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CN-122026770-A - Electric clipper motion control device and method with debounce and accurate brake control

CN122026770ACN 122026770 ACN122026770 ACN 122026770ACN-122026770-A

Abstract

The invention relates to an electric clipper motion control device and method with debounce and accurate brake control, comprising a motor drive control module, a position detection module (ADC feedback), a multi-stage speed segment control module, a debounce control module and an accurate brake module. The invention realizes smooth and jitter-free whole process of electric clipper movement through multistage dynamic speed segmentation, feedback position judgment and self-adaptive speed-up compensation mechanism, supports self-adaptive card releasing, accelerates braking action through a blocking area, stops position errors to be smaller than 1 position value, eliminates clipper overshoot and rebound problems, remarkably improves user experience, has strong control logic universality and can be transplanted to a multichannel clipper array system.

Inventors

  • HUANG JIANHENG

Assignees

  • 东莞市美派电子科技有限公司

Dates

Publication Date
20260512
Application Date
20251218

Claims (8)

  1. 1. The electric clipper motion control device with the debounce and the accurate brake control is characterized by comprising a motor driving control module, a position detection module, a multi-stage speed segmentation control module, a debounce control module and an accurate brake module; The motor driving control module, the position detection module, the multi-stage speed segmentation control module, the debounce control module and the accurate brake module are all connected with a control unit; The motor driving control module adopts a TM18260SP chip, is realized by a PWM timer channel, supports independent driving in the uplink and downlink directions, and dynamically adjusts the PWM duty ratio according to a real-time calculation result; the position detection module is used for collecting the current position and the target position of the clipper in real time, calculating the difference value of the current position and the target position, and outputting the difference value for dynamic speed calculation and brake logic judgment; the multistage speed segmentation control module divides the difference value between the current position of the clipper and the target position into a plurality of intervals, each interval corresponds to different PWM speed gears, the higher the position difference is, the higher the speed is, the lower the speed is, and progressive braking is realized; The debounce control module compares and judges the continuous multiple ADC feedback results of the position detection module, judges that the clippers are 'not moving' if the positions are the same after multiple sampling, triggers automatic speed increase to overcome clamping stagnation; And the accurate braking module rapidly reduces the PWM duty ratio to 0 when the clipper enters the target braking range, reaches the braking position with the lowest movable speed, and continuously counts for a plurality of times after entering a stopping state to confirm the stable and then locks the position.
  2. 2. The electric clipper motion control device with debounce and precision brake control of claim 1, wherein the PWM timer channels use 16 PWM channels for the 4 advanced timers TIM1, TIM2, TIM3, TIM4 to control the forward and reverse motion of 8 electric clippers, each electric clipper uses 2 PWM channels, and two-way control is achieved through independent PWM channels.
  3. 3. The electric clipper motion control device with debounce and precision brake control of claim 1, wherein in the multi-stage speed segment control module, "the greater the position difference, the higher the speed, the lower the speed, the closer to the target" means that the difference between the current position and the target position of the clipper is divided into 11 sections, the specific segmentation is as follows: ; The segmentation characteristics are as follows: A large distance interval, wherein when the position difference range is more than or equal to 100, the interval width is 20-30, and rapid movement is allowed; a middle distance section, wherein when the position difference range is 35-100, the section width is 15-20, and deceleration is started; a small distance interval, wherein when the position difference range is 10-35, the interval width is 10-15, and the speed is further reduced; and when the position difference range is 0-9 in the braking interval, entering a fine braking control mode.
  4. 4. The electric clipper motion control device with debounce and precision brake control of claim 1, wherein: the lowest movable speed is controlled to move by using an absolute immovable value, the ADC updating position is unchanged continuously for 100 times in the same direction, and +1 is retried on the basis of the original PWM; The time requirement for rapidly decreasing the PWM duty cycle to 0 is: instruction execution, namely calling and stopping when reaching a target, directly writing two PWM channels into 0, wherein the effective time of register writing hardware can be regarded as <1 mu s; And (3) stopping and confirming that the ADC updating at the required position is stable for 250 times continuously, wherein the two PWM channels are directly written into 0, and the total jitter is removed for 150-200 ms.
  5. 5. The electric clipper motion control apparatus with debounce and precision brake control of claim 1, wherein the precision brake module continues to count 250 cycles after entering a stopped state and confirms a stable locked position.
  6. 6. An electric clipper motion control method with debounce and accurate brake control, realized by the device according to any one of claims 1-5, characterized by the specific steps of S1, starting and target calculation, wherein after receiving a target position instruction, a control unit calculates a difference value between the current position of the clipper and the target position; s2, speed grading control, specifically: The gap is large, and a high-speed gear is used; The difference is small, and the automatic switching is carried out to a low speed gear; s3, debounce and acceleration compensation, wherein the system continuously reads ADC feedback and judges: if the position is unchanged for 100 times continuously, judging clamping stagnation, and automatically increasing the PWM duty ratio; If the position change is detected, recovering the original speed gear; s4, direction detection and switching protection, namely immediately resetting the speed count and the direction count when the direction changes, so as to prevent inertia recoil; s5, accurate braking and stopping confirmation.
  7. 7. The method for controlling the movement of the electric clipper with debounce and accurate brake control according to claim 6, wherein in S2, "big difference" means that the position difference is not less than 100, and the corresponding physical distance is not less than 3.9cm, and the method is specifically classified as follows: ; "small gap" means a position difference of <100, corresponding to a physical distance of <3.9cm, a specific classification: 。
  8. 8. The method for controlling movement of an electric clipper with debounce and precision brake control as set forth in claim 6, wherein S5, the "precision brake and stop confirmation" means S51, when the clipper enters the target position interval but does not reach the braking position, using a stop command to enable the clipper to reduce the moving speed of the clipper to the greatest extent; S52, after stopping, using an acceleration command until the clipper can move to obtain the lowest speed at which the clipper can move, and sending a command to stop the movement of the clipper until the clipper reaches a braking position, so that the overspeed braking position value can be prevented from being caused by the fact that the clipper speed is too high; and S53, confirming complete stop of the counting stable period after stopping, and preventing virtual stop.

