WO2021143915A1

WO2021143915A1 - Control method and apparatus, and storage medium

Info

Publication number: WO2021143915A1
Application number: PCT/CN2021/072590
Authority: WO
Inventors: 孙冲; 俞浩
Original assignee: 追觅科技(上海)有限公司
Priority date: 2020-01-19
Filing date: 2021-01-19
Publication date: 2021-07-22

Abstract

Disclosed are a control method and apparatus, and a storage medium, belonging to the technical field of electric motor control. The method comprises: receiving a control signal from a stepper motor, wherein the control signal is used for controlling the stepper motor to turn on or turn off (201); controlling, based on the control signal, the stepper motor to operate at a uniform acceleration or deceleration (202); and controlling, when the speed of the stepper motor is updated to a target speed, the stepper motor to operate in a mode indicated by the control signal (203). The problem of the motor control accuracy being reduced due to the occurrence of a step loss phenomenon during instantaneous turning on and turning off of the motor can be solved; and there is a stage of buffering for a speed change during the turning on or turning off of the stepper motor, because the stepper motor operates at a uniform acceleration in a turning on process and operates at a uniform deceleration in a turning off process, such that the stepper motor will not have a great impact, thereby reducing the probability of step loss of the stepper motor.

Description

Control method, device and storage medium

Technical field

The application relates to a control method, device and storage medium, and belongs to the technical field of motor control.

Background technique

Stepping motor is an open-loop control motor that converts electrical pulse signals into angular displacement or linear displacement. It is the main executive element in modern digital program control systems and is widely used. For example: used in electronic equipment such as hair dryers and fans.

Since the momentary opening and closing of the stepper motor will cause a big collision, there may be lost steps. In this way, errors will be brought to the fine control of the stepper motor, resulting in the problem of reducing the accuracy of the control motor.

Summary of the invention

The present application provides a control method, device, and storage medium, which can solve the problem of step loss when the motor is turned on and off instantly, which reduces the accuracy of controlling the motor. This application provides the following technical solutions:

In the first aspect, a control method is provided, and the method includes:

Receiving a control signal of a stepping motor, where the control signal is used to control turning on or off of the stepping motor;

Controlling the stepping motor to run with uniform acceleration or uniform deceleration based on the control signal;

When the speed of the stepping motor is updated to the target speed, the stepping motor is controlled to work in a manner indicated by the control signal.

Optionally, the stepper motor operates in an x-phase y-beat mode, where x is the number of coil groups inside the stepper motor; the value of y is based on the step angle of the stepper motor and the rotor The number of teeth is determined.

Optionally, the controlling the stepping motor to run at uniform acceleration or uniform deceleration based on the control signal includes:

Calculate the time interval between different beats; wherein, when the control signal is used to control the stepping motor to turn on, the time interval decreases as the number of beats increases; when the control signal is used to control all When the stepping motor is turned off, the time interval increases as the number of beats increases;

The movement speed of the stepping motor in the current shot is controlled according to the time interval.

Optionally, the time interval is calculated by the following formula:

Wherein, when the control signal is used to control the stepping motor to turn on, the n takes an integer from 1 to z in turn, and y ₀ is the corresponding preset time interval at the beginning; when the control signal is used to control When the stepping motor is turned off, the n takes an integer from z to 1 in turn; the z is the number of beats when the speed of the stepping motor reaches the maximum speed; v _min is the minimum speed of the stepping motor; v _max is the maximum speed of the stepping motor; k is the acceleration value of the stepping motor; m is used to indicate the magnitude of each speed change.

Optionally, when the speed of the stepping motor is updated to a target speed, controlling the stepping motor to work in a manner indicated by the control signal includes:

When the speed of the stepping motor is updated to the maximum speed, controlling the stepping motor to run between different beats at a constant time interval, and the control signal is used to control the turning on of the stepping motor;

or,

When the speed of the stepping motor is updated to the minimum speed, the stepping motor is controlled to stop running, and the control signal is used to control the closing of the stepping motor.

Optionally, the value of x is 4, and the value of y is 8.

In a second aspect, a control device is provided, and the device includes:

A signal receiving module for receiving a control signal of a stepping motor, and the control signal is used for controlling the on or off of the stepping motor;

The first control module is configured to control the stepping motor to run at uniform acceleration or uniform deceleration based on the control signal;

The second control module is used for controlling the stepping motor to work in the manner indicated by the control signal when the speed of the stepping motor is updated to the target speed.

