CN115903552A - Control method for starting equipment, control equipment and computer readable medium - Google Patents
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Abstract
Description
Translated fromChinese【技术领域】[Technical field]
本发明涉及一种电动工具，特别涉及一种用于设备启动的控制方法、控制设备及计算机可读介质。The present invention relates to an electric tool, and in particular to a control method, a control device and a computer-readable medium for starting the device.
【背景技术】[Background technology]
随着工具自动化水平的提高，电动工具可以应用到多种不同的复杂场景；然而由于电动工具应用场景的多样化，在一些比较恶劣的环境下，如低温等，电动工具在低温环境下，按照正常的启动可能需要较大的启动电流，然而较大容易损坏工具中的电子开关元件，如MOS管等，还有可能进入过流保护状态，导致工具启动异常或是启动失败；特别是使用电池包供电的工具，由于当前的电池受温度的影响较大，低导致电池包的电压过低，供电受限，影响电池包的使用寿命。With the improvement of the automation level of tools, electric tools can be applied to a variety of different complex scenarios; however, due to the diversity of electric tool application scenarios, in some harsh environments, such as low temperature, electric tools may require a larger starting current according to normal start-up in a low temperature environment. However, a larger starting current can easily damage the electronic switching components in the tool, such as MOS tubes, and may also enter the overcurrent protection state, resulting in abnormal startup or startup failure of the tool; especially for tools powered by battery packs, since the current batteries are greatly affected by temperature, the battery pack voltage is too low and the power supply is limited, affecting the service life of the battery pack.
针对上述问题，现有技术中提出了低温启动方法，包括：获取所述电动工具的温度；判断所述电动工具的温度是否小于预设温度阈值；若所述电动工具的温度小于预设温度阈值，则判断所述电机的转速是否小于当前的占空比所处的占空比区间对应设置的预设转速阈值；若所述电机的转速小于所述预设转速阈值，则减小所述PWM信号的占空比至预设占空比阈值；在所述PWM信号的占空比降低至所述预设占空比阈值后，以预设占空比增加量增加所述PWM信号的占空比；若所述电机的转速大于或等于所述预设转速阈值，则以另一个预设占空比增加量增加所述PWM信号的占空比；判断当前的占空比是否大于或等于预设的最终占空比；若当前的占空比等于所述最终占空比，则输出最终占空比的PWM信号至所述驱动电路以使所述电机以最终转速运行。上述方案中，电机的转速每次反复改变包括转速上升后下降再上升；由此通过转速的逐步上升一次一次的去验证当前的环境条件是否满足正常启动的要求。In view of the above problems, a low-temperature starting method is proposed in the prior art, including: obtaining the temperature of the electric tool; judging whether the temperature of the electric tool is less than a preset temperature threshold; if the temperature of the electric tool is less than the preset temperature threshold, judging whether the speed of the motor is less than the preset speed threshold corresponding to the duty cycle interval in which the current duty cycle is located; if the speed of the motor is less than the preset speed threshold, reducing the duty cycle of the PWM signal to the preset duty cycle threshold; after the duty cycle of the PWM signal is reduced to the preset duty cycle threshold, increasing the duty cycle of the PWM signal by a preset duty cycle increase amount; if the speed of the motor is greater than or equal to the preset speed threshold, increasing the duty cycle of the PWM signal by another preset duty cycle increase amount; judging whether the current duty cycle is greater than or equal to the preset final duty cycle; if the current duty cycle is equal to the final duty cycle, outputting the PWM signal of the final duty cycle to the drive circuit so that the motor runs at the final speed. In the above scheme, each repeated change of the speed of the motor includes the speed rising, then falling, and then rising; thus, the current environmental conditions are verified one by one through the gradual increase of the speed to see whether they meet the requirements of normal starting.
然而上述方案还存在以下问题：1、在该过程中，需要对电机的运行环境及状态进行持续监测，而此时工具上的处理器等相关器件开机即进入高负荷状态，容易导致处理器等相关器件损坏，到时监测的信息不准确，影响使用寿命；2、在温度检测过程中，检测环境温度需要增加额外的温度传感器，改变了现有工具的器件布局，增加了工具的成本。However, the above scheme still has the following problems: 1. During this process, the operating environment and status of the motor need to be continuously monitored. At this time, the processor and other related devices on the tool enter a high-load state when they are turned on, which can easily cause damage to the processor and other related devices. At that time, the monitoring information is inaccurate, affecting the service life; 2. During the temperature detection process, additional temperature sensors need to be added to detect the ambient temperature, which changes the device layout of the existing tool and increases the cost of the tool.
鉴于此，确有必要提供一种改进的电动工具，以克服现有技术存在的缺陷。In view of this, it is indeed necessary to provide an improved electric tool to overcome the defects of the prior art.
【发明内容】[Summary of the invention]
针对现有技术的不足，本发明的目的在于提供一种结构优化且可以稳定的进行低温启动的电动工具。In view of the deficiencies in the prior art, an object of the present invention is to provide an electric tool with an optimized structure and capable of stable low-temperature starting.
本发明解决现有技术问题可采用如下技术方案：一种用于设备启动的控制方法，所述控制方法包括：The present invention solves the existing technical problems by adopting the following technical solutions: a control method for starting a device, the control method comprising:
检测步骤：用于温度检测，获取第一温度检测值；Detection step: used for temperature detection, obtaining a first temperature detection value;
判断步骤：用于当所述第一温度检测值小于预设的温度阈值时，使用低温启动策略进行启动；其中，所述低温启动策略至少包括低速稳定运行阶段和、或变速运行阶段；Determination step: when the first temperature detection value is less than a preset temperature threshold, use a low temperature start strategy to start; wherein the low temperature start strategy at least includes a low speed stable operation stage and/or a variable speed operation stage;
其中，当一个运行阶段结束时，触发温度的检测步骤。When an operation phase ends, a temperature detection step is triggered.
进一步改进方案为：所述低速稳定运行阶段的运行速度小于变速运行阶段的运行速度。A further improvement is that the running speed in the low-speed stable running stage is lower than the running speed in the variable-speed running stage.
进一步改进方案为：所述低温启动策略还包括检测速度控制值，当所述速度控制值满足速度控制阈值时，控制设备从低速稳定运行阶段切换至变速运行阶段。A further improvement is that the low-temperature starting strategy also includes detecting a speed control value, and when the speed control value meets a speed control threshold, the control device switches from a low-speed stable operation stage to a variable-speed operation stage.
进一步改进方案为：当低速稳定运行阶段结束时，触发温度的检测及判断步骤，然后根据所述判断结果确定是继续执行低温启动策略还是进行正常启动。A further improvement is: when the low-speed stable operation stage ends, the temperature detection and judgment steps are triggered, and then according to the judgment result, it is determined whether to continue to execute the low-temperature start strategy or to perform a normal start.
进一步改进方案为：所述设备包括发热元件，所述第一温度检测值为所述发热元件的温度。A further improved solution is: the device includes a heating element, and the first temperature detection value is the temperature of the heating element.
本发明还提供了一种控制设备，用于实现上述的方法，所述控制设备用于控制的设备启动，所述控制设备包括：The present invention further provides a control device for implementing the above method, wherein the control device is used to start a controlled device, and the control device comprises:
检测模块：用于温度检测，获取第一温度检测值；Detection module: used for temperature detection and obtaining a first temperature detection value;
判断模块：用于当所述第一温度检测值小于预设的温度阈值时，使用低温启动策略进行启动；其中，所述低温启动策略至少包括低速稳定运行阶段和、或变速运行阶段。Judgment module: used to use a low-temperature start-up strategy to start the vehicle when the first temperature detection value is less than a preset temperature threshold; wherein the low-temperature start-up strategy at least includes a low-speed stable operation stage and/or a variable-speed operation stage.
进一步改进方案为：所述低速稳定运行阶段的运行速度小于变速运行阶段的运行速度。A further improvement is that the running speed in the low-speed stable running stage is lower than the running speed in the variable-speed running stage.
进一步改进方案为：所述低温启动策略还包括检测速度控制值，当所述速度控制值满足速度控制阈值时，控制设备从低速稳定运行阶段切换至变速运行阶段。A further improvement is that the low-temperature starting strategy also includes detecting a speed control value, and when the speed control value meets a speed control threshold, the control device switches from a low-speed stable operation stage to a variable-speed operation stage.