Description

Electric clipper motion control device and method with debounce and accurate brake control Technical Field The application belongs to the technical field of audio control and electromechanical motion control, and particularly relates to an electric clipper motion control device and method with debouncing and accurate brake control, in particular to a control device and method for an electric clipper (Motorized Fader) in an audio mixing console, an electric clipper controller and automatic audio mixing equipment. Background In existing electric clipper control systems, the clipper motor drive is typically controlled with a fixed PWM duty cycle, and the braking is immediately de-energized when the clipper is moved to a target position. This approach has the following drawbacks: ① The inertia overshoot of the clipper, namely the clipper still runs at high speed when approaching to the target position, and the inertia is generated at the moment of stopping to cause the overshoot; ② Vibration and shake, namely, the clipper can vibrate repeatedly near a target point due to position feedback lag or control delay; ③ The accurate braking cannot be realized, the braking process has no speed gradient control, and the position error of the clippers is easy to cause; ④ Poor control stability, not considering motor dynamic response and ADC feedback jitter, resulting in unsmooth clipper motion and accompanying noise. Disclosure of Invention The invention aims to solve the technical problems in the background by providing an electric clipper motion control device and method with debounce and accurate brake control, and by means of multistage dynamic speed segmentation, feedback position judgment and self-adaptive speed-up compensation mechanisms. In order to solve the problems, the invention adopts the following technical scheme: An electric clipper motion control device with debounce and accurate brake control comprises a motor drive control module, a position detection module (ADC feedback), a multi-stage speed segment control module, a debounce control module and an accurate brake module; the motor driving control module, the position detection module (ADC feedback), the multi-stage speed segmentation control module, the debounce control module and the accurate brake module are all connected with a control unit; The motor driving control module adopts a TM18260SP chip, is realized by a PWM timer channel, supports independent driving in the uplink and downlink directions, and dynamically adjusts the PWM duty ratio according to a real-time calculation result; The position detection module (ADC feedback) is used for collecting the current position and the target position of the clipper in real time, calculating the difference value of the current position and the target position, and outputting the difference value for dynamic speed calculation and brake logic judgment; the multistage speed segmentation control module divides the difference value between the current position of the clipper and the target position into a plurality of intervals, each interval corresponds to different PWM speed gears, the higher the position difference is, the higher the speed is, the lower the speed is, and progressive braking is realized; The debounce control module compares and judges continuous multiple times of ADC feedback results of the position detection module (ADC feedback), judges that a clipper is 'not moving' if the positions are the same after multiple times of sampling, triggers automatic speed increasing to overcome clamping stagnation; And the accurate braking module rapidly reduces the PWM duty ratio to 0 when the clipper enters the target braking range, reaches the braking position with the lowest movable speed, continuously counts for a plurality of times (such as 250 cycles) after entering the stopping state, and confirms the stable and then locks the position. Further, the PWM timer channels use 16 PWM channels in total of 4 advanced timers TIM1, TIM2, TIM3, TIM4 to control the forward and reverse movement of 8 electric clippers, each using 2 PWM channels (up and down), and two-way control is achieved through independent PWM (timer) channels. Further, in the multi-stage speed segmentation control module, "the greater the position difference, the higher the speed, the lower the speed, the closer the speed is to the target", and the gradual braking is realized "the difference between the current position of the clipper and the target position is divided into 11 sections (of course, other sections may be used, for example, 10 to 20 sections are selected according to specific conditions), and the specific sections are as follows: ; The segmentation characteristics are as follows: A large distance interval, wherein when the position difference range is more than or equal to 100, the interval width is 20-30, and rapid movement is allowed; a middle distance section, wherein when the position difference range is 35-100, the sect