In a third aspect, a control device is provided, the device includes a processor and a memory; the memory stores a program, and the program is loaded and executed by the processor to realize the stepping motor control described in the first aspect method.

In a fourth aspect, a computer-readable storage medium is provided, and a program is stored in the storage medium, and the program is loaded and executed by the processor to implement the stepping motor control method described in the first aspect.

The object of the present invention is also to provide a control method that controls the fan speed by periodically generating random numbers and combining the random numbers with the current gear. Compared with the prior art, it can make the wind speed change rule more in line with the natural law to achieve better performance. The blowing experience close to the natural wind can avoid the uncomfortable feeling caused by the sharp change of wind speed and the additional damage of the fan.

In the fifth aspect, in conjunction with FIG. 5, the present invention proposes a control method. The control method includes the following steps:

S1: Acquire a set of data within a preset range according to a first preset period as a random number range at the current moment, where the acquisition method is acquisition according to a preset method or random acquisition;

S2: Acquire a value within the random number range at the current moment as the random number of the current period, where the acquisition method is acquisition according to a preset method or random acquisition;

S3: Control the fan according to the random number of the current period.

In a further embodiment, the first set period is 1s.

In a further embodiment, in step S1, the acquisition of a set of data within a preset range as the random number range at the current moment means that the set of data is a numerical value in a regional range or a set of multiple numerical values.

In a further embodiment, in step S3, the process of controlling the fan according to the random number of the current period includes the following steps:

Compare the random number of the current cycle with the random number of the previous cycle:

If the difference between the two is less than the preset difference threshold, adjusting the rotation speed of the fan according to the first preset control process;

If the difference between the two is greater than or equal to the preset difference threshold, the rotation speed of the fan is adjusted according to the second preset control procedure.

In a further embodiment, the first preset control process includes the following steps:

Combining the current gear and the random number of the current period to calculate the target speed value at the next moment, send the target speed value to the PID controller, and the PID controller adjusts the fan speed to the target speed value according to the preset control process.

In a further embodiment, in step S4, the combination of the current gear and the random number of the current period to calculate the target rotation speed value at the next moment refers to:

Use m gear values to divide the maximum change range of fan speed into m range segments;

The random number of the current period is superimposed on the gear value corresponding to the current gear, and the target speed value at the next moment is calculated;

The m is a positive integer greater than or equal to 1.

In a further embodiment, the second preset control process includes the following steps:

Generate a dynamic random number, the initial value of the dynamic random number is the random number of the previous cycle, according to the second set cycle, combined with the preset increase and decrease range to perform the accumulation/accumulation operation on the dynamic random number to continuously adjust the dynamic random number selection Until the difference between the value of the dynamic random number and the random number of the current cycle is less than or equal to the preset increase or decrease range, the dynamic random number is adjusted to the random number of the current cycle by accumulating/accumulating again, to complete The adjustment process of dynamic random numbers;

Among them, in the adjustment process of the dynamic random number, the current gear and the dynamic random number after each adjustment are combined to calculate the target speed value at the next moment, and the target speed value is sent to the PID controller. Set the control process to adjust the fan speed to the target speed value.

In a further embodiment, the preset increase or decrease range is a fixed value.

In a further embodiment, the preset increase or decrease range is 200.

The present invention also provides a computer-readable storage medium, which stores computer-readable instructions, which can cause at least one processor to execute the above-mentioned method.

The beneficial effects of the present application are: by receiving the control signal of the stepping motor; controlling the stepping motor to run at uniform acceleration or uniform deceleration based on the control signal; when the speed of the stepping motor is updated to the target speed, the stepping motor is controlled to indicate with the control signal It can solve the problem of losing steps when the motor is turned on and off instantly, which reduces the accuracy of the control motor; because the stepper motor runs at a uniform acceleration during the start-up process, and runs at a uniform deceleration during the shutdown process, stepping The switching process of the motor has a buffer phase of speed changes. At this time, the stepper motor will not produce a large impact, which reduces the probability of the stepper motor losing steps.

Furthermore, compared with the prior art, the above technical solutions of the present invention have significant beneficial effects in:

(1) By regularly generating random numbers, combining random numbers and current gears to control the fan speed, compared with the prior art, the wind speed change law is more in line with the natural law to achieve a blowing experience closer to natural wind.

(2) The double random number generation method is used to generate random numbers with reasonable value ranges and changing laws as much as possible.