本发明还提供了一种控制设备，包括存储器、处理器，所述存储器上存储有可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现上述的方法。The present invention also provides a control device, including a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and the processor implements the above method when executing the computer program.
本发明还提供了一种计算机可读介质，所述计算机可读介质具有处理器可执行的非易失的程序代码，所述程序代码使所述处理器执行所述的方法。The present invention also provides a computer-readable medium having a non-volatile program code executable by a processor, wherein the program code enables the processor to execute the method.
与现有技术相比，本发明具有如下有益效果：本发明提供了一种用于设备启动的控制方法、控制设备及计算机可读介质，所述控制方法包括：检测步骤：用于温度检测，获取第一温度检测值；判断步骤：用于当所述第一温度检测值小于预设的温度阈值时，使用低温启动策略进行启动；其中，所述低温启动策略至少包括低速稳定运行阶段和、或变速运行阶段。本发明利用发热元件处的温度检测模块进行温度的检测，无需增加新的温度检测模块，由此降低了工具的成本；同时本发明的低温启动策略包括低速稳定运行阶段和、或变速运行阶段，其中，低速稳定运行阶段温度检测模块、处理器等处于待机状态，不进行实时的信息检测及处理，由此降低了开机时上述检测模块和处理器的压力，有助于使用寿命的延长，保证检测信息的准确性。Compared with the prior art, the present invention has the following beneficial effects: the present invention provides a control method, a control device and a computer-readable medium for starting a device, the control method comprising: a detection step: for temperature detection, obtaining a first temperature detection value; a judgment step: for starting using a low-temperature startup strategy when the first temperature detection value is less than a preset temperature threshold; wherein the low-temperature startup strategy at least includes a low-speed stable operation stage and/or a variable speed operation stage. The present invention uses a temperature detection module at a heating element to detect the temperature, without adding a new temperature detection module, thereby reducing the cost of the tool; at the same time, the low-temperature startup strategy of the present invention includes a low-speed stable operation stage and/or a variable speed operation stage, wherein the temperature detection module, processor, etc. are in a standby state during the low-speed stable operation stage, and no real-time information detection and processing are performed, thereby reducing the pressure on the above-mentioned detection module and processor when starting up, helping to extend the service life and ensure the accuracy of the detection information.
【附图说明】【Brief Description of the Drawings】
下面结合附图对本发明的具体实施方式做进一步详细的说明:The specific embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings:
图1是本发明较佳实施例的方法流程图；FIG1 is a flow chart of a method according to a preferred embodiment of the present invention;
图2是本发明较佳实施例中电流变化的波形图；FIG2 is a waveform diagram of current changes in a preferred embodiment of the present invention;
图3是本发明较佳实施例中多个低速稳定运行阶段变化的波形图；FIG3 is a waveform diagram of changes in multiple low-speed stable operation stages in a preferred embodiment of the present invention;
图4是本发明较佳实施例中多个变速运行阶段变化的波形图；FIG4 is a waveform diagram showing changes in multiple speed-changing operation stages in a preferred embodiment of the present invention;
图5是本发明较佳实施例中的结构示意图。FIG. 5 is a schematic diagram of the structure of a preferred embodiment of the present invention.
【具体实施方式】[Specific implementation method]
下面结合附图和实施方式对本发明作进一步详细说明。The present invention is further described in detail below in conjunction with the accompanying drawings and implementation modes.
在本发明中使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本发明。The terminology used in the present invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the present invention.
本发明所描述的电动工具/电动设备可以为园林类工具、手持式工具，亦或是其他需要在低温环境下工作的自动化设备；只要上述设备/工具能够采用以下披露的技术方案的实质内容即可落在本发明的保护范围内。本发明尤其适合可能会在在低温环境下使用工作的设备。The electric tools/electric equipment described in the present invention may be garden tools, handheld tools, or other automated equipment that needs to work in a low-temperature environment; as long as the above equipment/tools can adopt the substantive content of the technical solution disclosed below, they can fall within the protection scope of the present invention. The present invention is particularly suitable for equipment that may be used and worked in a low-temperature environment.
实施例一Embodiment 1
本发明解决现有技术问题可采用如下技术方案：一种用于设备启动的控制方法，如图1所示，所述控制方法包括：The present invention solves the existing technical problems by adopting the following technical solutions: a control method for starting a device, as shown in FIG1 , the control method comprises:
检测步骤：用于温度检测，获取第一温度检测值；Detection step: used for temperature detection, obtaining a first temperature detection value;
判断步骤：用于当所述第一温度检测值小于预设的温度阈值时，使用低温启动策略进行启动；其中，所述低温启动策略至少包括低速稳定运行阶段和、或变速运行阶段。Judgment step: when the first temperature detection value is less than a preset temperature threshold, use a low-temperature start-up strategy to start the vehicle; wherein the low-temperature start-up strategy at least includes a low-speed stable operation stage and/or a variable-speed operation stage.
现有技术中，部分电动工具，如电锤等，由于其内部机械结构复杂，在低温环境时，会出现启动电流过大而启动不了，导致机器发出过流或短路故障的问题；针对上述问题提出了低温启动策略，然而当前的低温启动策略需要频繁的进行信息的检测，对此，本发明创造性的提出了一种新的控制方法，在温度过低时，启用低温启动策略，且所述低温启动策略包括至少一个低速稳定运行阶段和至少一个变速运行阶段。其中，在所述低速稳定运行阶段，电机以固定的速度运行；在所述变速运行阶段中，电机的速度按照固定的增量持续增长。In the prior art, some electric tools, such as electric hammers, etc., due to their complex internal mechanical structures, will not start due to excessive starting current in low temperature environments, resulting in overcurrent or short circuit faults in the machine. A low-temperature starting strategy is proposed to address the above problems. However, the current low-temperature starting strategy requires frequent information detection. In this regard, the present invention creatively proposes a new control method. When the temperature is too low, the low-temperature starting strategy is enabled, and the low-temperature starting strategy includes at least one low-speed stable operation stage and at least one variable speed operation stage. In the low-speed stable operation stage, the motor runs at a fixed speed; in the variable speed operation stage, the speed of the motor continues to increase at a fixed increment.
在优选实施例中，在低速稳定运行阶段，温度检测模块、处理器等处于待机状态，不进行实时的信息检测及处理，由此可以有效的降低开机时温度检测模块和处理器的压力，防止上述温度检测模块和处理器刚开机就进入高负荷状态，待第一个低速稳定运行阶段结束后，再次开始温度的检测及判断步骤，然后根据所述判断结果决定是继续执行低温启动策略还是进行正常启动。In a preferred embodiment, during the low-speed stable operation stage, the temperature detection module, processor, etc. are in standby state, and no real-time information detection and processing are performed. This can effectively reduce the pressure on the temperature detection module and processor when starting up, and prevent the temperature detection module and processor from entering a high-load state as soon as the computer is started. After the first low-speed stable operation stage ends, the temperature detection and judgment steps are started again, and then a decision is made based on the judgment result whether to continue to execute the low-temperature startup strategy or to perform a normal startup.
其中，当第一个阶段为低速稳定运行阶段时，控制电机以一个较小的初始速度运行，所述初始速度是一个固定值，且第一个低速稳定运行阶段的时间也是一个固定值，且上述两个固定值可以由操作者自行设置，也可以在设备出厂前作为固定信息保存在相关的存储模块中，以便于直接进行调用运行。Among them, when the first stage is the low-speed stable operation stage, the motor is controlled to run at a smaller initial speed, the initial speed is a fixed value, and the time of the first low-speed stable operation stage is also a fixed value, and the above two fixed values can be set by the operator, or saved as fixed information in the relevant storage module before the equipment leaves the factory, so as to facilitate direct call and operation.
