Magnetically-driven control method for smart rocking chair

A magnetically-driven control method for a smart rocking chair, comprising the following steps:

• S1:
• starting-up:
• turning on a state detection and control system, and selecting a gear;
• S2:
• gear detection;
• S3:
• rocking starting:
• S31:
• allowing the state detection and control system to power on an electromagnetic drive mechanism, wherein a power-on voltage gradually changes from a preset value to zero according to a preset pulse width modulation (PWM) curve of a corresponding gear, and power-on time is 0 to t/2, t being time required by a rocking chair to rock back and forth once at the corresponding gear;
• and
• S32:
• after the rocking chair moves to a real-time highest point Lm at a first side under an action of an electromagnetic force, detecting that an angular velocity ωL of the rocking chair is 0, and an angular acceleration αL of the rocking chair starts to decrease;
• allowing the state detection and control system to power off the electromagnetic drive mechanism;
• and allowing the state detection and control system to record a real-time angle uL of the rocking chair;
• and
• S4:
• comprehensive data processing and condition determination:
• when the real-time angle uL of the rocking chair is less than a preset rocking angle of the selected gear, proceeding cyclic excited rocking;
• when the real-time angle uL of the rocking chair is greater than or equal to the preset rocking angle of the selected gear, proceeding force-applied free rocking, wherein
• the cyclic excited rocking:
• after the electromagnetic drive mechanism is powered off, allowing the rocking chair to move to a second side under an action of a gravity until a real-time highest point Rm at the second side, wherein the state detection and control system detects that an angular velocity ωR of the rocking chair is 0, and an angular acceleration αR of the rocking chair starts to decrease, and records a real-time angle uR of the rocking chair;
• powering on the electromagnetic drive mechanism again, wherein a power-on voltage gradually increases from a preset smaller value according to the preset PWM curve of the corresponding gear, reaches and maintains at a preset maximum value when the rocking chair moves to a region nearby a lowest point, then decreases gradually, and drops to zero when the rocking chair reaches or approaches to the opposite real-time highest point Lm, and the state detection and control system detects that the angular velocity ωL of the rocking chair is 0, and the angular acceleration αL starts to decrease;
• and powering off the electromagnetic drive mechanism again, and recording the real-time angle uL of the rocking chair, until the real-time angle uL is equal to or greater than the preset rocking angle of the selected gear;
• and
• the force-applied free rocking:
• taking that the real-time angular velocity ωR of the rocking chair is 0, and the real-time angular acceleration αR of the rocking chair starts to decrease as a first determination condition for applying the electromagnetic force;
• and taking that the real-time angle uR of the rocking chair meets 70-99% of a previously acquired uR value as a second determination condition for applying the electromagnetic force, wherein after the first determination condition and the second determination condition are met, the state detection and control system is detected to power on the electromagnetic drive mechanism for less than t/2;
• and in a power-on process, there are three parts comprising a linear voltage increasing stage, a voltage maintenance stage and a linear voltage decreasing stage, or two parts comprising the linear voltage increasing stage and the linear voltage decreasing stage.