(3) When the difference between the newly generated random number and the random number of the previous cycle is too large, a smooth transition method is used to correct it to avoid the uncomfortable feeling caused by the rapid change of wind speed and the additional damage of the fan.

(4) The speed adjustment frequency is fixed, which is beneficial to reduce damage to the fan.

(5) With multi-level gears (such as level 10), users can choose the appropriate wind speed fluctuation range according to actual needs.

The above description is only an overview of the technical solution of the present application. In order to understand the technical means of the present application more clearly and implement it in accordance with the content of the description, the following detailed descriptions are given below with the preferred embodiments of the present application in conjunction with the accompanying drawings.

Description of the drawings

Fig. 1 is a schematic structural diagram of a stepping motor control system provided by an embodiment of the present application;

Fig. 2 is a flowchart of a stepping motor control method provided by an embodiment of the present application;

Fig. 3 is a block diagram of a stepping motor control device provided by an embodiment of the present application;

Figure 4 is a block diagram of a stepping motor control device provided by an embodiment of the present application;

Fig. 5 is a flowchart of a method for controlling the speed of a fan of the present invention.

Fig. 6 is a schematic diagram of a curve of the rotation speed of the fan of the present invention changing with time.

Detailed ways

The specific implementation of the present application will be described in further detail below in conjunction with the accompanying drawings and embodiments. The following examples are used to illustrate the application, but are not used to limit the scope of the application.

First, explain some terms involved in this application.

The number of phases of the stepper motor: refers to the number of coil groups inside the stepper motor.

The number of beats of the stepping motor: refers to the number of pulses required for each rotation of a tooth pitch when the stepping motor is running.

Take a 2-phase 4-wire stepping motor as an example, the number of phases is 2, assuming that the number of rotor teeth is 50, and the step angle (each step angle corresponds to a pulse) is 1.8°, then the tooth pitch of the rotor is: 360°/50 =7.2°; the number of beats is: 7.2°/1.8°=4 (beats). In other words, each tooth pitch of a stepper motor needs 4 pulses.

Stepping motor step loss (or stepping motor step loss): refers to the phenomenon that the stepping motor does not follow the instructions to reach the desired position.

The reasons that cause the stepper motor to lose steps include: the stepper motor loses steps due to a large collision due to a sudden change in speed during the start and stop of the stepper motor.

In order to prevent the stepping motor from losing steps, this application provides the following stepping motor control and control method.

FIG. 1 is a schematic structural diagram of a stepping motor control system provided by an embodiment of the present application. As shown in FIG. 1, the system at least includes: a stepping motor control device 110 and a stepping motor 120.

The stepping motor control device 110 is connected to the stepping motor 120 in communication.

Optionally, the stepper motor 120 operates in an x-phase y-beat mode, where x is the number of coil groups inside the stepper motor; the value of y is determined based on the step angle of the stepper motor and the number of rotor teeth. For example, x is 4 and y is 8. Of course, the values of x and y can also be other values, and this embodiment does not limit the values of x and y.

In one example, the stepping motor 120 uses a 4-phase 5-wire 8-beat stepping motor 120, that is, the rotor of the stepping motor runs in the following phases: A-AB-B-BC-C-CD-D- DA.

The stepping motor control device 110 is used to control the operation of the stepping motor 120. For example: controlling the start, speed and shutdown of the stepper motor 120.

Optionally, the stepping motor control device 110 and the stepping motor 120 may be installed in the same device (for example, a hair dryer, a fan); or, it may be installed in a different device. This embodiment does not compare the stepping motor control device 110 and the stepping motor. The installation method of the incoming motor 120 is limited.

In this application, the stepping motor control device 110 is used to: receive the control signal of the stepping motor; control the stepping motor to run at uniform acceleration or uniform deceleration based on the control signal; when the speed of the stepping motor is updated to the target speed, control the stepping The motor works in the manner indicated by the control signal.

Among them, the control signal is used to control the opening or closing of the stepper motor.

In an example, the control signal is used to control the stepping motor 120 to turn on, and the stepping motor control device 110 controls the stepping motor 120 to run at a uniform acceleration; the control signal indicates the way to control the stepping motor 120 to operate normally.

In another example, the control signal is used to control the stepping motor 120 to turn off, and the stepping motor control device 110 controls the stepping motor 120 to run at a uniform deceleration; the control signal indicates the way to control the stepping motor 120 to stop.