在优选实施例中，所述低温启动策略还包括检测速度控制值，当所述速度控制值满足速度控制阈值时，控制设备执行运行阶段的切换，如从低速稳定运行阶段切换至变速运行阶段。优选的，所述速度控制值包括电流和、或第二温度检测值。当以电流作为控制值，示例性的，当电流降到2倍‘空载电流’时进入下一低转速阶段，其中，电流的变化如图2所示；其中，第二个低转速阶段可以时低速稳定运行阶段，也可以是变速运行阶段。在本领域中，空载电流一般情况下是一个固定值，设备出场时完成设置，并保存在设备的存储模块中；当以温度作为控制值时，当新的温度检测值相较于外部的环境温度提高一固定值时，如提高20°，则控制设备进入下一低俗运行阶段。其中，所述速度控制值可以为多个，以对应于不同的阶段。In a preferred embodiment, the low temperature start strategy also includes detecting a speed control value. When the speed control value meets the speed control threshold, the control device executes the switching of the operation stage, such as switching from the low-speed stable operation stage to the variable speed operation stage. Preferably, the speed control value includes the current and/or the second temperature detection value. When the current is used as the control value, for example, when the current drops to 2 times the 'no-load current', the next low speed stage is entered, wherein the change of the current is shown in Figure 2; wherein, the second low speed stage can be a low-speed stable operation stage or a variable speed operation stage. In this field, the no-load current is generally a fixed value, which is set when the device is shipped and saved in the storage module of the device; when the temperature is used as the control value, when the new temperature detection value is increased by a fixed value compared to the external ambient temperature, such as an increase of 20°, the control device enters the next low-speed operation stage. wherein, the speed control value can be multiple to correspond to different stages.
在优选实施例中，所述低温启动策略还包括：待第一个低速稳定运行阶段结束后，再次开始温度的检测及判断步骤，当温度T仍然小于预设的温度阈值Tmax，且大于第二温度阈值时，进入第二个低速稳定运行阶段，如图3所示，其中，所述第二温度阈值可以通过人机交互模块进行设置，且可以根据实际的需求设置一个或多个，例如设置为0.3Tmax、0.5Tmax、0.8Tmax等。In a preferred embodiment, the low-temperature start-up strategy also includes: after the first low-speed stable operation stage ends, starting the temperature detection and judgment steps again, and when the temperature T is still less than the preset temperature threshold Tmax and greater than the second temperature threshold, entering the second low-speed stable operation stage, as shown in Figure 3, wherein the second temperature threshold can be set through the human-computer interaction module, and one or more can be set according to actual needs, for example, set to 0.3Tmax , 0.5Tmax , 0.8Tmax , etc.
其中，在第二个低速稳定运行阶段的电机的速度大于第一个低速稳定运行阶段的电机的速度；其中，不同的低速稳定运行阶段的速度不同，速度的变化量可以通过人机交互模块进行人为设定，也可以根据实际的环境，如温度的变化进行计算得到；当根据温度的变化获得速度V时，可以使用以下公式进行计算：The speed of the motor in the second low-speed stable operation stage is greater than the speed of the motor in the first low-speed stable operation stage; the speeds of different low-speed stable operation stages are different, and the speed change can be manually set through the human-computer interaction module, or calculated according to the actual environment, such as temperature changes; when the speed V is obtained according to the temperature change, the following formula can be used for calculation:
其中，Tmax为预设的温度阈值，即允许电机正常工作的温度值；T0为开机后第一次测量的温度值，即第一温度检测值；T为当前的温度值，即在当前运行阶段结束时，测得的第二温度值，一般而言，T>T0；Vmax为空载转速，即空载时电机的速度。Among them, Tmax is the preset temperature threshold, that is, the temperature value that allows the motor to work normally; T0 is the temperature value measured for the first time after power-on, that is, the first temperature detection value; T is the current temperature value, that is, the second temperature value measured at the end of the current operating stage. Generally speaking, T>T0 ; Vmax is the no-load speed, that is, the speed of the motor when it is no-load.
优选的，每个低速稳定运行阶段的时间可以通过人机交互模块进行人为设定，也可以根据环境信息，如温度进行设置，当根据温度设置运行时间t时，可以采用以下公式进行计算：Preferably, the time of each low-speed stable operation stage can be manually set through the human-computer interaction module, or can be set according to environmental information, such as temperature. When the operation time t is set according to the temperature, the following formula can be used for calculation:
其中，t0是预设的时间值，其可以由设备的使用者通过人机交互模块进行设置，也可以从设备的存储模块中直接调用默认值。Wherein,t0 is a preset time value, which can be set by the user of the device through the human-computer interaction module, or the default value can be directly called from the storage module of the device.
本发明在低温启动策略中设置多个阶段，且每个阶段按照计算的时间运行，有效的减少了温度检测模块及处理器的检测及判断频率，减少了数据传输，降低了处理器的负载能力，有助于使用寿命的延长。The present invention sets multiple stages in the low-temperature startup strategy, and each stage runs according to the calculated time, which effectively reduces the detection and judgment frequency of the temperature detection module and the processor, reduces data transmission, reduces the load capacity of the processor, and helps to extend the service life.
在优选实施例中，所述低温启动策略还包括待前一个低速稳定运行阶段结束后，再次开始温度的检测及判断步骤，当温度仍然小于预设的温度阈值，且大于第二温度阈值时，进入变速运行阶段；其中，所述第二温度阈值可以通过人机交互模块进行设置，且可以根据实际的需求设置一个或多个，例如设置为0.3Tmax、0.5Tmax、0.8Tmax等。In a preferred embodiment, the low-temperature start-up strategy also includes starting the temperature detection and judgment step again after the previous low-speed stable operation stage ends. When the temperature is still less than the preset temperature threshold and greater than the second temperature threshold, the variable speed operation stage is entered; wherein, the second temperature threshold can be set through the human-computer interaction module, and one or more can be set according to actual needs, for example, set to 0.3Tmax , 0.5Tmax , 0.8Tmax , etc.
优选的，所述低速稳定运行阶段的时间可以通过人机交互模块进行人为设定，也可以根据环境信息，如温度进行设置，当根据温度设置运行时间t时，可以采用以下公式进行计算：Preferably, the time of the low-speed stable operation stage can be manually set by a human-computer interaction module, or can be set according to environmental information, such as temperature. When the operation time t is set according to the temperature, the following formula can be used for calculation:
其中，t0是预设的时间值，其可以由设备的使用者通过人机交互模块进行设置，也可以从设备的存储模块中直接调用默认值。Wherein,t0 is a preset time value, which can be set by the user of the device through the human-computer interaction module, or the default value can be directly called from the storage module of the device.
优选的，在所述变速运行阶段中，电机的速度按照固定的增量持续增长；其中，所述增量是指单位时间的电机速度变化量，所述增量可以由设备的使用者通过人机交互模块进行设置，也可以从设备的存储模块中直接调用默认值；同时也可以根据环境信息进展设置，如根据电流或是温度的变化进行确定。Preferably, in the variable speed operation stage, the speed of the motor continues to increase according to a fixed increment; wherein, the increment refers to the change in motor speed per unit time, and the increment can be set by the user of the device through the human-computer interaction module, or the default value can be directly called from the storage module of the device; it can also be set according to environmental information, such as determined according to changes in current or temperature.
当根据温度进行确定时，获取低速稳定运行阶段的温度变化量|ΔT|和、或电流变化量|ΔI|，根据所述温度变化量|ΔT|和、或电流变化量|ΔI|确定所述增量ΔV，在优选实施例中，所述增量ΔV按照以下方式计算得到：When the determination is made based on the temperature, the temperature change |ΔT| and/or the current change |ΔI| in the low-speed stable operation stage are obtained, and the increment ΔV is determined based on the temperature change |ΔT| and/or the current change |ΔI|. In a preferred embodiment, the increment ΔV is calculated in the following manner:
ΔV＝a*|ΔT|+b*|ΔI|ΔV＝a*|ΔT|+b*|ΔI|
其中，a、b为大于等于0的数，且a+b>0；具体取值在设备出厂时完成设置，使用时可以从设备的存储模块中直接调用。Wherein, a and b are numbers greater than or equal to 0, and a+b>0; the specific value is set when the device leaves the factory and can be directly called from the storage module of the device when used.
