CN111917355B - Motor speed regulation system and method for massage application - Google Patents
Motor speed regulation system and method for massage application Download PDFInfo
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- CN111917355B CN111917355B CN202010748687.2A CN202010748687A CN111917355B CN 111917355 B CN111917355 B CN 111917355B CN 202010748687 A CN202010748687 A CN 202010748687A CN 111917355 B CN111917355 B CN 111917355B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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Abstract
The invention discloses a motor speed regulating system and a method aiming at massage application, which comprises a controller, a motor driving circuit, a motor current detection circuit and a motor speed detection circuit, wherein a human body model is additionally arranged in the controller; the motor current detection circuit and the motor speed detection circuit are connected with the motor, collect current and speed signals, send the current and speed signals to the controller, and obtain a power target value and a rotating speed target value through calculation of a human body model; and the controller outputs a motor operation instruction to the motor driving circuit according to the power target value and the rotating speed target value to drive the motor to operate. According to the characteristics of motor driving, the current signal of the motor is introduced into the speed regulation control, the current feedback quantity during the actual operation of the motor is used as the control quantity for regulating the rotating speed and the output power of the motor, the force applied to a human body can be controlled, and the flexibility and the comfort of the force applied to the human body by the massage apparatus can be effectively improved.
Description
Technical Field
The invention relates to the field of motor speed regulation, in particular to a motor speed regulation system and method for massage application.
Background
The motor belongs to the most critical actuating mechanism in the massage type apparatus, and no matter which type of motor, the motor is the actual running speed of the motor which needs to be regulated when aiming at the massage type application, so as to be suitable for different massage requirements. In practical use, if the rotating speed of the motor is adjusted only purely, after mechanical energy output by the motor is applied to a human body through a certain mechanical structure, the adaptability and the body feeling comfort of the human body are poor, and the body feeling output force is hard or no force is exerted when the motor is overloaded.
As shown in fig. 1, the conventional motor speed regulation scheme for massage is adopted. The upper block diagram shows the speed regulation mode of the motor rotating speed open loop, the controller sends a rotating speed instruction to the motor driving circuit, the driving circuit executes the instruction and drives the motor to run, and when the motor actually runs, the rotating speed of the motor is reduced when heavy load is carried, so that the use is influenced, and the condition that the motor output is insufficient during massage is directly shown. The following block diagram is to introduce motor speed to controller part, and when the motor was taken heavy load operation, the controller can the rotational speed instruction of accommodate motor like this to guarantee that motor output rotational speed does not descend, but when massage vigorously, give the human body to feel very poor, when the apparatus was used on one's body to the human body, the body was felt hard, even when using to the crowd of some infirmities, human injury can be caused to such speed governing, feasible massage effect is suitable for it to the contrary.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the problems, the invention provides a motor speed regulation system and a motor speed regulation method aiming at massage application, wherein a current signal of a motor is introduced into speed regulation control, and the current feedback quantity of the motor in actual operation is taken as the control quantity for regulating the rotating speed and the output power of the motor, so that the flexibility and the comfort of the force of a massage instrument acting on a human body are improved.
The technical scheme is as follows: in order to realize the purpose of the invention, the technical scheme adopted by the invention is as follows: a motor speed regulating system for massage applications comprises a controller, a motor driving circuit, a motor current detection circuit and a motor speed detection circuit, wherein a human body model is additionally arranged in the controller; the motor current detection circuit, the motor speed detection circuit and the motor driving circuit are all connected to the controller; the motor driving circuit is connected with the motor; the motor current detection circuit and the motor speed detection circuit are connected with the motor, collect current and speed signals, send the current and speed signals to the controller, and obtain a power target value and a rotating speed target value through calculation of a human body model; and the controller outputs a motor operation instruction to the motor driving circuit according to the power target value and the rotating speed target value to drive the motor to operate.
Further, the input of the human body model comprises the converted sampling current i1, the current change di1 and the motor rotating speed v, and the output comprises a power target value and a rotating speed target value; the selection of the human body model comprises current and force proportion, massage stroke and different force curve modes.
