3, which is characterized in that the control module is additionally operable to institute
It states drive module and sends and start drive signal, the drive module is additionally operable to drive the steering engine according to the startup drive signal
It rotates.
A kind of 5. servos control method, which is characterized in that comprise the following steps：
Obtain the location information of steering engine；
Judge the position of the steering engine whether in the preset range of assigned target position；
If the steering engine is in the preset range of the assigned target position, control stops the steering engine and rotates.
6. servos control method according to claim 5, which is characterized in that the steering engine is obtained by rotary angle transmitter
Location information.
7. servos control method according to claim 6, which is characterized in that if the steering engine is in described predetermined
In the preset range of target location, control stops the steering engine rotation and further comprises：
If the steering engine is in the preset range of the assigned target position, and the position of the steering engine is in the given time
When persistently changing, control stops the steering engine and rotates.
8. according to any servos control methods of claim 5-7, which is characterized in that further include：
According to externally input drive signal the steering engine is driven to rotate.
9. a kind of steering engine, which is characterized in that including any steering gear control systems of claim 1-4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610983728.XA CN108062038A (en) | 2016-11-08 | 2016-11-08 | Servos control method, control system and steering engine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610983728.XA CN108062038A (en) | 2016-11-08 | 2016-11-08 | Servos control method, control system and steering engine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108062038A true CN108062038A (en) | 2018-05-22 |
Family
ID=62137641
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610983728.XA Pending CN108062038A (en) | 2016-11-08 | 2016-11-08 | Servos control method, control system and steering engine |
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| Country | Link |
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| CN (1) | CN108062038A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111376243A (en) * | 2018-12-27 | 2020-07-07 | 深圳市优必选科技有限公司 | Steering engine position control method and device and terminal equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20010035724A1 (en) * | 2000-03-03 | 2001-11-01 | Seiko Epson Corporation | Motor control device and motor control method |
| US20110264359A1 (en) * | 2010-04-21 | 2011-10-27 | Honda Motor Co., Ltd. | Engine control system and method for stopping engine at desired engine stopping position |
| CN103717464A (en) * | 2011-07-28 | 2014-04-09 | 丰田自动车株式会社 | Engine stop control device for hybrid vehicle |
| CN105978400A (en) * | 2016-06-14 | 2016-09-28 | 四川航天***工程研究所 | Ultrasonic motor control method |
| CN206497321U (en) * | 2016-11-08 | 2017-09-15 | 广州奥睿智能科技有限公司 | Steering gear control system and steering wheel |
-
2016
- 2016-11-08 CN CN201610983728.XA patent/CN108062038A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20010035724A1 (en) * | 2000-03-03 | 2001-11-01 | Seiko Epson Corporation | Motor control device and motor control method |
| US20110264359A1 (en) * | 2010-04-21 | 2011-10-27 | Honda Motor Co., Ltd. | Engine control system and method for stopping engine at desired engine stopping position |
| CN103717464A (en) * | 2011-07-28 | 2014-04-09 | 丰田自动车株式会社 | Engine stop control device for hybrid vehicle |
| CN105978400A (en) * | 2016-06-14 | 2016-09-28 | 四川航天***工程研究所 | Ultrasonic motor control method |
| CN206497321U (en) * | 2016-11-08 | 2017-09-15 | 广州奥睿智能科技有限公司 | Steering gear control system and steering wheel |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111376243A (en) * | 2018-12-27 | 2020-07-07 | 深圳市优必选科技有限公司 | Steering engine position control method and device and terminal equipment |
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Application publication date: 20180522 |
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