优选的，所述变速运行阶段的时间可以通过人机交互模块进行人为设定，也可以根据设备信息、环境信息等确定，如根据电机的转速，温度等；优选的可以通过以下公式计算得到：Preferably, the time of the variable speed operation stage can be manually set by a human-computer interaction module, or can be determined according to equipment information, environmental information, etc., such as the speed and temperature of the motor; preferably, it can be calculated by the following formula:
其中，V0为所述变速运行阶段的起始速度，一般而言，其余上一阶段结束时的速度相同；c为常系数，其可以有机器操作者进行设置，也可以从设备的存储模块中直接调用默认值；还可以根据温度信息进行确定；当采用温度信息进行确定时，可以采用以下公式计算得到：
在优选实施例中，如图4所示，所述低温启动策略包括两个连续的变速运行阶段，当所述变速运行阶段没有低速稳定运行阶段，且为第一个运行阶段时，在所述变速运行阶段中，电机的速度增量可以由设备的使用者通过人机交互模块进行设置，也可以从设备的存储模块中直接调用默认值。In a preferred embodiment, as shown in Figure 4, the low-temperature start-up strategy includes two consecutive variable speed operation stages. When the variable speed operation stage does not have a low-speed stable operation stage and is the first operation stage, in the variable speed operation stage, the speed increment of the motor can be set by the user of the device through the human-computer interaction module, or the default value can be directly called from the storage module of the device.
其中，当第一个阶段为变速运行阶段时，控制电机以一个较小的初始速度运行，所述初始速度是一个固定值，且第一个变速稳定运行阶段的时间也是一个固定值，第一个变速稳定运行阶段的速度增量也是一个固定值，且上述三个固定值可以由操作者自行设置，也可以在设备出厂前作为固定信息保存在相关的存储模块中，以便于直接进行调用运行。Among them, when the first stage is the variable speed operation stage, the motor is controlled to run at a smaller initial speed, the initial speed is a fixed value, and the time of the first variable speed stable operation stage is also a fixed value, and the speed increment of the first variable speed stable operation stage is also a fixed value. The above three fixed values can be set by the operator, and can also be saved as fixed information in the relevant storage module before the equipment leaves the factory, so as to facilitate direct call and operation.
当所述变速运行阶段之前没有低速稳定运行阶段，且不是第一个运行阶段时，电机的速度增量除了可以由设备的使用者通过人机交互模块进行设置，或从设备的存储模块中直接调用默认值之外，还可以根据电流的变化进行确定；具体包括：获取上一变速运行阶段的温度变化量|ΔT|和、或电流变化量|ΔI|，根据所述温度变化量|ΔT|和、或电流变化量|ΔI|确定所述增量ΔV，在优选实施例中，所述增量ΔV按照以下方式计算得到：When there is no low-speed stable operation stage before the variable speed operation stage, and it is not the first operation stage, the speed increment of the motor can be set by the user of the device through the human-computer interaction module, or the default value can be directly called from the storage module of the device, or it can be determined according to the change of current; specifically, it includes: obtaining the temperature change |ΔT| and/or the current change |ΔI| of the previous variable speed operation stage, and determining the increment ΔV according to the temperature change |ΔT| and/or the current change |ΔI|. In a preferred embodiment, the increment ΔV is calculated in the following manner:
ΔV＝a*|ΔT|+b*|ΔI|ΔV＝a*|ΔT|+b*|ΔI|
其中，a、b为大于等于0的数，且a+b>0；具体取值在设备出场时完成设置，使用时可以从设备的存储模块中直接调用。Wherein, a and b are numbers greater than or equal to 0, and a+b>0; the specific value is set when the device is shipped, and can be directly called from the storage module of the device when in use.
所述变速运行阶段的时间的确定方式与上述方案中描述的方案相同，即可以通过人机交互模块进行人为设定，也可以根据设备信息、环境信息等确定，如根据电机的转速，温度等；优选的可以通过以下公式计算得到：The time of the variable speed operation stage is determined in the same manner as that described in the above scheme, that is, it can be manually set through the human-computer interaction module, or it can be determined based on device information, environmental information, etc., such as the speed and temperature of the motor; preferably, it can be calculated by the following formula:
其中，V0为所述变速运行阶段的起始速度，一般而言，其余上一阶段结束时的速度相同；c为常系数，其可以有机器操作者进行设置，也可以从设备的存储模块中直接调用默认值；还可以根据温度信息进行确定；当采用温度信息进行确定时，可以采用以下公式计算得到：
其中，所述变速运行阶段速度的最大值为Vmax，一旦速度达到Vmax，即使根据确定的时间还处于改变速运行阶段，电机的速度也不再变化。The maximum value of the speed in the variable speed operation stage is Vmax . Once the speed reaches Vmax , the speed of the motor will no longer change even if it is still in the variable speed operation stage according to the determined time.
在本发明提供的方案中，所述的低温启动策略可以由至少一个低速稳定运行阶段和至少一个变速运行阶段组成，也可以只包括多个变速运行阶段的运行速度或多个变速运行阶段；当同时包括两个不同的阶段时，低速稳定运行阶段在变速运行阶段之前；且所述低速稳定运行阶段的运行速度小于变速运行阶段的运行速度。In the solution provided by the present invention, the low-temperature start-up strategy may consist of at least one low-speed stable operation stage and at least one variable speed operation stage, or may only include the operating speeds of multiple variable speed operation stages or multiple variable speed operation stages; when two different stages are included at the same time, the low-speed stable operation stage is before the variable speed operation stage; and the operating speed of the low-speed stable operation stage is lower than the operating speed of the variable speed operation stage.
本发明在低温启动策略中设置多个阶段，且每个阶段按照计算的时间运行，有效的减少了温度检测模块及处理器的检测及判断频率，减少了数据传输，降低了处理器的负载能力，有助于使用寿命的延长。The present invention sets multiple stages in the low-temperature startup strategy, and each stage runs according to the calculated time, which effectively reduces the detection and judgment frequency of the temperature detection module and the processor, reduces data transmission, reduces the load capacity of the processor, and helps to extend the service life.
本发明提供了使用速度控制值和时间的运行阶段切换策略，优选的，设备使用者可以自己选择运行阶段切换依据上述时间t进行切换，还是根据速度控制值进行切换；同时，也可以两种切换策略同时使用，即当时间切换条件和速度控制值切换条件中的至少一个满足时执行切换。The present invention provides an operation phase switching strategy using a speed control value and time. Preferably, the equipment user can choose whether to switch the operation phase according to the above-mentioned time t or according to the speed control value; at the same time, the two switching strategies can also be used at the same time, that is, the switching is performed when at least one of the time switching condition and the speed control value switching condition is met.
本发明提供的低温启动策略可以根据实际的需求进行阶段的调整，设置至少一个低速稳定运行阶段和、或至少一个变速运行阶段；实现了控制的精细化，同时有效的降低了处理器的负载压力，延长了使用寿命，从而保证了机器运行的可靠性。The low-temperature startup strategy provided by the present invention can be adjusted in stages according to actual needs, and at least one low-speed stable operation stage and/or at least one variable-speed operation stage can be set; thus, refinement of control is achieved, while effectively reducing the load pressure of the processor and extending its service life, thereby ensuring the reliability of the machine operation.
在优选实施例中，所述设备包括发热元件，所述第一温度检测值为所述发热元件的温度。优选的，所述发热元件可以为MOS管，温度检测模块用于检测MOS管处的温度。一般而言，为了保证设备的正常运行，在MOS管处均按照有温度检测模块，以确定MOS管的状态；在本发明中，获取的温度检测值是如MOS管等发热元件的温度，刚开机时，所述第一温度检测值与外界的环境温度相同，由此可以识别出设备处于低温运行，当运行一端时间后，MOS管等发热元件的温度上升快，而且其可以更准确的反应设备当前的运行状态，适时调整。进一步的，本发明使用设备上原有的温度检测模块获取温度信息，无需额外的安装温度检测模块，能够在保证功能的情况下，降低成本。In a preferred embodiment, the device includes a heating element, and the first temperature detection value is the temperature of the heating element. Preferably, the heating element can be a MOS tube, and the temperature detection module is used to detect the temperature at the MOS tube. Generally speaking, in order to ensure the normal operation of the device, a temperature detection module is provided at the MOS tube to determine the state of the MOS tube; in the present invention, the temperature detection value obtained is the temperature of a heating element such as a MOS tube. When the device is just turned on, the first temperature detection value is the same as the external ambient temperature, thereby identifying that the device is in low-temperature operation. After running for a period of time, the temperature of heating elements such as MOS tubes rises quickly, and it can more accurately reflect the current operating state of the device and adjust it in time. Furthermore, the present invention uses the original temperature detection module on the device to obtain temperature information, without the need to install an additional temperature detection module, which can reduce costs while ensuring functionality.