Further, the different force profile modes include a gentle profile, a standard profile, and a professional profile.
A motor speed regulation method for massage application comprises the following steps:
(1) sampling a motor current i by using a motor current detection circuit, sampling a motor rotating speed v by using a motor speed detection circuit, and sending the motor rotating speed v to a controller;
(2) the controller converts the motor current i properly and then sends the converted motor current i to the human body model;
(3) after the converted current and the converted rotating speed are calculated through a human body model, a power target value and a rotating speed target value of the motor are output to the controller;
(4) the controller outputs a motor operation instruction according to the power target value and the rotating speed target value;
(5) and the motor driving circuit drives the motor to operate according to the motor operation instruction.
Further, in the step (2), smoothing filtering is performed on the sampled motor current i to obtain a converted sampled current i 1; and calculates the current change di1 based on the sampled motor current i and the motor speed v.
Further, in the step (3), the input of the human body model comprises the converted sampling current i1, the current change di1 and the motor speed v.
Has the advantages that: according to the characteristics of motor driving, the current signal of the motor is introduced into the speed regulation control, the current feedback quantity during the actual operation of the motor is used as the control quantity for regulating the rotating speed and the output power of the motor, the force applied to a human body can be controlled, and the flexibility and the comfort of the force applied to the human body by the massage apparatus can be effectively improved.
Drawings
FIG. 1 is a schematic diagram of a conventional motor governor system;
FIG. 2 is a schematic view of the motor speed control system for massage-type applications of the present invention;
figure 3 is a schematic representation of a mannequin.
Detailed Description
The technical solution of the present invention is further described below with reference to the accompanying drawings and examples.
In actual use, the current of the motor is in direct proportion to the torque of the motor, the current signal of the motor is introduced into the speed regulation control according to the driving characteristics of the motor, and the current feedback quantity during the actual running of the motor is used as the control quantity for regulating the rotating speed and the output power of the motor, so that the flexibility and the comfort of the force of the massage apparatus acting on a human body are improved. The principle is that the motor current is controlled to directly control the force applied to the human body by the massage apparatus, and the force applied to the human body can be controlled only by constructing and setting a model of the motor current according to the actual working condition so as to ensure the use body feeling comfort.
As shown in fig. 2, the motor speed control system for massage applications according to the present invention adds a current feedback loop, i.e. a "motor current detection circuit" module and its corresponding input/output signals in the block diagram, in the whole adjustment mode.
The invention relates to a motor speed regulating system for massage application, which comprises a controller, a motor driving circuit, a motor current detection circuit, a motor speed detection circuit and a human body model, wherein the motor driving circuit is connected with the motor; the human body model is additionally arranged in the controller.
The motor current detection circuit and the motor speed detection circuit are connected with the motor, collect current and speed signals, send the current and speed signals to the controller, and obtain a power target value and a rotating speed target value through calculation of a human body model. And the controller outputs a motor operation instruction to the motor driving circuit according to the power target value and the rotating speed target value to drive the motor to operate.
The motor current detection circuit, the motor speed detection circuit and the motor driving circuit are all connected to the controller; the motor driving circuit is connected with the motor.
As shown in fig. 2, the motor governing system of the present invention includes a conventional governing system plus current feedback and a software mannequin processing portion.
The motor speed regulating method comprises the following steps:
(1) sampling a motor current i by using a motor current detection circuit; sampling the rotating speed v of the motor by using a motor speed detection circuit; and sent to the controller;
(2) the controller converts the motor current i properly and then sends the converted motor current i to the human body model;
sampling current i, and performing smoothing filtering according to the motor rotating speed v to obtain converted sampling current i 1; and calculating the current change di1 according to the sampling current i and the motor speed v.
(3) In the human body model module, according to the motor and the mechanical structure, a proportional coefficient of the motor current and the force applied to the human body, a massage stroke and selection of different force curve modes are given.
As shown in fig. 3, the input of the human body model comprises the transformed sampled current i1, the current change di1, the motor speed v, and the output comprises the power target value and the speed target value.