Wherein, the control signal is generated when an electronic device including a stepper motor receives a user's control operation on the switch button. For example: electronic equipment including stepper motors (such as hair dryers, fans, power tools, medical equipment, etc.) are equipped with switch buttons, switch circuits connected to the switch buttons, stepper motor control devices 110 connected to the switch circuits, and The stepping motor 120 connected to the stepping motor control device 110. When the user presses the switch button, the switch circuit generates a control signal and sends the control signal to the stepping motor control device 110, and the stepping motor control device 110 controls the stepping motor 120 after receiving the control signal.

FIG. 2 is a flowchart of a stepping motor control method provided by an embodiment of the present application. This embodiment uses the method to apply to the stepping motor control system shown in FIG. 1, and the execution subject of each step is the stepping motor control system in the system. The stepping motor control device 110 is described as an example. The method includes at least the following steps:

Step 201: Receive a control signal of the stepper motor, where the control signal is used to control the on or off of the stepper motor.

Optionally, the control signal of the stepper motor is generated when the electronic device including the stepper motor receives a control operation on the switch button by the user.

When the stepper motor is in the on state, the control signal is used to control the stepper motor to turn off; when the stepper motor is in the off state, the control signal is used to control the stepper motor to turn on.

In one example, the value of x is 4 and the value of y is 8. In other words, the stepper motor uses a 4-phase 5-wire 8-beat stepper motor 120, that is, the rotor of the stepper motor runs in the following phase: A-AB-B-BC-C-CD-D-DA.

Step 202: Control the stepping motor to run at uniform acceleration or uniform deceleration based on the control signal.

In one example, the control signal is used to control the stepping motor to turn on. At this time, the stepping motor is controlled to run at a uniform acceleration. Since the stepping motor runs at a uniform acceleration, there is a buffer phase of speed changes during the opening of the stepping motor. At this time, the stepping motor will not produce a large impact, reducing the probability of the stepping motor losing steps.

In another example, the control signal is used to control the stepping motor to turn off. At this time, the stepping motor is controlled to run at a uniform deceleration. Since the stepper motor runs at a uniform deceleration, there is a buffer phase of speed change during the closing process of the stepper motor. At this time, the stepper motor will not produce a large impact, reducing the probability of the stepper motor losing steps.

Optionally, the methods for controlling the stepping motor to run at uniform acceleration or uniform deceleration based on the control signal include but are not limited to the following:

The first type: Calculate the time interval between different shots; control the movement speed of the stepping motor in the current shot according to the time interval. Among them, when the control signal is used to control the stepping motor to turn on, the time interval decreases as the number of beats increases; when the control signal is used to control the stepping motor to turn off, the time interval increases as the number of beats increases.

Optionally, the time interval is calculated by the following formula:

Among them, when the control signal is used to control the stepping motor to turn on, n takes an integer from 1 to z in turn, and y ₀ is the corresponding preset time interval at the beginning; when the control signal is used to control the stepping motor to turn off, n is in turn Take an integer from z to 1; z is the number of beats when the speed of the stepping motor reaches the maximum speed; v _min is the minimum speed _{of the stepping motor; v max} is the maximum speed of the stepping motor; k is the acceleration value of the stepping motor ; M is used to indicate the size of each speed change.

Among them, _{the value of y 0} , the values of v _max and v _min are set constants, for example: y ₀ is 7 ms, v _max is 55°/sec, and v _min is 10°/sec. The value of the parameter is limited.

The second type: obtain the corresponding relationship between the number of beats and the time interval; determine the time interval corresponding to the current number of beats in the corresponding relationship; control the movement speed of the stepping motor in the current beat according to the time interval. Among them, when the control signal is used to control the stepping motor to turn on, the time interval decreases as the number of beats increases; when the control signal is used to control the stepping motor to turn off, the time interval increases as the number of beats increases.

In the above method, controlling the movement speed of the stepping motor in the current beat according to the time interval includes: for the phase corresponding to the previous beat and the current beat, controlling the phase of the stepping motor from the previous beat within the time interval Run with uniform acceleration or uniform deceleration to the phase corresponding to the current shot.

For example, the time interval is calculated according to the first method, assuming that during the stepping motor is turned on, the initial time interval y ₀ is 7 ms, v _max is 55°/sec, and v _min is 10°/sec. For the first beat, k=45, m=10/(2×55)=1/11;

At this time, within the y ₁ time interval, the stepping motor is controlled to run uniformly from phase A to phase AB.

Step 203: When the speed of the stepping motor is updated to the target speed, the stepping motor is controlled to work in a manner indicated by the control signal.