本发明提供了一种用于设备启动的控制方法，所述控制方法包括：检测步骤：用于温度检测，获取第一温度检测值；判断步骤：用于当所述第一温度检测值小于预设的温度阈值时，使用低温启动策略进行启动；其中，所述低温启动策略至少包括低速稳定运行阶段和、或变速运行阶段。本发明利用发热元件处的温度检测模块进行温度的检测，无需增加新的温度检测模块，由此降低了工具的成本；同时本发明的低温启动策略包括低速稳定运行阶段和、或变速运行阶段，其中，低速稳定运行阶段，温度检测模块、处理器等处于待机状态，不进行实时的信息检测及处理，由此降低了开机时上述检测模块和处理器的压力，有助于使用寿命的延长，保证检测信息的准确性。The present invention provides a control method for starting a device, the control method comprising: a detection step: for temperature detection, obtaining a first temperature detection value; a judgment step: for starting using a low-temperature startup strategy when the first temperature detection value is less than a preset temperature threshold; wherein the low-temperature startup strategy at least includes a low-speed stable operation stage and/or a variable speed operation stage. The present invention uses a temperature detection module at a heating element to detect the temperature, without adding a new temperature detection module, thereby reducing the cost of the tool; at the same time, the low-temperature startup strategy of the present invention includes a low-speed stable operation stage and/or a variable speed operation stage, wherein, in the low-speed stable operation stage, the temperature detection module, the processor, etc. are in a standby state, and no real-time information detection and processing are performed, thereby reducing the pressure on the above-mentioned detection module and processor when starting up, helping to extend the service life and ensuring the accuracy of the detection information.
实施例二Embodiment 2
本发明还提供了一种控制设备，所述控制设备用于控制的设备启动，所述设备用于执行实施例一中所描述的方法，并能够实现上述方法所达到的效果；所述控制设备包括：The present invention further provides a control device, which is used to start a controlled device, and is used to execute the method described in the first embodiment and can achieve the effect achieved by the above method; the control device includes:
检测模块：用于温度检测，获取第一温度检测值；Detection module: used for temperature detection and obtaining a first temperature detection value;
判断模块：用于当所述第一温度检测值小于预设的温度阈值时，使用低温启动策略进行启动；其中，所述低温启动策略至少包括低速稳定运行阶段和、或变速运行阶段。Judgment module: used to use a low-temperature start-up strategy to start the vehicle when the first temperature detection value is less than a preset temperature threshold; wherein the low-temperature start-up strategy at least includes a low-speed stable operation stage and/or a variable-speed operation stage.
现有技术中，部分电动工具，如电锤等，由于其内部机械结构复杂，在低温环境时，会出现启动电流过大而启动不了，导致机器发出过流或短路故障的问题；针对上述问题提出了低温启动策略，然而当前的低温启动策略需要频繁的进行信息的检测，对此，本发明创造性的提出了一种新的控制方法，在温度过低时，启用低温启动策略，且所述低温启动策略包括至少一个低速稳定运行阶段和至少一个变速运行阶段。其中，在所述低速稳定运行阶段，电机以固定的速度运行；在所述变速运行阶段中，电机的速度按照固定的增量持续增长。In the prior art, some electric tools, such as electric hammers, etc., due to their complex internal mechanical structures, will not start due to excessive starting current in low temperature environments, resulting in overcurrent or short circuit faults in the machine. A low-temperature starting strategy is proposed to address the above problems. However, the current low-temperature starting strategy requires frequent information detection. In this regard, the present invention creatively proposes a new control method. When the temperature is too low, the low-temperature starting strategy is enabled, and the low-temperature starting strategy includes at least one low-speed stable operation stage and at least one variable speed operation stage. In the low-speed stable operation stage, the motor runs at a fixed speed; in the variable speed operation stage, the speed of the motor continues to increase at a fixed increment.
在优选实施例中，在低速稳定运行阶段，温度检测模块、处理器等处于待机状态，不进行实时的信息检测及处理，由此可以有效的降低开机时温度检测模块和处理器的压力，防止上述温度检测模块和处理器刚开机就进入高负荷状态，待第一个低速稳定运行阶段结束后，再次开始温度的检测及判断步骤，然后根据所述判断结果决定是继续执行低温启动策略还是进行正常启动。In a preferred embodiment, during the low-speed stable operation stage, the temperature detection module, processor, etc. are in standby state, and no real-time information detection and processing are performed. This can effectively reduce the pressure on the temperature detection module and processor when starting up, and prevent the temperature detection module and processor from entering a high-load state as soon as the computer is started. After the first low-speed stable operation stage ends, the temperature detection and judgment steps are started again, and then a decision is made based on the judgment result whether to continue to execute the low-temperature startup strategy or to perform a normal startup.
其中，当第一个阶段为低速稳定运行阶段时，控制电机以一个较小的初始速度运行，所述初始速度是一个固定值，且第一个低速稳定运行阶段的时间也是一个固定值，且上述两个固定值可以由操作者自行设置，也可以在设备出厂前作为固定信息保存在相关的存储模块中，以便于直接进行调用运行。Among them, when the first stage is the low-speed stable operation stage, the motor is controlled to run at a smaller initial speed, the initial speed is a fixed value, and the time of the first low-speed stable operation stage is also a fixed value, and the above two fixed values can be set by the operator, or saved as fixed information in the relevant storage module before the equipment leaves the factory, so as to facilitate direct call and operation.
在优选实施例中，所述低温启动策略还包括检测速度控制值，当所述速度控制值满足速度控制阈值时，控制设备从低速稳定运行阶段切换至变速运行阶段。优选的，所述速度控制值包括电流和、或第二温度检测值。当以电流作为控制值，示例性的，当电流降到2倍‘空载电流’时进入下一低转速阶段，其中，电流的变化如图2所示；其中，第二个低转速阶段可以是低速稳定运行阶段，也可以是变速运行阶段。在本领域中，空载电流一般情况下是一个固定值，设备出场时完成设置，并保存在设备的存储模块中；当以温度作为控制值时，当新的温度检测值相较于外部的环境温度提高一固定值时，如提高20摄氏度，则控制设备进入下一运行阶段。In a preferred embodiment, the low-temperature startup strategy also includes detecting a speed control value, and when the speed control value meets the speed control threshold, the control device switches from the low-speed stable operation stage to the variable speed operation stage. Preferably, the speed control value includes the current and/or the second temperature detection value. When the current is used as the control value, exemplarily, when the current drops to 2 times the 'no-load current', the next low-speed stage is entered, wherein the change in current is shown in Figure 2; wherein, the second low-speed stage can be a low-speed stable operation stage or a variable speed operation stage. In this field, the no-load current is generally a fixed value, which is set when the device is shipped and saved in the storage module of the device; when the temperature is used as the control value, when the new temperature detection value is increased by a fixed value compared to the external ambient temperature, such as an increase of 20 degrees Celsius, the control device enters the next operation stage.
在优选实施例中，所述低温启动策略还包括：待第一个低速稳定运行阶段结束后，再次开始温度的检测及判断步骤，当温度T仍然小于预设的温度阈值Tmax，且大于第二温度阈值时，进入第二个低速稳定运行阶段，如图3所示，其中，所述第二温度阈值可以通过人机交互模块进行设置，且可以根据实际的需求设置一个或多个，例如设置为0.3Tmax、0.5Tmax、0.8Tmax等。In a preferred embodiment, the low-temperature start-up strategy also includes: after the first low-speed stable operation stage ends, starting the temperature detection and judgment steps again, and when the temperature T is still less than the preset temperature threshold Tmax and greater than the second temperature threshold, entering the second low-speed stable operation stage, as shown in Figure 3, wherein the second temperature threshold can be set through the human-computer interaction module, and one or more can be set according to actual needs, for example, set to 0.3Tmax , 0.5Tmax , 0.8Tmax , etc.