The different force curve modes include a gentle curve, a standard curve and a professional curve.
(4) After the current feedback and the rotating speed feedback are calculated through a human body model, the power target value and the rotating speed target value of the output motor are sent to a controller;
the controller outputs a motor running instruction according to the power target value and the rotating speed target value, not a simple motor rotating speed instruction, but a motor torque and power instruction value calculated according to the human body model and current feedback.
(5) The motor drive circuit then drives the motor to operate in accordance with the command.
The invention introduces motor running current for controlling the motor rotating speed and adds a human body model to control the speed, force and power of the motor in running, the strength and urgency of the human body feeling are determined by the strength of the apparatus acting on the human body, the strength is related to the mechanical structure and is proportional to the motor driving current, but not the harsh rotating speed control. The force of the massage apparatus acting on the human body determines the output speed and force of the apparatus, and the speed regulation mode is suitable for most massage apparatuses and equipment for beating, kneading and kneading.
Claims (2)
1. A motor speed regulation method for massage application is characterized in that a motor speed regulation system comprises a controller, a motor driving circuit, a motor current detection circuit and a motor speed detection circuit, wherein a human body model is additionally arranged in the controller;
the motor current detection circuit, the motor speed detection circuit and the motor driving circuit are all connected to the controller; the motor driving circuit is connected with the motor;
the motor current detection circuit and the motor speed detection circuit are connected with the motor, collect current and speed signals, send the current and speed signals to the controller, and obtain a power target value and a rotating speed target value through calculation of a human body model;
the controller outputs a motor operation instruction to the motor driving circuit according to the power target value and the rotating speed target value to drive the motor to operate;
the motor speed regulating method comprises the following steps:
(1) sampling a motor current i by using a motor current detection circuit, sampling a motor rotating speed v by using a motor speed detection circuit, and sending the motor rotating speed v to a controller;
(2) the controller converts the motor current i properly and then sends the converted motor current i to the human body model; smoothing filtering is carried out on the sampled motor current i to obtain a converted sampled current i 1; calculating current change di1 according to the sampled motor current i and the motor rotating speed v;
(3) in the human body model, according to the motor and the mechanical structure, a proportional coefficient of the motor current and the force applied to the human body, a massage stroke and selection of different force curve modes are given;
(4) the converted sampling current i1, the current change di1 and the motor rotating speed v are calculated by a human body model, and then the power target value and the rotating speed target value of the motor are output to a controller; the controller outputs a motor operation instruction according to the power target value and the rotating speed target value;
(5) and the motor driving circuit drives the motor to operate according to the motor operation instruction.
2. The method of claim 1, wherein the different force profile modes include a gentle profile, a standard profile, and a professional profile.
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| CN202010748687.2A CN111917355B (en) | 2020-07-30 | 2020-07-30 | Motor speed regulation system and method for massage application |
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| CN202010748687.2A CN111917355B (en) | 2020-07-30 | 2020-07-30 | Motor speed regulation system and method for massage application |
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| CN111917355B true CN111917355B (en) | 2022-04-05 |
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| CN117134658A (en) * | 2022-05-20 | 2023-11-28 | 苏州宝时得电动工具有限公司 | Electric tool system and control method thereof |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206837101U (en) * | 2016-12-16 | 2018-01-05 | 乐爱电子（苏州）有限公司 | A kind of electromagnetic type knocking massage machine |
| CN110995106A (en) * | 2019-11-25 | 2020-04-10 | 沈健 | Double-structure self-priming pump torque control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US10158311B2 (en) * | 2014-06-23 | 2018-12-18 | Shanghai Baicheng Electric Equipment Manufacture Co., Ltd. | Electronic switch control method |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206837101U (en) * | 2016-12-16 | 2018-01-05 | 乐爱电子（苏州）有限公司 | A kind of electromagnetic type knocking massage machine |
| CN110995106A (en) * | 2019-11-25 | 2020-04-10 | 沈健 | Double-structure self-priming pump torque control method |
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