Optionally, when the speed of the stepper motor is updated to the target speed, control the stepper motor to work in the manner indicated by the control signal, including: when the speed of the stepper motor is updated to the maximum speed, control the stepper motor to a constant time The interval runs between different beats, and the control signal is used to control the opening of the stepping motor; or, when the speed of the stepping motor is updated to the minimum speed, the stepping motor is controlled to stop running, and the control signal is used to control the closing of the stepping motor .

When the control signal is used to control the opening of the stepping motor, if the speed of the stepping motor is updated to the maximum speed, it means that the stepping motor has finished the uniform acceleration process during the opening process, and at this time, the stepping motor enters the normal operating state; When the control signal is used to control the closing of the stepping motor, if the speed of the stepping motor is updated to the minimum speed, it means that the stepping motor has finished the uniform deceleration process during the closing process. At this time, the stepping motor stops running and cuts off the step. Power into the motor to reduce power consumption.

In summary, the stepper motor control method provided in this embodiment receives the control signal of the stepper motor; controls the stepper motor to run at uniform acceleration or uniform deceleration based on the control signal; when the speed of the stepper motor is updated to the target speed , Control the stepper motor to work in the manner of control signal; it can solve the problem of losing steps when the motor is turned on and off instantly, which reduces the accuracy of the control motor; because the stepper motor runs uniformly during the startup process, During the shutdown process, the stepper motor will run at a uniform deceleration. The stepper motor has a buffer phase of speed change during the switching process. At this time, the stepper motor will not produce a large impact, reducing the probability of stepping motor loss.

FIG. 3 is a block diagram of a stepping motor control device provided by an embodiment of the present application. In this embodiment, the device is applied to the stepping motor control device 110 in the stepping motor control system shown in FIG. 1 as an example for description. The device includes at least the following modules: a signal receiving module 310, a first control module 320, and a second control module 330.

The signal receiving module 310 is configured to receive a control signal of a stepper motor, and the control signal is used to control the on or off of the stepper motor;

The first control module 320 is configured to control the stepping motor to run at uniform acceleration or uniform deceleration based on the control signal;

The second control module 330 is configured to control the stepping motor to work in the manner indicated by the control signal when the speed of the stepping motor is updated to the target speed.

For related details, refer to the above method embodiment.

It should be noted that when the stepper motor control device provided in the above embodiment performs stepper motor control, only the division of the above-mentioned functional modules is used as an example for illustration. In actual applications, the above-mentioned function assignments can be divided according to needs. The function module is completed, that is, the internal structure of the stepper motor control device is divided into different function modules to complete all or part of the functions described above. In addition, the stepping motor control device provided by the above-mentioned embodiment and the stepping motor control method embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, and will not be repeated here.

FIG. 4 is a block diagram of a stepping motor control device provided by an embodiment of the present application. The device may be an electronic device including the stepping motor control device 110 in the stepping motor control system shown in FIG. 1, such as a hair dryer, a fan (Shaking head fan), electric tools, smart phones, etc., this embodiment does not limit this. The device at least includes a processor 401 and a memory 402.

The processor 401 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and so on. The processor 401 can adopt DSP (Digital Signal Processing, digital signal processing), FPGA (Field-Programmable Gate Array, field programmable gate array), PLA

(Programmable Logic Array, Programmable Logic Array) is implemented in at least one hardware form. The processor 401 may also include a main processor and a coprocessor. The main processor is a processor used to process data in the awake state, also called a CPU (Central Processing Unit, central processing unit); the coprocessor is A low-power processor used to process data in the standby state.

The memory 402 may include one or more computer-readable storage media, which may be non-transitory. The memory 402 may also include high-speed random access memory and non-volatile memory, such as one or more magnetic disk storage devices and flash memory storage devices. In some embodiments, the non-transitory computer-readable storage medium in the memory 402 is used to store at least one instruction, and the at least one instruction is used to be executed by the processor 401 to implement the step provided by the method embodiment of the present application. Motor control method.

In some embodiments, the stepping motor control device may optionally further include: a peripheral device interface and at least one peripheral device. The processor 401, the memory 402, and the peripheral device interface may be connected by a bus or a signal line. Each peripheral device can be connected to the peripheral device interface through a bus, a signal line or a circuit board. Illustratively, peripheral devices include but are not limited to: radio frequency circuits, touch screens, audio circuits, and power supplies.

Of course, the stepping motor control device may also include fewer or more components, which is not limited in this embodiment.