其中，在第二个低速稳定运行阶段的电机的速度大于第一个低速稳定运行阶段的电机的速度；其中，不同的低速稳定运行阶段的速度不同，速度的变化量可以通过人机交互模块进行人为设定，也可以根据实际的环境，如温度的变化进行计算得到；当根据温度的变化获得速度V时，可以使用以下公式进行计算：The speed of the motor in the second low-speed stable operation stage is greater than the speed of the motor in the first low-speed stable operation stage; the speeds of different low-speed stable operation stages are different, and the speed change can be manually set through the human-computer interaction module, or calculated according to the actual environment, such as temperature changes; when the speed V is obtained according to the temperature change, the following formula can be used for calculation:
其中，Tmax为预设的温度阈值，即允许电机正常工作的温度值；T0为开机后第一次测量的温度值，即第一温度检测值；T为当前的温度值，即在当前运行阶段结束时，测得的第二温度值，一般而言，T>T0；Vnax为空载转速，即空载时电机的速度。Among them, Tmax is the preset temperature threshold, that is, the temperature value that allows the motor to work normally; T0 is the temperature value measured for the first time after startup, that is, the first temperature detection value; T is the current temperature value, that is, the second temperature value measured at the end of the current operation stage. Generally speaking, T>T0 ; Vnax is the no-load speed, that is, the speed of the motor when it is no-load.
优选的，每个低速稳定运行阶段的时间可以通过人机交互模块进行人为设定，也可以根据环境信息，如温度进行设置，当根据温度设置运行时间t时，可以采用以下公式进行计算：Preferably, the time of each low-speed stable operation stage can be manually set through the human-computer interaction module, or can be set according to environmental information, such as temperature. When the operation time t is set according to the temperature, the following formula can be used for calculation:
其中，t0是预设的时间值，其可以由设备的使用者通过人机交互模块进行设置，也可以从设备的存储模块中直接调用默认值。Wherein,t0 is a preset time value, which can be set by the user of the device through the human-computer interaction module, or the default value can be directly called from the storage module of the device.
本发明在低温启动策略中设置多个阶段，且每个阶段按照计算的时间运行，有效的减少了温度检测模块及处理器的检测及判断频率，减少了数据传输，降低了处理器的负载能力，有助于使用寿命的延长。The present invention sets multiple stages in the low-temperature startup strategy, and each stage runs according to the calculated time, which effectively reduces the detection and judgment frequency of the temperature detection module and the processor, reduces data transmission, reduces the load capacity of the processor, and helps to extend the service life.
在优选实施例中，所述低温启动策略还包括待前一个低速稳定运行阶段结束后，再次开始温度的检测及判断步骤，当温度仍然小于预设的温度阈值，且大于第二温度阈值时，进入变速运行阶段；其中，所述第二温度阈值可以通过人机交互模块进行设置，且可以根据实际的需求设置一个或多个，例如设置为0.3Tmax、0.5Tmax、0.8Tmax等。In a preferred embodiment, the low-temperature start-up strategy also includes starting the temperature detection and judgment step again after the previous low-speed stable operation stage ends. When the temperature is still less than the preset temperature threshold and greater than the second temperature threshold, the variable speed operation stage is entered; wherein, the second temperature threshold can be set through the human-computer interaction module, and one or more can be set according to actual needs, for example, set to 0.3Tmax , 0.5Tmax , 0.8Tmax , etc.
优选的，所述低速稳定运行阶段的时间可以通过人机交互模块进行人为设定，也可以根据环境信息，如温度进行设置，当根据温度设置运行时间t时，可以采用以下公式进行计算：Preferably, the time of the low-speed stable operation stage can be manually set by a human-computer interaction module, or can be set according to environmental information, such as temperature. When the operation time t is set according to the temperature, the following formula can be used for calculation:
其中，t0是预设的时间值，其可以由设备的使用者通过人机交互模块进行设置，也可以从设备的存储模块中直接调用默认值。Wherein,t0 is a preset time value, which can be set by the user of the device through the human-computer interaction module, or the default value can be directly called from the storage module of the device.
优选的，在所述变速运行阶段中，电机的速度按照固定的增量持续增长；其中，所述增量是指单位时间的电机速度变化量，所述增量可以由设备的使用者通过人机交互模块进行设置，也可以从设备的存储模块中直接调用默认值；同时也可以根据环境信息进展设置，如根据电流或是温度的变化进行确定。Preferably, in the variable speed operation stage, the speed of the motor continues to increase according to a fixed increment; wherein, the increment refers to the change in motor speed per unit time, and the increment can be set by the user of the device through the human-computer interaction module, or the default value can be directly called from the storage module of the device; it can also be set according to environmental information, such as determined according to changes in current or temperature.
当根据温度进行确定时，获取低速稳定运行阶段的温度变化量|ΔT|和、或电流变化量|ΔI|，根据所述温度变化量|ΔT|和、或电流变化量|ΔI|确定所述增量ΔV，在优选实施例中，所述增量ΔV按照以下方式计算得到：When the determination is made based on the temperature, the temperature change |ΔT| and/or the current change |ΔI| in the low-speed stable operation stage are obtained, and the increment ΔV is determined based on the temperature change |ΔT| and/or the current change |ΔI|. In a preferred embodiment, the increment ΔV is calculated in the following manner:
ΔV＝a*|ΔT|+b*|ΔI|ΔV＝a*|ΔT|+b*|ΔI|
其中，a、b为大于等于0的数，且a+b>0；具体取值在设备出场时完成设置，使用时可以从设备的存储模块中直接调用。Wherein, a and b are numbers greater than or equal to 0, and a+b>0; the specific value is set when the device is shipped, and can be directly called from the storage module of the device when in use.
优选的，所述变速运行阶段的时间可以通过人机交互模块进行人为设定，也可以根据设备信息、环境信息等确定，如根据电机的转速，温度等；优选的可以通过以下公式计算得到：Preferably, the time of the variable speed operation stage can be manually set by a human-computer interaction module, or can be determined according to device information, environmental information, etc., such as the speed and temperature of the motor; preferably, it can be calculated by the following formula:
其中，V0为所述变速运行阶段的起始速度，一般而言，其余上一阶段结束时的速度相同；c为常系数，其可以有机器操作者进行设置，也可以从设备的存储模块中直接调用默认值；还可以根据温度信息进行确定；当采用温度信息进行确定时，可以采用以下公式计算得到：
在优选实施例中，如图4所示，所述低温启动策略包括两个连续的变速运行阶段，当所述变速运行阶段没有低速稳定运行阶段，且为第一个运行阶段时，在所述变速运行阶段中，电机的速度增量可以由设备的使用者通过人机交互模块进行设置，也可以从设备的存储模块中直接调用默认值。In a preferred embodiment, as shown in Figure 4, the low-temperature start-up strategy includes two consecutive variable speed operation stages. When the variable speed operation stage does not have a low-speed stable operation stage and is the first operation stage, in the variable speed operation stage, the speed increment of the motor can be set by the user of the device through the human-computer interaction module, or the default value can be directly called from the storage module of the device.
其中，当第一个阶段为变速运行阶段时，控制电机以一个较小的初始速度运行，所述初始速度是一个固定值，且第一个变速稳定运行阶段的时间也是一个固定值，第一个变速稳定运行阶段的速度增量也是一个固定值，且上述三个固定值可以由操作者自行设置，也可以在设备出厂前作为固定信息保存在相关的存储模块中，以便于直接进行调用运行。Among them, when the first stage is the variable speed operation stage, the motor is controlled to run at a smaller initial speed, the initial speed is a fixed value, and the time of the first variable speed stable operation stage is also a fixed value, and the speed increment of the first variable speed stable operation stage is also a fixed value. The above three fixed values can be set by the operator, and can also be saved as fixed information in the relevant storage module before the equipment leaves the factory, so as to facilitate direct call and operation.
当所述变速运行阶段之前没有低速稳定运行阶段，且不是第一个运行阶段时，电机的速度增量除了可以由设备的使用者通过人机交互模块进行设置，或从设备的存储模块中直接调用默认值之外，还可以根据电流的变化进行确定；具体包括：获取上一变速运行阶段的温度变化量|ΔT|和、或电流变化量|ΔI|，根据所述温度变化量|ΔT|和、或电流变化量|ΔI|确定所述增量ΔV，在优选实施例中，所述增量ΔV按照以下方式计算得到：When there is no low-speed stable operation stage before the variable speed operation stage, and it is not the first operation stage, the speed increment of the motor can be set by the user of the device through the human-computer interaction module, or the default value can be directly called from the storage module of the device, or it can be determined according to the change of current; specifically, it includes: obtaining the temperature change |ΔT| and/or the current change |ΔI| of the previous variable speed operation stage, and determining the increment ΔV according to the temperature change |ΔT| and/or the current change |ΔI|. In a preferred embodiment, the increment ΔV is calculated in the following manner:
ΔV＝a*|ΔT|+b*|ΔI|ΔV＝a*|ΔT|+b*|ΔI|
其中，a、b为大于等于0的数，且a+b>0；具体取值在设备出场时完成设置，使用时可以从设备的存储模块中直接调用。Wherein, a and b are numbers greater than or equal to 0, and a+b>0; the specific value is set when the device is shipped, and can be directly called from the storage module of the device when in use.
所述变速运行阶段的时间的确定方式与上述方案中描述的方案相同，即可以通过人机交互模块进行人为设定，也可以根据设备信息、环境信息等确定，如根据电机的转速，温度等；优选的可以通过以下公式计算得到：The time of the variable speed operation stage is determined in the same manner as that described in the above scheme, that is, it can be manually set through the human-computer interaction module, or it can be determined based on device information, environmental information, etc., such as the speed and temperature of the motor; preferably, it can be calculated by the following formula:
其中，V0为所述变速运行阶段的起始速度，一般而言，其余上一阶段结束时的速度相同；c为常系数，其可以由机器操作者进行设置，也可以从设备的存储模块中直接调用默认值；还可以根据温度信息进行确定；当采用温度信息进行确定时，可以采用以下公式计算得到：
其中，所述变速运行阶段速度的最大值为Vmax，一旦速度达到Vmax，即使根据确定的时间还处于改变速运行阶段，电机的速度也不再变化。The maximum value of the speed in the variable speed operation stage is Vmax . Once the speed reaches Vmax , the speed of the motor will no longer change even if it is still in the variable speed operation stage according to the determined time.
在本发明提供的方案中，所述的低温启动策略可以由至少一个低速稳定运行阶段和至少一个变速运行阶段组成，也可以只包括多个变速运行阶段的运行速度或多个变速运行阶段；当同时包括两个不同的阶段时，低速稳定运行阶段在变速运行阶段之前；且所述低速稳定运行阶段的运行速度小于变速运行阶段的运行速度。In the solution provided by the present invention, the low-temperature start-up strategy may consist of at least one low-speed stable operation stage and at least one variable speed operation stage, or may only include the operating speeds of multiple variable speed operation stages or multiple variable speed operation stages; when two different stages are included at the same time, the low-speed stable operation stage is before the variable speed operation stage; and the operating speed of the low-speed stable operation stage is lower than the operating speed of the variable speed operation stage.
本发明提供了使用速度控制值和时间的运行阶段切换策略，优选的，设备使用者可以自己选择运行阶段切换依据上述时间t进行切换，或根据速度控制值进行切换；同时，也可以两种切换策略同时使用，即当时间切换条件和速度控制值切换条件中的至少一个满足时执行切换。The present invention provides an operation phase switching strategy using a speed control value and time. Preferably, the equipment user can choose to switch the operation phase according to the above-mentioned time t, or according to the speed control value. At the same time, the two switching strategies can also be used at the same time, that is, the switching is performed when at least one of the time switching condition and the speed control value switching condition is met.
本发明在低温启动策略中设置多个阶段，且每个阶段按照计算的时间运行，有效的减少了温度检测模块及处理器的检测及判断频率，减少了数据传输，降低了处理器的负载能力，有助于使用寿命的延长。The present invention sets multiple stages in the low-temperature startup strategy, and each stage runs according to the calculated time, which effectively reduces the detection and judgment frequency of the temperature detection module and the processor, reduces data transmission, reduces the load capacity of the processor, and helps to extend the service life.
在优选实施例中，所述设备包括发热元件，所述第一温度检测值为所述发热元件的温度。优选的，所述发热元件可以为MOS管，温度检测模块用于检测MOS管处的温度。一般而言，为了保证设备的正常运行，在MOS管处均安装有温度检测模块，以确定MOS管的状态；在本发明中，获取的温度检测值是如MOS管等发热元件的温度，刚开机时，所述第一温度检测值与外界的环境温度相同，由此可以识别处设备处于低温运行，当运行一端时间后，MOS管等发热元件的温度上升快，而且其可以更准确的反应设备当前的运行状态，适时调整。进一步的，本发明使用设备上原有的温度检测模块获取温度信息，无需额外的安装温度检测模块，能够在保证功能的情况下，降低成本。In a preferred embodiment, the device includes a heating element, and the first temperature detection value is the temperature of the heating element. Preferably, the heating element can be a MOS tube, and the temperature detection module is used to detect the temperature at the MOS tube. Generally speaking, in order to ensure the normal operation of the device, a temperature detection module is installed at the MOS tube to determine the state of the MOS tube; in the present invention, the temperature detection value obtained is the temperature of a heating element such as a MOS tube. When the device is just turned on, the first temperature detection value is the same as the external ambient temperature, thereby identifying that the device is in low-temperature operation. After running for a period of time, the temperature of heating elements such as MOS tubes rises quickly, and it can more accurately reflect the current operating state of the device and adjust it in time. Furthermore, the present invention uses the original temperature detection module on the device to obtain temperature information, without the need to install an additional temperature detection module, which can reduce costs while ensuring functionality.
本发明提供了一种控制设备，所述控制设备根据获取的第一温度检测值，当所述第一温度检测值小于预设的温度阈值时，使用低温启动策略进行启动；其中，所述低温启动策略至少包括低速稳定运行阶段和、或变速运行阶段。本发明利用发热元件处的温度检测模块进行温度的检测，无需增加新的温度检测模块，由此降低了工具的成本；同时本发明的低温启动策略包括低速稳定运行阶段和、或变速运行阶段，其中，低速稳定运行阶段，温度检测模块、处理器等处于待机状态，不进行实时的信息检测及处理，由此降低了开机时上述检测模块和处理器的压力，有助于使用寿命的延长，保证检测信息的准确性。The present invention provides a control device, which uses a low-temperature start-up strategy to start up according to an acquired first temperature detection value when the first temperature detection value is less than a preset temperature threshold; wherein the low-temperature start-up strategy at least includes a low-speed stable operation stage and/or a variable speed operation stage. The present invention uses a temperature detection module at a heating element to detect the temperature, without adding a new temperature detection module, thereby reducing the cost of the tool; at the same time, the low-temperature start-up strategy of the present invention includes a low-speed stable operation stage and/or a variable speed operation stage, wherein in the low-speed stable operation stage, the temperature detection module, processor, etc. are in a standby state, and no real-time information detection and processing are performed, thereby reducing the pressure on the above-mentioned detection module and processor when starting up, helping to extend the service life and ensure the accuracy of the detection information.