Optionally, the present application also provides a computer-readable storage medium in which a program is stored, and the program is loaded and executed by a processor to implement the stepper motor control method of the foregoing method embodiment.

Optionally, this application also provides a computer product including a computer-readable storage medium in which a program is stored, and the program is loaded and executed by a processor to implement the above-mentioned method embodiments The stepping motor control method.

Further in conjunction with FIG. 5, the present invention proposes a method for controlling the speed of a fan. The control method includes the following steps:

S1: Acquire a set of data within a preset range according to a first preset period as a random number range at the current moment, where the acquisition method is acquisition in a preset manner or random acquisition.

S2: Acquire a value in the random number range at the current moment as the random number of the current period, where the acquisition method is acquisition in a preset manner or random acquisition.

S3: Control the fan according to the random number of the current period.

In order to simulate the changing law of natural wind to the maximum, the present invention proposes a double random number generation method.

Suppose that the speed control of a certain fan uses PID adjustment, so that the fan speed will smoothly follow the target speed (the next output speed) at a rate of change of less than the maximum speed. The maximum speed change rate is 300rpm/s (600), and the speed range is 2000rpm-5600rpm.

In the process of fan speed control, the first step is to use a random generator to generate random numbers in a random range at a fixed frequency. Assuming that the generation frequency is 1 time/s, the random range uses a random generator to generate random numbers from -300rpm to 300rpm. (That is, the range of the maximum random number is -300rpm to 300rpm), then the range of the random number of the current moment finally output in step S1 and the random number of the current period finally output in step S2 must also be included in the range of -300rpm to 300rpm between. For example, first generate a random range (-100, 100) in (-300, 300), and then generate a random value of 45 in (-100, 100), and so on. Through two random values, on the basis of enhancing the random selectivity, the variation range of the random number is controlled to make the variation law of the random number more in line with the natural law. In addition to making the wind generated by the fan have the random law of natural wind, It can also control its change range, avoiding the discomfort caused by excessive and strong wind speed sudden changes and the additional loss of the fan.

After the random number is generated, it enters the formal fan speed control process.

Specifically, first determine whether the difference between the generated random number in the current cycle and the random number in the previous cycle is too large. If the difference is too large, it means that the fan speed changes in the two cycles before and after will also be large. Adjusting in a short period of time can easily damage the fan, and at the same time, because the wind speed will change sharply, it is easy to cause uncomfortable user experience. To this end, the present invention proposes the following solutions:

In step S3, the process of controlling the fan according to the random number of the current period includes the following steps:

(1) If the difference between the two is less than the preset difference threshold, adjust the rotation speed of the fan according to the first preset control procedure.

(2) If the difference between the two is greater than or equal to the preset difference threshold, the rotation speed of the fan is adjusted according to the second preset control procedure.

1. The first preset control process

The first preset control process includes the following steps:

2. The second preset control process

The second preset control process includes the following steps:

Generate a dynamic random number, the initial value of the dynamic random number is the random number of the previous cycle, according to the second set cycle, combined with the preset increase and decrease range to perform the accumulation/accumulation operation on the dynamic random number to continuously adjust the dynamic random number selection Until the difference between the value of the dynamic random number and the random number of the current cycle is less than or equal to the preset increase or decrease range, the dynamic random number is adjusted to the random number of the current cycle by accumulating/accumulating again, to complete The adjustment process of dynamic random numbers.

It should be understood that, in the present invention, in consideration of user experience, our goal is to provide users with a natural wind experience as much as possible within a relatively stable wind speed variation range. For this reason, the present invention has made the following two designs:

First, set up multi-level gears, so that users can choose the appropriate wind speed fluctuation range according to actual needs.

Second, when the difference between the random number of the current cycle and the random number of the previous cycle is too large, a smooth transition method is used to correct it to avoid the uncomfortable feeling caused by the rapid change of wind speed and the additional damage of the fan.

The above two designs will be explained separately below in conjunction with specific examples.

Regarding the gear setting, the combination of the current gear and the random number of the current period to calculate the target speed value at the next moment refers to:

The maximum change range of the fan speed is divided into m range segments by using m gear values.

The random number of the current period is superimposed on the gear value corresponding to the current gear, and the target speed value at the next moment is calculated. The m is a positive integer greater than or equal to 1.

That is, even if it is the same random value and the gear is different, the final fan speed value will be different. When the gear changes, the random value corresponding to the current moment can be adjusted to adjust the actual fan speed.