实施例三Embodiment 3
本发明还提供了一种控制设备，所述控制设备用于控制的设备启动，所述设备用于执行实施例一中所描述的方法，并能够实现上述方法所达到的效果；如图5所示：所述控制设备包括：温度检测模块、处理器、驱动部、电机部。所述温度检测模块与所述处理器相连，用于检测温度信息，将温度信息发送给处理器；所述处理器与驱动部相连，所述驱动部与电机部相连。其中，所述温度检测模块可以为NTC温度传感器、红外传感器等，用于实现温度的检测。所述处理器可以为MCU等具有处理功能的组件；所述驱动部用于接收来自处理器的处理命令，并将处理命令转换为电机部能识别的控制指令，将所述控制指令发送给电机部；所述电机部根据所述控制指令执行相应的操作；其中，所述驱动部具有发热元件，优选的，所述发热元件可以为MOS管，温度检测模块用于检测MOS管处的温度。一般而言，为了保证设备的正常运行，在MOS管处均安装有温度检测模块，以确定MOS管的状态；在本发明中，获取的温度检测值是如MOS管等发热元件的温度，刚开机时，所述第一温度检测值与外界的环境温度相同，由此可以识别处设备处于低温运行，当运行一端时间后，MOS管等发热元件的温度上升快，而且其可以更准确的反应设备当前的运行状态，适时调整。进一步的，本发明使用设备上原有的温度检测模块获取温度信息，无需额外的安装温度检测模块，能够在保证功能的情况下，降低成本。The present invention also provides a control device, which is used to start the device under control, and the device is used to execute the method described in Example 1, and can achieve the effect achieved by the above method; as shown in Figure 5: the control device includes: a temperature detection module, a processor, a drive unit, and a motor unit. The temperature detection module is connected to the processor, and is used to detect temperature information and send the temperature information to the processor; the processor is connected to the drive unit, and the drive unit is connected to the motor unit. Among them, the temperature detection module can be an NTC temperature sensor, an infrared sensor, etc., for realizing temperature detection. The processor can be a component with processing function such as MCU; the drive unit is used to receive processing commands from the processor, and convert the processing commands into control instructions that can be recognized by the motor unit, and send the control instructions to the motor unit; the motor unit performs corresponding operations according to the control instructions; wherein, the drive unit has a heating element, preferably, the heating element can be a MOS tube, and the temperature detection module is used to detect the temperature at the MOS tube. Generally speaking, in order to ensure the normal operation of the equipment, a temperature detection module is installed at the MOS tube to determine the state of the MOS tube; in the present invention, the temperature detection value obtained is the temperature of a heating element such as a MOS tube. When the device is just turned on, the first temperature detection value is the same as the external ambient temperature, thereby identifying that the device is in low-temperature operation. After running for a period of time, the temperature of heating elements such as MOS tubes rises quickly, and it can more accurately reflect the current operating state of the device and make timely adjustments. Furthermore, the present invention uses the original temperature detection module on the device to obtain temperature information, without the need to install an additional temperature detection module, which can reduce costs while ensuring functionality.
优选的，所述温度检测模块，如NTC等温度传感器，用于温度检测，获取第一温度检测值；Preferably, the temperature detection module, such as a temperature sensor such as NTC, is used for temperature detection to obtain a first temperature detection value;
处理器，如MCU等，用于当所述第一温度检测值小于预设的温度阈值时，使用低温启动策略进行启动；其中，所述低温启动策略至少包括低速稳定运行阶段和、或变速运行阶段。处理器将低温启动策略不同阶段的指令下发至驱动部，通过驱动部实现电机部的控制。其中，所述低温启动策略与实施例一、二中描述的方案相同，在此不再赘述。The processor, such as an MCU, is used to start the machine using a low-temperature startup strategy when the first temperature detection value is less than a preset temperature threshold; wherein the low-temperature startup strategy includes at least a low-speed stable operation stage and/or a variable-speed operation stage. The processor sends instructions for different stages of the low-temperature startup strategy to the drive unit, and controls the motor unit through the drive unit. The low-temperature startup strategy is the same as the scheme described in Embodiments 1 and 2, and will not be described in detail here.
本发明提供的方案中，开始时MCU通过NTC测得环境温度，根据温度判断机器是否可以直接正常启动，如果温度过低，则让工具低速运转，一段时间或判断条件允许后切换回正常启动状态，如果判断条件不合适，则继续以低转速运行。In the solution provided by the present invention, the MCU measures the ambient temperature through the NTC at the beginning, and determines whether the machine can be started directly and normally based on the temperature. If the temperature is too low, the tool is allowed to run at a low speed. After a period of time or when the judgment conditions allow, it is switched back to the normal startup state. If the judgment conditions are not suitable, it continues to run at a low speed.
本发明提供了一种控制设备，所述控制设备根据获取的第一温度检测值，当所述第一温度检测值小于预设的温度阈值时，使用低温启动策略进行启动；其中，所述低温启动策略至少包括低速稳定运行阶段和、或变速运行阶段。本发明利用发热元件处的温度检测模块进行温度的检测，无需增加新的温度检测模块，由此降低了工具的成本；同时本发明的低温启动策略包括低速稳定运行阶段和、或变速运行阶段，其中，低速稳定运行阶段，温度检测模块、处理器等处于待机状态，不进行实时的信息检测及处理，由此降低了开机时上述检测模块和处理器的压力，有助于使用寿命的延长，保证检测信息的准确性。The present invention provides a control device, which uses a low-temperature start-up strategy to start up according to an acquired first temperature detection value when the first temperature detection value is less than a preset temperature threshold; wherein the low-temperature start-up strategy at least includes a low-speed stable operation stage and/or a variable speed operation stage. The present invention uses a temperature detection module at a heating element to detect the temperature, without adding a new temperature detection module, thereby reducing the cost of the tool; at the same time, the low-temperature start-up strategy of the present invention includes a low-speed stable operation stage and/or a variable speed operation stage, wherein in the low-speed stable operation stage, the temperature detection module, processor, etc. are in a standby state, and no real-time information detection and processing are performed, thereby reducing the pressure on the above-mentioned detection module and processor when starting up, helping to extend the service life and ensure the accuracy of the detection information.
本发明还提供了一种控制设备，包括存储器、处理器，所述存储器上存储有可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现上述的方法。The present invention also provides a control device, including a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and the processor implements the above method when executing the computer program.
本发明还提供了一种计算机可读介质，所述计算机可读介质具有处理器可执行的非易失的程序代码，所述程序代码使所述处理器执行所述的方法。The present invention also provides a computer-readable medium having a non-volatile program code executable by a processor, wherein the program code enables the processor to execute the method.
与现有技术相比，本发明具有如下有益效果：本发明提供了一种用于设备启动的控制方法、控制设备及计算机可读介质，所述控制方法包括：检测步骤：用于温度检测，获取第一温度检测值；判断步骤：用于当所述第一温度检测值小于预设的温度阈值时，使用低温启动策略进行启动；其中，所述低温启动策略至少包括低速稳定运行阶段和、或变速运行阶段。本发明利用发热元件处的温度检测模块进行温度的检测，无需增加新的温度检测模块，由此降低了工具的成本；同时本发明的低温启动策略包括低速稳定运行阶段和、或变速运行阶段，其中，低速稳定运行阶段温度检测模块、处理器等处于待机状态，不进行实时的信息检测及处理，由此降低了开机时上述检测模块和处理器的压力，有助于使用寿命的延长，保证检测信息的准确性。Compared with the prior art, the present invention has the following beneficial effects: the present invention provides a control method, a control device and a computer-readable medium for starting a device, the control method comprising: a detection step: for temperature detection, obtaining a first temperature detection value; a judgment step: for starting using a low-temperature startup strategy when the first temperature detection value is less than a preset temperature threshold; wherein the low-temperature startup strategy at least includes a low-speed stable operation stage and/or a variable speed operation stage. The present invention uses a temperature detection module at a heating element to detect the temperature, without adding a new temperature detection module, thereby reducing the cost of the tool; at the same time, the low-temperature startup strategy of the present invention includes a low-speed stable operation stage and/or a variable speed operation stage, wherein the temperature detection module, processor, etc. are in a standby state during the low-speed stable operation stage, and no real-time information detection and processing are performed, thereby reducing the pressure on the above-mentioned detection module and processor when starting up, helping to extend the service life and ensure the accuracy of the detection information.
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统和装置的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system and device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.
所述功能如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.
最后应说明的是：以上所述实施例，仅为本发明的具体实施方式，用以说明本发明的技术方案，而非对其限制，本发明的保护范围并不局限于此，尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解:任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，其依然可以对前述实施例所记载的技术方案进行修改或可轻易想到变化，或者对其中部分技术特征进行等同替换；而这些修改、变化或者替换，并不使相应技术方案的本质脱离本发明实施例技术方案的精神和范围，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应以所述权利要求的保护范围为准。Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above-described embodiments, it should be understood by those skilled in the art that any person familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or perform equivalent replacements on some of the technical features thereof; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
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