For example, using multiple gears to divide the maximum change range of the fan speed into several equally, assuming that the number of gears is 10, the fan speed range is 2000rpm-5600rpm, after splitting, the first gear is 2000rpm, the second gear is 2400rpm, and the following are successively Increment and so on.

In some examples, in order to increase the wind speed change range in the two periods before and after, the maximum value range of the random number can be appropriately increased to obtain a more obvious natural wind change experience. In this case, when a larger gear is selected, if the random number generated is also larger, the target fan speed obtained after superposition may exceed its corresponding maximum speed range, and the excess part can be cut off. The maximum speed of the fan is taken as the final speed value, and the wind speed can be controlled while ensuring the safe operation of the fan.

Regarding the correction using the smooth transition method, as shown in Figure 1, when the difference between the random number of the current cycle and the random number of the previous cycle is less than the preset difference threshold (such as 300), the random number of the current cycle can be directly changed Superimposed on the current gear, directly output the final target speed. If the difference between the random number in the current cycle and the random number in the previous cycle exceeds three hundred, it is necessary to further determine the size of the two random numbers to select the accumulation or the accumulation operation.

(1) The random number of the current cycle is greater than the random number of the previous cycle. For example, the random number of the previous cycle is -260 and the random number of the current cycle is 240. If the difference between the two is 500, the dynamic random number will be generated. The initial dynamic random number The value is -260, and the accumulation operation is performed with a preset increase or decrease range (such as 200). At the same time, the value of the dynamic random number is superimposed on the current gear, and the transition speed is output:

① For the first adjustment, adjust the dynamic random number to -60, and -60 superimposes the current gear to output the first transitional speed.

②For the second adjustment, adjust the dynamic random number to 140, which superimposes the current gear to output the second transitional speed.

③In the third adjustment, since the difference between the dynamic random number and the current period random number is 100, which is less than the preset increase or decrease range, the dynamic random number is directly adjusted to 240, and 240 is superimposed on the current gear to output the final target speed.

(2) The random number of the current cycle is smaller than the random number of the previous cycle. The process is similar to the aforementioned adjustment process, except that the accumulation operation is replaced with a accumulation operation, which will not be repeated here.

In the aforementioned correction process, the preset difference threshold is directly related to the motor noise, and can be dynamically set according to the actual needs of the user. Similarly, the preset increase/decrease range and the adjustment period (the second setting period) are not fixed, and can be dynamically adjusted according to the actual situation to make a trade-off between the smoothness of the adjustment curve and the adjustment time.

With reference to Figure 6, the use of the fan speed control method mentioned in the present invention can not only make the wind speed change law more in line with the natural law to achieve a blowing experience closer to the natural wind, but also avoid the uncomfortable feeling caused by the rapid change of wind speed. And additional damage to the fan.

Compared with the prior art, the above technical solutions of the present invention have significant beneficial effects as follows:

The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the various technical features in the above-mentioned embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, All should be considered as the scope of this specification.

The above-mentioned embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the scope of the invention patent. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of this application, several modifications and improvements can be made, and these all fall within the protection scope of this application. Therefore, the scope of protection of the patent of this application shall be subject to the appended claims.

Claims

A control method, characterized in that the method includes:

Receiving a control signal of a stepping motor, where the control signal is used to control turning on or off of the stepping motor;

Controlling the stepping motor to run with uniform acceleration or uniform deceleration based on the control signal;

When the speed of the stepping motor is updated to the target speed, the stepping motor is controlled to work in a manner indicated by the control signal.
The method according to claim 1, wherein the stepping motor operates in an x-phase y-beat mode, and the x is the number of coil groups inside the stepping motor; the value of y is based on the The step angle of the stepping motor and the number of rotor teeth are determined.
The method according to claim 2, wherein the controlling the stepping motor to run at uniform acceleration or uniform deceleration based on the control signal comprises:

Calculate the time interval between different beats; wherein, when the control signal is used to control the stepping motor to turn on, the time interval decreases as the number of beats increases; when the control signal is used to control all When the stepping motor is turned off, the time interval increases as the number of beats increases;

The movement speed of the stepping motor in the current shot is controlled according to the time interval.
The method according to claim 3, wherein the time interval is calculated by the following formula:

Wherein, when the control signal is used to control the stepping motor to turn on, the n takes an integer from 1 to z in turn, and y 0 is the corresponding preset time interval at the beginning; when the control signal is used to control When the stepping motor is turned off, the n takes an integer from z to 1 in turn; the z is the number of beats when the speed of the stepping motor reaches the maximum speed; v min is the minimum speed of the stepping motor; v max is the maximum speed of the stepping motor; k is the acceleration value of the stepping motor; m is used to indicate the magnitude of each speed change.
The method according to claim 2, wherein when the speed of the stepping motor is updated to a target speed, controlling the stepping motor to work in a manner indicated by the control signal comprises:

When the speed of the stepping motor is updated to the maximum speed, controlling the stepping motor to run between different beats at a constant time interval, and the control signal is used to control the turning on of the stepping motor;

or,

When the speed of the stepping motor is updated to the minimum speed, the stepping motor is controlled to stop running, and the control signal is used to control the closing of the stepping motor.
The method according to claim 2, wherein the value of x is 4, and the value of y is 8.
A control device, characterized in that the device comprises:

A signal receiving module for receiving a control signal of a stepping motor, and the control signal is used for controlling the on or off of the stepping motor;

The first control module is configured to control the stepping motor to run at uniform acceleration or uniform deceleration based on the control signal;

The second control module is used for controlling the stepping motor to work in the manner indicated by the control signal when the speed of the stepping motor is updated to the target speed.
A control device, characterized in that the device includes a processor and a memory; a program is stored in the memory, and the program is loaded and executed by the processor to implement the one described in any one of claims 1 to 6 The stepping motor control method.
A computer-readable storage medium, wherein a program is stored in the storage medium, and the program is used to implement the stepping motor control method according to any one of claims 1 to 6 when the program is executed by a processor.
A control method, characterized in that the fan speed control method includes:

S1: Acquire a set of data within a preset range according to a first preset period as a random number range at the current moment, where the acquisition method is acquisition according to a preset method or random acquisition;

S2: Acquire a value within the random number range at the current moment as the random number of the current period, where the acquisition method is acquisition according to a preset method or random acquisition;

S3: Control the fan according to the random number of the current period.
The method for controlling the speed of a fan according to claim 10, wherein the first set period is 1 s.
The method for controlling the speed of a fan according to claim 10, wherein in step S1, acquiring a set of data within a preset range as a random number range at the current moment means that the set of data is a regional range A value or a collection of multiple values.
The method for controlling the speed of a fan according to any one of claims 10-12, wherein in step S3, the process of controlling the fan according to the random number of the current period includes the following steps:

Compare the random number of the current cycle with the random number of the previous cycle:

If the difference between the two is less than the preset difference threshold, adjusting the rotation speed of the fan according to the first preset control process;

If the difference between the two is greater than or equal to the preset difference threshold, the rotation speed of the fan is adjusted according to the second preset control procedure.
The method for controlling the speed of a fan according to claim 10, wherein the first preset control process comprises the following steps:

Combining the current gear and the random number of the current period to calculate the target speed value at the next moment, send the target speed value to the PID controller, and the PID controller adjusts the fan speed to the target speed value according to the preset control process.
The fan speed control method according to claim 14, wherein in step S4, the combination of the current gear and the random number of the current period to calculate the target speed value at the next moment refers to:

Use m gear values to divide the maximum change range of fan speed into m range segments;

The random number of the current period is superimposed on the gear value corresponding to the current gear, and the target speed value at the next moment is calculated;

The m is a positive integer greater than or equal to 1.
The method for controlling the speed of a fan according to claim 13, wherein the second preset control process comprises the following steps:

Generate a dynamic random number, the initial value of the dynamic random number is the random number of the previous cycle, according to the second set cycle, combined with the preset increase and decrease range, the dynamic random number is accumulated/accumulated to continuously adjust the dynamic random number. Until the difference between the value of the dynamic random number and the random number of the current cycle is less than or equal to the preset increase or decrease range, the dynamic random number is adjusted to the random number of the current cycle by accumulating/accumulating again, to complete The adjustment process of dynamic random numbers;

Among them, in the adjustment process of the dynamic random number, the current gear and the dynamic random number after each adjustment are combined to calculate the target speed value at the next moment, and the target speed value is sent to the PID controller. Set the control process to adjust the fan speed to the target speed value.
The method for controlling the speed of a fan according to claim 16, wherein the preset increase or decrease range is a fixed value.
The method for controlling the speed of a fan according to claim 17, wherein the preset increase or decrease range is 200.
A computer-readable storage medium, characterized in that it stores computer-readable instructions that can make at least one processor execute the method according to any one of claims 10-18.